+ python -m lidar_slam --no-model /working/21c347ca-12e6-479f-b57a-69ae3df519c2 Lidar SLAM 0.0.13 ===================================================== The recording path: /working/21c347ca-12e6-479f-b57a-69ae3df519c2 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: False 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 0.004203822 Adjusted end_distance from 9.223372036854776e+18 to 319.194203822 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.004203822 meters SLAMing on 0.034203822 meters SLAMing on 0.06420382200000001 meters SLAMing on 0.094203822 meters Centerline goodness [0,1] 0.04038930499912907 Centerline is valid? [0, False] SLAMing on 0.124203822 meters Centerline goodness [0,1] 0.04006612433114365 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:-0.00 [[ 9.99999989e-01 -9.60936064e-06 -1.44682872e-04 3.51033329e-03] [ 9.61445395e-06 9.99999999e-01 3.52025935e-05 1.06752792e-03] [ 1.44682534e-04 -3.52039842e-05 9.99999989e-01 -2.17946142e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.15420382200000002 meters SLAMing on 0.18420382200000002 meters Centerline goodness [0,1] 0.0634314435591844 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.00 [[ 9.99999954e-01 -7.56370270e-05 2.94527600e-04 5.01982271e-03] [ 7.56928895e-05 9.99999979e-01 -1.89661411e-04 6.00450101e-03] [-2.94513248e-04 1.89683696e-04 9.99999939e-01 -2.19421883e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.21420382200000002 meters Centerline goodness [0,1] 0.04097718167566622 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.00 [[ 9.99999954e-01 1.18172840e-04 2.79047661e-04 8.16051421e-03] [-1.18060006e-04 9.99999911e-01 -4.04337069e-04 6.40616448e-03] [-2.79095418e-04 4.04304106e-04 9.99999879e-01 -3.42120915e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.24420382200000001 meters Centerline goodness [0,1] 0.054713249835201094 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.00 [[ 9.99999989e-01 1.14564236e-04 9.17488400e-05 9.94054921e-03] [-1.14514102e-04 9.99999844e-01 -5.46244694e-04 7.41598116e-03] [-9.18114058e-05 5.46234181e-04 9.99999847e-01 -4.55471969e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.27420382200000004 meters Centerline goodness [0,1] 0.09278918156990579 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.00 [[ 9.99999955e-01 -2.54610709e-05 2.97455074e-04 1.17273140e-02] [ 2.58169544e-05 9.99999284e-01 -1.19648528e-03 1.27963225e-02] [-2.97424397e-04 1.19649291e-03 9.99999240e-01 -4.78963771e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.30420382200000007 meters Centerline goodness [0,1] 0.3753189056039412 Centerline is valid? [False, False] Translation: X:0.01, Y:0.02, Z:-0.01 [[ 9.99999915e-01 -2.76789302e-04 3.07189222e-04 1.46935055e-02] [ 2.77323099e-04 9.99998449e-01 -1.73900174e-03 1.85112992e-02] [-3.06707409e-04 1.73908679e-03 9.99998441e-01 -6.28538135e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.33420382200000004 meters Centerline goodness [0,1] 0.37720820540203803 Centerline is valid? [False, False] Translation: X:0.02, Y:0.02, Z:-0.01 [[ 9.99999962e-01 -2.46098737e-04 1.21040918e-04 1.62765091e-02] [ 2.46297549e-04 9.99998616e-01 -1.64525707e-03 1.78738787e-02] [-1.20635855e-04 1.64528682e-03 9.99998639e-01 -7.04217575e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.36420382200000007 meters Centerline goodness [0,1] 0.3458141067897166 Centerline is valid? [False, False] Translation: X:0.02, Y:0.02, Z:-0.01 [[ 9.99998416e-01 -1.72862918e-03 -4.24139548e-04 2.34966412e-02] [ 1.72766765e-03 9.99995961e-01 -2.25699923e-03 1.70291908e-02] [ 4.28039350e-04 2.25626288e-03 9.99997363e-01 -1.02488212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.39420382200000004 meters Centerline goodness [0,1] 0.4373951365741259 Centerline is valid? [False, False] Translation: X:0.02, Y:0.02, Z:-0.01 [[ 9.99998360e-01 -1.72108971e-03 -5.63181799e-04 2.45671593e-02] [ 1.71998322e-03 9.99996601e-01 -1.95934198e-03 1.50272594e-02] [ 5.66552088e-04 1.95837010e-03 9.99997922e-01 -1.05572801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.42420382200000006 meters Centerline goodness [0,1] 0.42282149325820084 Centerline is valid? [False, False] Translation: X:0.03, Y:0.01, Z:-0.01 [[ 0.9999969 -0.00225699 -0.00104901 0.02923078] [ 0.00225549 0.99999644 -0.00142808 0.01030131] [ 0.00105223 0.00142571 0.99999843 -0.01204618] [ 0. 0. 0. 1. ]] SLAMing on 0.45420382200000003 meters Centerline goodness [0,1] 0.3733873857731589 Centerline is valid? [False, False] Translation: X:0.03, Y:0.01, Z:-0.01 [[ 0.99999614 -0.00241486 -0.00137229 0.03369695] [ 0.00241302 0.99999619 -0.00134113 0.01241252] [ 0.00137553 0.00133782 0.99999816 -0.01495904] [ 0. 0. 0. 1. ]] SLAMing on 0.48420382200000006 meters Centerline goodness [0,1] 0.3555682920377392 Centerline is valid? [False, False] Translation: X:0.04, Y:0.01, Z:-0.02 [[ 0.99999563 -0.00184994 -0.00230496 0.04456185] [ 0.00184762 0.99999778 -0.00101206 0.01463544] [ 0.00230683 0.0010078 0.99999683 -0.02205037] [ 0. 0. 0. 1. ]] SLAMing on 0.514203822 meters Centerline goodness [0,1] 0.3643628895437092 Centerline is valid? [False, False] Translation: X:0.05, Y:0.01, Z:-0.02 [[ 9.99995540e-01 -1.65873278e-03 -2.48367909e-03 4.62935952e-02] [ 1.65694945e-03 9.99998368e-01 -7.19903924e-04 1.20828120e-02] [ 2.48486917e-03 7.15785382e-04 9.99996657e-01 -2.29047580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5442038220000001 meters Centerline goodness [0,1] 0.37406389861301903 Centerline is valid? [False, False] Translation: X:0.05, Y:0.01, Z:-0.02 [[ 9.99995600e-01 -1.36409729e-03 -2.63438326e-03 4.97166735e-02] [ 1.36264987e-03 9.99998920e-01 -5.51153105e-04 9.45064876e-03] [ 2.63513224e-03 5.47560938e-04 9.99996378e-01 -2.42835067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5742038220000001 meters Centerline goodness [0,1] 0.370426896704269 Centerline is valid? [False, False] Translation: X:0.05, Y:0.01, Z:-0.03 [[ 9.99995114e-01 -1.42022541e-03 -2.78478130e-03 5.14489569e-02] [ 1.41822575e-03 9.99998735e-01 -7.19911213e-04 1.12341262e-02] [ 2.78580021e-03 7.15958247e-04 9.99995863e-01 -2.53349573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6042038220000001 meters Centerline goodness [0,1] 0.3913438524953462 Centerline is valid? [False, False] Translation: X:0.06, Y:0.02, Z:-0.03 [[ 0.99999428 -0.00142011 -0.00306919 0.05625221] [ 0.00141673 0.99999839 -0.00110278 0.01608132] [ 0.00307075 0.00109843 0.99999468 -0.02797395] [ 0. 0. 0. 1. ]] SLAMing on 0.634203822 meters Centerline goodness [0,1] 0.37612858639677194 Centerline is valid? [False, False] Translation: X:0.06, Y:0.02, Z:-0.03 [[ 0.99999338 -0.00152999 -0.00330001 0.05847484] [ 0.00152536 0.99999785 -0.00140686 0.01902948] [ 0.00330216 0.00140182 0.99999357 -0.02910015] [ 0. 0. 0. 1. ]] SLAMing on 0.664203822 meters Centerline goodness [0,1] 0.35556586885898034 Centerline is valid? [False, False] Translation: X:0.07, Y:0.02, Z:-0.04 [[ 9.99990141e-01 -5.83968440e-04 -4.40183459e-03 7.03202961e-02] [ 5.78798491e-04 9.99999141e-01 -1.17568118e-03 1.95144129e-02] [ 4.40251737e-03 1.17312181e-03 9.99989621e-01 -3.59859848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6942038220000001 meters Centerline goodness [0,1] 0.3695517774343122 Centerline is valid? [False, False] Translation: X:0.07, Y:0.02, Z:-0.04 [[ 9.99989381e-01 -2.65199185e-04 -4.60077295e-03 7.44874044e-02] [ 2.60133249e-04 9.99999359e-01 -1.10166868e-03 1.77253758e-02] [ 4.60106217e-03 1.10046016e-03 9.99988810e-01 -3.78727590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7242038220000001 meters Centerline goodness [0,1] 0.3695463545954124 Centerline is valid? [False, False] Translation: X:0.08, Y:0.02, Z:-0.04 [[ 9.99988334e-01 -2.88096252e-04 -4.82164472e-03 7.66855948e-02] [ 2.82170542e-04 9.99999204e-01 -1.22961614e-03 1.89796118e-02] [ 4.82199513e-03 1.22824127e-03 9.99987620e-01 -3.91151338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7542038220000001 meters Centerline goodness [0,1] 0.3695463545954124 Centerline is valid? [False, False] Translation: X:0.08, Y:0.02, Z:-0.04 [[ 9.99988334e-01 -2.88096252e-04 -4.82164472e-03 7.66855948e-02] [ 2.82170542e-04 9.99999204e-01 -1.22961614e-03 1.89796118e-02] [ 4.82199513e-03 1.22824127e-03 9.99987620e-01 -3.91151338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.784203822 meters Centerline goodness [0,1] 0.3662082780040963 Centerline is valid? [False, False] Translation: X:0.08, Y:0.02, Z:-0.04 [[ 0.99998107 0.00379324 -0.004844 0.07933936] [-0.00377738 0.99998749 0.00327874 0.01892174] [ 0.00485637 -0.00326038 0.99998289 -0.03965938] [ 0. 0. 0. 1. ]] SLAMing on 0.8142038220000001 meters Centerline goodness [0,1] 0.3613288288288288 Centerline is valid? [False, False] Translation: X:0.08, Y:0.02, Z:-0.04 [[ 0.99998091 0.00369925 -0.00494873 0.08079305] [-0.00368425 0.9999886 0.00303676 0.02159702] [ 0.00495991 -0.00301847 0.99998314 -0.04029618] [ 0. 0. 0. 1. ]] SLAMing on 0.8442038220000001 meters Centerline goodness [0,1] 0.35398662608579745 Centerline is valid? [False, False] Translation: X:0.09, Y:0.02, Z:-0.05 [[ 0.99997874 0.00333906 -0.00560044 0.09007151] [-0.00332371 0.9999907 0.00274869 0.01891236] [ 0.00560956 -0.00273002 0.99998054 -0.04591696] [ 0. 0. 0. 1. ]] SLAMing on 0.8742038220000001 meters Centerline goodness [0,1] 0.3541271561455793 Centerline is valid? [False, False] Translation: X:0.10, Y:0.02, Z:-0.05 [[ 9.99978023e-01 1.11764996e-03 -6.53486037e-03 9.94263384e-02] [-1.12364661e-03 9.99998951e-01 -9.14041537e-04 2.04787431e-02] [ 6.53383193e-03 9.21364323e-04 9.99978230e-01 -5.11412623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.904203822 meters Centerline goodness [0,1] 0.3476258288460683 Centerline is valid? [False, False] Translation: X:0.11, Y:0.02, Z:-0.08 [[ 9.99995708e-01 2.10139584e-03 2.04139081e-03 1.08688254e-01] [-2.10140808e-03 9.99997792e-01 3.85061768e-06 2.16952152e-02] [-2.04137821e-03 -8.14039631e-06 9.99997916e-01 -7.64604777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9342038220000001 meters Centerline goodness [0,1] 0.19018051181975426 Centerline is valid? [False, False] Translation: X:0.11, Y:0.02, Z:-0.08 [[ 0.99997738 0.00635688 0.00219866 0.11098659] [-0.00636652 0.99997003 0.00440451 0.02183403] [-0.00217059 -0.00441841 0.99998788 -0.07684725] [ 0. 0. 0. 1. ]] SLAMing on 0.9642038220000001 meters Centerline goodness [0,1] 0.19382897312689096 Centerline is valid? [False, False] Translation: X:0.11, Y:0.03, Z:-0.08 [[ 0.99997812 0.00629445 0.00203388 0.11280845] [-0.00630257 0.9999721 0.00401065 0.02553697] [-0.00200858 -0.00402338 0.99998989 -0.0775808 ] [ 0. 0. 0. 1. ]] SLAMing on 0.9942038220000001 meters Centerline goodness [0,1] 0.3167235649205309 Centerline is valid? [False, False] Translation: X:0.12, Y:0.03, Z:-0.08 [[ 0.99998008 0.00609547 0.00163862 0.11905722] [-0.00610129 0.99997502 0.00356711 0.02607885] [-0.00161683 -0.00357703 0.9999923 -0.08161987] [ 0. 0. 0. 1. ]] SLAMing on 1.024203822 meters Centerline goodness [0,1] 0.3236815358554489 Centerline is valid? [False, False] Translation: X:0.12, Y:0.03, Z:-0.08 [[ 0.99997992 0.00619753 0.00132295 0.12319574] [-0.0062024 0.99997387 0.00371393 0.02511226] [-0.0012999 -0.00372206 0.99999223 -0.08358143] [ 0. 0. 0. 1. ]] SLAMing on 1.054203822 meters Centerline goodness [0,1] 0.3262828310132 Centerline is valid? [False, False] Translation: X:0.13, Y:0.03, Z:-0.08 [[ 0.99998099 0.006057 0.00115811 0.12512771] [-0.00606108 0.99997532 0.00355233 0.02687208] [-0.00113657 -0.00355928 0.99999302 -0.08462783] [ 0. 0. 0. 1. ]] SLAMing on 1.084203822 meters Centerline goodness [0,1] 0.1953946344824521 Centerline is valid? [False, False] Translation: X:0.15, Y:0.03, Z:-0.09 [[ 0.99999076 0.0033461 -0.00269752 0.15162064] [-0.0033343 0.99998491 0.00436644 0.03176754] [ 0.00271209 -0.0043574 0.99998683 -0.087125 ] [ 0. 0. 0. 1. ]] SLAMing on 1.1142038220000001 meters Centerline goodness [0,1] 0.19735873469114595 Centerline is valid? [False, False] Translation: X:0.16, Y:0.04, Z:-0.09 [[ 9.99993465e-01 8.95619737e-04 -3.50257538e-03 1.59853368e-01] [-8.92633018e-04 9.99999237e-01 8.54191077e-04 3.51198419e-02] [ 3.50333774e-03 -8.51058981e-04 9.99993501e-01 -9.22909376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1442038220000001 meters Centerline goodness [0,1] 0.26557124751041106 Centerline is valid? [False, False] Translation: X:0.17, Y:0.03, Z:-0.10 [[ 9.99989382e-01 -3.35174831e-04 -4.59595130e-03 1.69814653e-01] [ 3.36927230e-04 9.99999871e-01 3.80522979e-04 3.19487478e-02] [ 4.59582316e-03 -3.82067440e-04 9.99989366e-01 -9.71369363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1742038220000002 meters Centerline goodness [0,1] 0.19937896523992493 Centerline is valid? [False, False] Translation: X:0.17, Y:0.03, Z:-0.10 [[ 9.99988489e-01 -2.68653960e-04 -4.79064142e-03 1.71863456e-01] [ 2.71644466e-04 9.99999769e-01 6.23599408e-04 2.98464555e-02] [ 4.79047278e-03 -6.24893581e-04 9.99988330e-01 -9.80408792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2042038220000002 meters Centerline goodness [0,1] 0.2009765493762179 Centerline is valid? [False, False] Translation: X:0.18, Y:0.03, Z:-0.10 [[ 9.99986930e-01 -4.51626074e-04 -5.09269252e-03 1.75635393e-01] [ 4.53789513e-04 9.99999807e-01 4.23664771e-04 3.25179869e-02] [ 5.09250020e-03 -4.25970244e-04 9.99986942e-01 -9.98674731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2342038220000002 meters Centerline goodness [0,1] 0.20131359935219761 Centerline is valid? [False, False] Translation: X:0.18, Y:0.03, Z:-0.10 [[ 9.99986079e-01 -6.13340652e-04 -5.24070168e-03 1.77338740e-01] [ 6.14217945e-04 9.99999798e-01 1.65792049e-04 3.47596006e-02] [ 5.24059893e-03 -1.69008674e-04 9.99986254e-01 -1.00652944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.264203822 meters Centerline goodness [0,1] 0.19860572854024683 Centerline is valid? [False, False] Translation: X:0.18, Y:0.04, Z:-0.10 [[ 9.99985892e-01 -5.97946022e-04 -5.27800038e-03 1.79933314e-01] [ 5.98455515e-04 9.99999816e-01 9.49525609e-05 3.52936171e-02] [ 5.27794263e-03 -9.81098698e-05 9.99986067e-01 -1.01228873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.294203822 meters Centerline goodness [0,1] 0.2001392663806465 Centerline is valid? [False, False] Translation: X:0.18, Y:0.04, Z:-0.10 [[ 9.99985396e-01 -5.97855523e-04 -5.37131545e-03 1.82151051e-01] [ 5.98323163e-04 9.99999817e-01 8.54559689e-05 3.54402078e-02] [ 5.37126338e-03 -8.86685033e-05 9.99985571e-01 -1.01693385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.324203822 meters Centerline goodness [0,1] 0.20291299522051331 Centerline is valid? [False, False] Translation: X:0.18, Y:0.04, Z:-0.10 [[ 9.99984424e-01 -6.70171341e-04 -5.54097638e-03 1.83837758e-01] [ 6.70093554e-04 9.99999775e-01 -1.58950026e-05 3.62474067e-02] [ 5.54098578e-03 1.21817825e-05 9.99984649e-01 -1.02452480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3542038220000001 meters Centerline goodness [0,1] 0.2013871630933285 Centerline is valid? [False, False] Translation: X:0.19, Y:0.04, Z:-0.10 [[ 9.99982229e-01 -8.29193841e-04 -5.90369550e-03 1.87639369e-01] [ 8.27453051e-04 9.99999613e-01 -2.97300909e-04 3.89107679e-02] [ 5.90393974e-03 2.92410595e-04 9.99982529e-01 -1.04234941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3842038220000001 meters Centerline goodness [0,1] 0.10510654855913393 Centerline is valid? [False, False] Translation: X:0.19, Y:0.04, Z:-0.10 [[ 9.99981689e-01 -8.79502473e-04 -5.98726262e-03 1.88731867e-01] [ 8.77414268e-04 9.99999553e-01 -3.51392327e-04 3.93065346e-02] [ 5.98756900e-03 3.46132583e-04 9.99982014e-01 -1.04518225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4142038220000002 meters Centerline goodness [0,1] 0.20057514208726768 Centerline is valid? [False, False] Translation: X:0.20, Y:0.04, Z:-0.13 [[ 0.99999407 -0.0026177 0.00223557 0.20414046] [ 0.00262054 0.99999576 -0.00126633 0.04265278] [-0.00223225 0.00127218 0.9999967 -0.13058817] [ 0. 0. 0. 1. ]] SLAMing on 1.4442038220000002 meters Centerline goodness [0,1] 0.19914448669201523 Centerline is valid? [False, False] Translation: X:0.21, Y:0.04, Z:-0.13 [[ 0.9999945 -0.00261895 0.00203463 0.20617234] [ 0.00262146 0.9999958 -0.00123273 0.04227299] [-0.00203139 0.00123806 0.99999717 -0.13166346] [ 0. 0. 0. 1. ]] SLAMing on 1.4742038220000002 meters Centerline goodness [0,1] 0.19378754382438979 Centerline is valid? [False, False] Translation: X:0.22, Y:0.04, Z:-0.14 [[ 0.99999508 -0.00288973 0.00121931 0.21647427] [ 0.00289152 0.99999474 -0.00146875 0.04375235] [-0.00121506 0.00147227 0.99999818 -0.13793013] [ 0. 0. 0. 1. ]] SLAMing on 1.5042038220000002 meters Centerline goodness [0,1] 0.1565824393942773 Centerline is valid? [False, False] Translation: X:0.22, Y:0.05, Z:-0.14 [[ 9.99994953e-01 -3.06066744e-03 8.51670592e-04 2.20623057e-01] [ 3.06210198e-03 9.99993887e-01 -1.68820785e-03 4.56662827e-02] [-8.46498343e-04 1.69080723e-03 9.99998212e-01 -1.39909936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.534203822 meters Centerline goodness [0,1] 0.1929840402717894 Centerline is valid? [False, False] Translation: X:0.22, Y:0.05, Z:-0.14 [[ 9.99994604e-01 -3.21615803e-03 6.69742836e-04 2.22533395e-01] [ 3.21743857e-03 9.99992981e-01 -1.91976135e-03 4.73748620e-02] [-6.63563880e-04 1.92190585e-03 9.99997933e-01 -1.40929427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.564203822 meters Centerline goodness [0,1] 0.1893477770255021 Centerline is valid? [False, False] Translation: X:0.23, Y:0.05, Z:-0.14 [[ 9.99993982e-01 -3.43992676e-03 4.51427104e-04 2.25587759e-01] [ 3.44095625e-03 9.99991435e-01 -2.29991579e-03 5.06972853e-02] [-4.43511695e-04 2.30145529e-03 9.99997253e-01 -1.41790621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.594203822 meters Centerline goodness [0,1] 0.1867944047137139 Centerline is valid? [False, False] Translation: X:0.23, Y:0.05, Z:-0.14 [[ 9.99993770e-01 -3.51854273e-03 2.83641385e-04 2.27129600e-01] [ 3.51921535e-03 9.99990911e-01 -2.40679026e-03 5.14103739e-02] [-2.75170412e-04 2.40777346e-03 9.99997063e-01 -1.42103981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6242038220000001 meters Centerline goodness [0,1] 0.18504995295909676 Centerline is valid? [False, False] Translation: X:0.23, Y:0.05, Z:-0.14 [[ 9.99993120e-01 -3.70367813e-03 -2.08075161e-04 2.31907699e-01] [ 3.70319067e-03 9.99990507e-01 -2.29617797e-03 4.93660490e-02] [ 2.16577490e-04 2.29539163e-03 9.99997342e-01 -1.44044097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6542038220000002 meters Centerline goodness [0,1] 0.1861423562092992 Centerline is valid? [False, False] Translation: X:0.23, Y:0.05, Z:-0.14 [[ 9.99993607e-01 -3.55255634e-03 -4.06735327e-04 2.33636415e-01] [ 3.55178208e-03 9.99991909e-01 -1.88874230e-03 4.59877201e-02] [ 4.13441899e-04 1.88728559e-03 9.99998134e-01 -1.44651184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6842038220000002 meters Centerline goodness [0,1] 0.1780991642450046 Centerline is valid? [False, False] Translation: X:0.25, Y:0.05, Z:-0.15 [[ 0.99998928 -0.00440389 -0.00143085 0.2450002 ] [ 0.00440112 0.99998845 -0.00193252 0.04515728] [ 0.00143935 0.0019262 0.99999711 -0.150602 ] [ 0. 0. 0. 1. ]] SLAMing on 1.7142038220000002 meters Centerline goodness [0,1] 0.1781124178248903 Centerline is valid? [False, False] Translation: X:0.25, Y:0.05, Z:-0.15 [[ 0.99998836 -0.00455181 -0.00160225 0.24645198] [ 0.00454849 0.99998752 -0.0020644 0.04685727] [ 0.00161163 0.00205709 0.99999659 -0.15083124] [ 0. 0. 0. 1. ]] SLAMing on 1.7442038220000002 meters Centerline goodness [0,1] 0.17192824100191806 Centerline is valid? [False, False] Translation: X:0.26, Y:0.04, Z:-0.16 [[ 0.99998471 -0.00484534 -0.0026666 0.2582636 ] [ 0.00484051 0.99998664 -0.00181563 0.04498121] [ 0.00267536 0.00180269 0.9999948 -0.15754837] [ 0. 0. 0. 1. ]] SLAMing on 1.7742038220000003 meters Centerline goodness [0,1] 0.16522232304900186 Centerline is valid? [False, False] Translation: X:0.27, Y:0.04, Z:-0.16 [[ 0.99997633 -0.00580798 -0.00368899 0.26793841] [ 0.00580084 0.99998128 -0.00194454 0.03830642] [ 0.00370021 0.00192309 0.99999131 -0.1624973 ] [ 0. 0. 0. 1. ]] SLAMing on 1.804203822 meters Centerline goodness [0,1] 0.16419029443838606 Centerline is valid? [False, False] Translation: X:0.27, Y:0.04, Z:-0.16 [[ 0.9999764 -0.00568793 -0.00385395 0.26944792] [ 0.00568099 0.99998222 -0.00181068 0.03757281] [ 0.00386418 0.00178874 0.99999093 -0.1629715 ] [ 0. 0. 0. 1. ]] SLAMing on 1.834203822 meters Centerline goodness [0,1] 0.15917986528308758 Centerline is valid? [False, False] Translation: X:0.27, Y:0.04, Z:-0.16 [[ 0.99997742 -0.00509574 -0.00438066 0.27371494] [ 0.00508779 0.99998539 -0.00182499 0.0396084 ] [ 0.00438989 0.00180266 0.99998874 -0.16415783] [ 0. 0. 0. 1. ]] SLAMing on 1.8642038220000001 meters Centerline goodness [0,1] 0.1571389682863754 Centerline is valid? [False, False] Translation: X:0.28, Y:0.04, Z:-0.17 [[ 0.99997662 -0.00500034 -0.00466381 0.27597697] [ 0.00499121 0.99998561 -0.00196782 0.04118563] [ 0.00467359 0.0019445 0.99998719 -0.16508587] [ 0. 0. 0. 1. ]] SLAMing on 1.8942038220000001 meters Centerline goodness [0,1] 0.15664646739747168 Centerline is valid? [False, False] Translation: X:0.28, Y:0.04, Z:-0.17 [[ 9.99982658e-01 -2.37473080e-03 -5.38925154e-03 2.84050874e-01] [ 2.36985477e-03 9.99996777e-01 -9.10976215e-04 4.24727005e-02] [ 5.39139749e-03 8.98188674e-04 9.99985063e-01 -1.69734115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9242038220000002 meters Centerline goodness [0,1] 0.1548185401658284 Centerline is valid? [False, False] Translation: X:0.29, Y:0.04, Z:-0.17 [[ 9.99981529e-01 -2.13737376e-03 -5.68973461e-03 2.86181819e-01] [ 2.13191107e-03 9.99997261e-01 -9.65988657e-04 4.34020776e-02] [ 5.69178371e-03 9.53840806e-04 9.99983347e-01 -1.70308290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9542038220000002 meters Centerline goodness [0,1] 0.15342911358091627 Centerline is valid? [False, False] Translation: X:0.29, Y:0.04, Z:-0.17 [[ 9.99979245e-01 -1.22831725e-03 -6.32468530e-03 2.91154864e-01] [ 1.22418225e-03 9.99999034e-01 -6.57617297e-04 4.22401553e-02] [ 6.32548695e-03 6.49861081e-04 9.99979783e-01 -1.72216277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9842038220000002 meters Centerline goodness [0,1] 0.15439617449361664 Centerline is valid? [False, False] Translation: X:0.29, Y:0.04, Z:-0.17 [[ 9.99978021e-01 -1.16459655e-03 -6.52691177e-03 2.92856391e-01] [ 1.15947733e-03 9.99999017e-01 -7.88053546e-04 4.34707071e-02] [ 6.52782312e-03 7.80468419e-04 9.99978389e-01 -1.72920439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0142038220000003 meters Centerline goodness [0,1] 0.16719271973274963 Centerline is valid? [False, False] Translation: X:0.30, Y:0.05, Z:-0.17 [[ 9.99975170e-01 -6.25497802e-04 -7.01913555e-03 2.96511303e-01] [ 6.18346673e-04 9.99999288e-01 -1.02092878e-03 4.72579832e-02] [ 7.01976914e-03 1.01656317e-03 9.99974844e-01 -1.73743862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.044203822 meters Centerline goodness [0,1] 0.1555716026537889 Centerline is valid? [False, False] Translation: X:0.32, Y:0.05, Z:-0.20 [[ 9.99999374e-01 5.99988654e-04 9.44724136e-04 3.16195537e-01] [-6.00909971e-04 9.99999344e-01 9.75241260e-04 4.79137339e-02] [-9.44138383e-04 -9.75808344e-04 9.99999078e-01 -1.97728564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0742038220000003 meters Centerline goodness [0,1] 0.15890890890890896 Centerline is valid? [False, False] Translation: X:0.32, Y:0.05, Z:-0.20 [[ 9.99999436e-01 7.27644843e-04 7.74246990e-04 3.17434130e-01] [-7.28615821e-04 9.99998948e-01 1.25455143e-03 4.59277242e-02] [-7.73333307e-04 -1.25511485e-03 9.99998913e-01 -1.97991712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.104203822 meters Centerline goodness [0,1] 0.16493545206484606 Centerline is valid? [False, False] Translation: X:0.32, Y:0.04, Z:-0.20 [[ 9.99999900e-01 4.37055667e-04 9.37095837e-05 3.22124562e-01] [-4.37223231e-04 9.99998292e-01 1.79561595e-03 4.03754429e-02] [-9.29246395e-05 -1.79565674e-03 9.99998383e-01 -1.99217988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1342038220000004 meters Centerline goodness [0,1] 0.16409668919692977 Centerline is valid? [False, False] Translation: X:0.32, Y:0.04, Z:-0.20 [[ 9.99999827e-01 5.62757309e-04 -1.74063599e-04 3.23914862e-01] [-5.62369410e-04 9.99997376e-01 2.22057035e-03 3.72047632e-02] [ 1.75312784e-04 -2.22047208e-03 9.99997519e-01 -1.99675296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.164203822 meters Centerline goodness [0,1] 0.1708513774993089 Centerline is valid? [False, False] Translation: X:0.33, Y:0.03, Z:-0.20 [[ 9.99999629e-01 6.43983377e-04 -5.72234129e-04 3.27066673e-01] [-6.42494956e-04 9.99996420e-01 2.59745805e-03 3.45300503e-02] [ 5.73904801e-04 -2.59708942e-03 9.99996463e-01 -2.00819842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1942038220000004 meters Centerline goodness [0,1] 0.17109531368624475 Centerline is valid? [False, False] Translation: X:0.33, Y:0.04, Z:-0.20 [[ 9.99999515e-01 5.37984364e-04 -8.25397353e-04 3.28910611e-01] [-5.36027029e-04 9.99997048e-01 2.36977649e-03 3.62864975e-02] [ 8.26669820e-04 -2.36933290e-03 9.99996851e-01 -2.01541165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.224203822 meters Centerline goodness [0,1] 0.17292346124488234 Centerline is valid? [False, False] Translation: X:0.33, Y:0.04, Z:-0.20 [[ 9.99998718e-01 7.85253310e-04 -1.39535285e-03 3.32706259e-01] [-7.82289225e-04 9.99997439e-01 2.12353260e-03 3.92276029e-02] [ 1.39701679e-03 -2.12243831e-03 9.99996772e-01 -2.02598355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.254203822 meters Centerline goodness [0,1] 0.17242491247466374 Centerline is valid? [False, False] Translation: X:0.33, Y:0.04, Z:-0.20 [[ 9.99998208e-01 9.09442275e-04 -1.66035835e-03 3.34309235e-01] [-9.05653105e-04 9.99996987e-01 2.28146728e-03 3.81243792e-02] [ 1.66242821e-03 -2.27995948e-03 9.99996019e-01 -2.02779888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2842038220000003 meters Centerline goodness [0,1] 0.16886694983354378 Centerline is valid? [False, False] Translation: X:0.34, Y:0.03, Z:-0.20 [[ 0.99999719 0.00114006 -0.00207884 0.33739372] [-0.0011343 0.99999552 0.00276968 0.03425176] [ 0.00208199 -0.00276731 0.999994 -0.20341124] [ 0. 0. 0. 1. ]] SLAMing on 2.314203822 meters Centerline goodness [0,1] 0.17424312137664488 Centerline is valid? [False, False] Translation: X:0.34, Y:0.03, Z:-0.20 [[ 0.99999619 0.00125503 -0.00245958 0.33998072] [-0.00124728 0.99999426 0.00314976 0.03162103] [ 0.00246352 -0.00314668 0.99999201 -0.20343734] [ 0. 0. 0. 1. ]] SLAMing on 2.3442038220000003 meters Centerline goodness [0,1] 0.1747514589532443 Centerline is valid? [False, False] Translation: X:0.34, Y:0.03, Z:-0.20 [[ 0.99999549 0.0012601 -0.00272595 0.34154047] [-0.0012512 0.9999939 0.00326164 0.03094173] [ 0.00273004 -0.00325821 0.99999097 -0.20357853] [ 0. 0. 0. 1. ]] SLAMing on 2.374203822 meters Centerline goodness [0,1] 0.1728553137003841 Centerline is valid? [False, False] Translation: X:0.35, Y:0.03, Z:-0.21 [[ 0.99999264 0.00124653 -0.00362928 0.35164983] [-0.00123445 0.9999937 0.00332854 0.03170041] [ 0.00363341 -0.00332404 0.99998787 -0.2091769 ] [ 0. 0. 0. 1. ]] SLAMing on 2.4042038220000004 meters Centerline goodness [0,1] 0.1739652623798965 Centerline is valid? [False, False] Translation: X:0.35, Y:0.03, Z:-0.21 [[ 0.99999154 0.00135463 -0.00388421 0.3529963 ] [-0.00134058 0.99999256 0.00361759 0.02978268] [ 0.00388908 -0.00361235 0.99998591 -0.2091819 ] [ 0. 0. 0. 1. ]] SLAMing on 2.434203822 meters Centerline goodness [0,1] 0.179444636478857 Centerline is valid? [False, False] Translation: X:0.36, Y:0.03, Z:-0.21 [[ 9.99987595e-01 -2.25829780e-03 -4.43951127e-03 3.56572037e-01] [ 2.25594913e-03 9.99997313e-01 -5.33975334e-04 2.96735395e-02] [ 4.44070521e-03 5.23953399e-04 9.99990003e-01 -2.09943584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4642038220000004 meters Centerline goodness [0,1] 0.06784388759538029 Centerline is valid? [False, False] Translation: X:0.36, Y:0.03, Z:-0.21 [[ 9.99985937e-01 -2.18421021e-03 -4.83260189e-03 3.59075052e-01] [ 2.18184514e-03 9.99997497e-01 -4.94616849e-04 2.96330286e-02] [ 4.83367015e-03 4.84065904e-04 9.99988201e-01 -2.09943614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4942038220000002 meters Centerline goodness [0,1] 0.17535545023696686 Centerline is valid? [False, False] Translation: X:0.36, Y:0.03, Z:-0.21 [[ 9.99984558e-01 -2.23509353e-03 -5.08800163e-03 3.60535248e-01] [ 2.23206555e-03 9.99997329e-01 -6.00722341e-04 3.04362135e-02] [ 5.08933070e-03 5.89356312e-04 9.99986876e-01 -2.10155223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.524203822 meters Centerline goodness [0,1] 0.1893805309734513 Centerline is valid? [False, False] Translation: X:0.36, Y:0.03, Z:-0.21 [[ 9.99982581e-01 -2.22370606e-03 -5.46742357e-03 3.63028065e-01] [ 2.22074286e-03 9.99997384e-01 -5.47983897e-04 3.01573426e-02] [ 5.46862782e-03 5.35832610e-04 9.99984903e-01 -2.10707659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5542038220000003 meters Centerline goodness [0,1] 0.18358260075351063 Centerline is valid? [False, False] Translation: X:0.36, Y:0.03, Z:-0.21 [[ 9.99981162e-01 -2.22669816e-03 -5.71988946e-03 3.64517357e-01] [ 2.22342231e-03 9.99997361e-01 -5.79008030e-04 3.04666742e-02] [ 5.72116364e-03 5.66279393e-04 9.99983474e-01 -2.10928713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.584203822 meters Centerline goodness [0,1] 0.06761786600496278 Centerline is valid? [False, False] Translation: X:0.37, Y:0.03, Z:-0.21 [[ 9.99979148e-01 -2.09069118e-03 -6.10999013e-03 3.66898846e-01] [ 2.08801308e-03 9.99997721e-01 -4.44660673e-04 2.95983916e-02] [ 6.11090586e-03 4.31893661e-04 9.99981235e-01 -2.11121608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6142038220000003 meters Centerline goodness [0,1] 0.0670952927669346 Centerline is valid? [False, False] Translation: X:0.37, Y:0.03, Z:-0.21 [[ 9.99977810e-01 -2.01843238e-03 -6.34868554e-03 3.68240783e-01] [ 2.01614036e-03 9.99997900e-01 -3.67402342e-04 2.90878215e-02] [ 6.34941379e-03 3.54594348e-04 9.99979779e-01 -2.11429034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.644203822 meters Centerline goodness [0,1] 0.0670952927669346 Centerline is valid? [False, False] Translation: X:0.37, Y:0.03, Z:-0.21 [[ 9.99977810e-01 -2.01843238e-03 -6.34868554e-03 3.68240783e-01] [ 2.01614036e-03 9.99997900e-01 -3.67402342e-04 2.90878215e-02] [ 6.34941379e-03 3.54594348e-04 9.99979779e-01 -2.11429034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6742038220000004 meters Centerline goodness [0,1] 0.06795110834887097 Centerline is valid? [False, False] Translation: X:0.37, Y:0.03, Z:-0.21 [[ 9.99975310e-01 -1.95146041e-03 -6.75060370e-03 3.70983334e-01] [ 1.94731694e-03 9.99997912e-01 -6.20310221e-04 3.09344092e-02] [ 6.75180011e-03 6.07149341e-04 9.99977022e-01 -2.12473774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.704203822 meters Centerline goodness [0,1] 0.06608556027067325 Centerline is valid? [False, False] Translation: X:0.37, Y:0.03, Z:-0.21 [[ 9.99973531e-01 -1.98735115e-03 -6.99908635e-03 3.72442598e-01] [ 1.98131774e-03 9.99997660e-01 -8.68857006e-04 3.27067698e-02] [ 7.00079669e-03 8.54966594e-04 9.99975129e-01 -2.12887593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7342038220000005 meters Centerline goodness [0,1] 0.06726291155958197 Centerline is valid? [False, False] Translation: X:0.37, Y:0.04, Z:-0.21 [[ 0.9999709 -0.00195668 -0.00737366 0.37461562] [ 0.00194755 0.99999733 -0.00124456 0.03561506] [ 0.00737608 0.00123017 0.99997204 -0.21315372] [ 0. 0. 0. 1. ]] SLAMing on 2.7642038220000003 meters Centerline goodness [0,1] 0.06611684482123115 Centerline is valid? [False, False] Translation: X:0.38, Y:0.04, Z:-0.21 [[ 0.99996871 -0.00205601 -0.0076382 0.37579186] [ 0.00204443 0.99999675 -0.00152283 0.0375375 ] [ 0.0076413 0.00150716 0.99996967 -0.21299828] [ 0. 0. 0. 1. ]] SLAMing on 2.794203822 meters Centerline goodness [0,1] 0.0659936821865128 Centerline is valid? [False, False] Translation: X:0.38, Y:0.04, Z:-0.21 [[ 0.99996512 -0.00210272 -0.00808313 0.37800421] [ 0.00208894 0.99999635 -0.00171332 0.03895798] [ 0.00808671 0.00169638 0.99996586 -0.21273412] [ 0. 0. 0. 1. ]] SLAMing on 2.8242038220000003 meters Centerline goodness [0,1] 0.06597031335898851 Centerline is valid? [False, False] Translation: X:0.38, Y:0.04, Z:-0.21 [[ 0.99996161 -0.00221301 -0.00847872 0.38017003] [ 0.00220075 0.99999652 -0.00145458 0.03684123] [ 0.00848191 0.00143587 0.999963 -0.21291732] [ 0. 0. 0. 1. ]] SLAMing on 2.854203822 meters Centerline goodness [0,1] 0.06590473583356149 Centerline is valid? [False, False] Translation: X:0.38, Y:0.03, Z:-0.21 [[ 9.99959519e-01 -2.10119553e-03 -8.74900406e-03 3.81686508e-01] [ 2.09248363e-03 9.99997306e-01 -1.00479342e-03 3.37544775e-02] [ 8.75109176e-03 9.86445602e-04 9.99961222e-01 -2.13309147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8842038220000004 meters Centerline goodness [0,1] 0.06624368945285852 Centerline is valid? [False, False] Translation: X:0.38, Y:0.03, Z:-0.21 [[ 9.99955789e-01 -2.16697334e-03 -9.15012234e-03 3.84191111e-01] [ 2.16172061e-03 9.99997493e-01 -5.83913238e-04 3.03635902e-02] [ 9.15136473e-03 5.64107414e-04 9.99957966e-01 -2.14060392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.914203822 meters Centerline goodness [0,1] 0.06642974302897753 Centerline is valid? [False, False] Translation: X:0.39, Y:0.03, Z:-0.21 [[ 9.99953858e-01 -2.26379162e-03 -9.33576261e-03 3.85320939e-01] [ 2.25670558e-03 9.99997158e-01 -7.69485911e-04 3.14767887e-02] [ 9.33747803e-03 7.48382338e-04 9.99956125e-01 -2.14482537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9442038220000004 meters Centerline goodness [0,1] 0.06642941874258601 Centerline is valid? [False, False] Translation: X:0.39, Y:0.03, Z:-0.22 [[ 0.99995079 -0.00238725 -0.00962956 0.38724791] [ 0.0023772 0.99999662 -0.00105494 0.03336975] [ 0.00963204 0.001032 0.99995308 -0.21517335] [ 0. 0. 0. 1. ]] SLAMing on 2.974203822 meters Centerline goodness [0,1] 0.06643340651298935 Centerline is valid? [False, False] Translation: X:0.39, Y:0.03, Z:-0.22 [[ 9.99947136e-01 -2.42671512e-03 -9.99182103e-03 3.89322565e-01] [ 2.41818618e-03 9.99996702e-01 -8.65585192e-04 3.20588231e-02] [ 9.99388860e-03 8.41377350e-04 9.99949706e-01 -2.15574055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0042038220000005 meters Centerline goodness [0,1] 0.06610072272570844 Centerline is valid? [False, False] Translation: X:0.39, Y:0.03, Z:-0.22 [[ 9.99945050e-01 -2.38363828e-03 -1.02086351e-02 3.90473081e-01] [ 2.37604760e-03 9.99996892e-01 -7.55618508e-04 3.13611336e-02] [ 1.02104045e-02 7.31320783e-04 9.99947605e-01 -2.15898445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0342038220000003 meters Centerline goodness [0,1] 0.17523600036660247 Centerline is valid? [False, False] Translation: X:0.39, Y:0.03, Z:-0.22 [[ 9.99941496e-01 -2.29819910e-03 -1.05698779e-02 3.92245934e-01] [ 2.29071655e-03 9.99997117e-01 -7.19964943e-04 3.12452088e-02] [ 1.05715021e-02 6.95710228e-04 9.99943878e-01 -2.15661156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.064203822 meters Centerline goodness [0,1] 0.1860502503330118 Centerline is valid? [False, False] Translation: X:0.39, Y:0.03, Z:-0.22 [[ 0.99993903 -0.00239263 -0.01077994 0.39324794] [ 0.00238156 0.99999662 -0.00103997 0.03323833] [ 0.01078239 0.00101424 0.99994135 -0.21578831] [ 0. 0. 0. 1. ]] SLAMing on 3.0942038220000003 meters Centerline goodness [0,1] 0.18916010258289062 Centerline is valid? [False, False] Translation: X:0.40, Y:0.04, Z:-0.22 [[ 0.99993483 -0.00229457 -0.01118393 0.39518132] [ 0.00227575 0.99999597 -0.00169443 0.03826876] [ 0.01118777 0.00166887 0.99993602 -0.21579002] [ 0. 0. 0. 1. ]] SLAMing on 3.124203822 meters Centerline goodness [0,1] 0.1909768554732435 Centerline is valid? [False, False] Translation: X:0.40, Y:0.04, Z:-0.22 [[ 0.99993222 -0.00235441 -0.01140203 0.39599736] [ 0.00233366 0.9999956 -0.00183252 0.03909105] [ 0.0114063 0.00180579 0.99993332 -0.21559766] [ 0. 0. 0. 1. ]] SLAMing on 3.1542038220000004 meters Centerline goodness [0,1] 0.1909336260921275 Centerline is valid? [False, False] Translation: X:0.41, Y:0.04, Z:-0.22 [[ 0.99999336 -0.00345432 0.00115962 0.4071988 ] [ 0.00345674 0.99999184 -0.00209292 0.03882454] [-0.00115238 0.00209692 0.99999714 -0.22015744] [ 0. 0. 0. 1. ]] SLAMing on 3.184203822 meters Centerline goodness [0,1] 0.1914581278528339 Centerline is valid? [False, False] Translation: X:0.41, Y:0.04, Z:-0.22 [[ 9.99994086e-01 -3.32292243e-03 8.86364333e-04 4.08163093e-01] [ 3.32431662e-03 9.99993232e-01 -1.57612522e-03 3.56796713e-02] [-8.81120993e-04 1.57906245e-03 9.99998365e-01 -2.19849779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2142038220000004 meters Centerline goodness [0,1] 0.19086594676387647 Centerline is valid? [False, False] Translation: X:0.41, Y:0.03, Z:-0.22 [[ 9.99991717e-01 -4.04253658e-03 4.73165177e-04 4.10154891e-01] [ 4.04310986e-03 9.99991086e-01 -1.21697680e-03 3.12525276e-02] [-4.68241286e-04 1.21887978e-03 9.99999148e-01 -2.19788844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2442038220000002 meters Centerline goodness [0,1] 0.19129317858617367 Centerline is valid? [False, False] Translation: X:0.41, Y:0.03, Z:-0.22 [[ 9.99990553e-01 -4.34495528e-03 1.24980583e-04 4.11897584e-01] [ 4.34512858e-03 9.99989549e-01 -1.42153972e-03 3.23087178e-02] [-1.18802750e-04 1.42206935e-03 9.99998982e-01 -2.19940985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2742038220000005 meters Centerline goodness [0,1] 0.19233315829128517 Centerline is valid? [False, False] Translation: X:0.41, Y:0.03, Z:-0.22 [[ 9.99990604e-01 -4.33360520e-03 -1.10786633e-04 4.12831561e-01] [ 4.33346099e-03 9.99989804e-01 -1.27038225e-03 3.13573425e-02] [ 1.16290839e-04 1.26989023e-03 9.99999187e-01 -2.19867461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3042038220000003 meters Centerline goodness [0,1] 0.19304930676705534 Centerline is valid? [False, False] Translation: X:0.41, Y:0.03, Z:-0.22 [[ 9.99981902e-01 -6.01616192e-03 -3.85574012e-05 4.09278494e-01] [ 6.01605630e-03 9.99979213e-01 -2.31966018e-03 2.63640182e-02] [ 5.25120510e-05 2.31938623e-03 9.99997309e-01 -2.15947298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.334203822 meters Centerline goodness [0,1] 0.19181772521802654 Centerline is valid? [False, False] Translation: X:0.41, Y:0.02, Z:-0.22 [[ 9.99982986e-01 -5.82647540e-03 -2.81349302e-04 4.10431853e-01] [ 5.82595063e-03 9.99981352e-01 -1.83131316e-03 2.35899371e-02] [ 2.92014157e-04 1.82964287e-03 9.99998284e-01 -2.16177708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3642038220000003 meters Centerline goodness [0,1] 0.19151620821766957 Centerline is valid? [False, False] Translation: X:0.41, Y:0.02, Z:-0.22 [[ 9.99983534e-01 -5.70806828e-03 -5.91209976e-04 4.12005053e-01] [ 5.70706279e-03 9.99982289e-01 -1.68869424e-03 2.29776225e-02] [ 6.00838687e-04 1.68529236e-03 9.99998399e-01 -2.16567200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.394203822 meters Centerline goodness [0,1] 0.19302245250431782 Centerline is valid? [False, False] Translation: X:0.41, Y:0.02, Z:-0.22 [[ 9.99983636e-01 -5.66652352e-03 -7.86206524e-04 4.12801878e-01] [ 5.66519607e-03 9.99982541e-01 -1.68050332e-03 2.30434983e-02] [ 7.95715409e-04 1.67602181e-03 9.99998279e-01 -2.16611514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4242038220000004 meters Centerline goodness [0,1] 0.19494277226354695 Centerline is valid? [False, False] Translation: X:0.41, Y:0.02, Z:-0.21 [[ 9.99994755e-01 -3.17869281e-03 -6.20704756e-04 4.08791543e-01] [ 3.17939578e-03 9.99994302e-01 1.13484954e-03 2.05698239e-02] [ 6.17093881e-04 -1.13681705e-03 9.99999163e-01 -2.12641495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.454203822 meters Centerline goodness [0,1] 0.1920893567143941 Centerline is valid? [False, False] Translation: X:0.41, Y:0.02, Z:-0.21 [[ 9.99994798e-01 -3.09593423e-03 -9.04622550e-04 4.09902437e-01] [ 3.09687707e-03 9.99994661e-01 1.04270587e-03 2.12700329e-02] [ 9.01389572e-04 -1.04550195e-03 9.99999047e-01 -2.12721996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4842038220000005 meters Centerline goodness [0,1] 0.19086162475204638 Centerline is valid? [False, False] Translation: X:0.42, Y:0.02, Z:-0.22 [[ 9.99997889e-01 -9.09211315e-04 -1.84244123e-03 4.17165733e-01] [ 9.14835917e-04 9.99994917e-01 3.05425917e-03 1.89399391e-02] [ 1.83965489e-03 -3.05593825e-03 9.99993638e-01 -2.16696517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5142038220000003 meters Centerline goodness [0,1] 0.19176142850618805 Centerline is valid? [False, False] Translation: X:0.41, Y:0.02, Z:-0.21 [[ 0.99999715 0.00148861 -0.00186829 0.41365063] [-0.0014794 0.9999868 0.00492145 0.0185668 ] [ 0.00187559 -0.00491867 0.99998614 -0.21239987] [ 0. 0. 0. 1. ]] SLAMing on 3.5442038220000005 meters Centerline goodness [0,1] 0.19229543281271344 Centerline is valid? [False, False] Translation: X:0.41, Y:0.02, Z:-0.21 [[ 0.99999643 0.00154278 -0.00218319 0.41475252] [-0.00153296 0.99998873 0.00449241 0.02138987] [ 0.00219009 -0.00448905 0.99998753 -0.21232147] [ 0. 0. 0. 1. ]] SLAMing on 3.5742038220000003 meters Centerline goodness [0,1] 0.18834756403817177 Centerline is valid? [False, False] Translation: X:0.42, Y:0.02, Z:-0.21 [[ 0.99999491 0.00194106 -0.00253049 0.41592298] [-0.00193016 0.99998888 0.00430306 0.02332495] [ 0.00253882 -0.00429815 0.99998754 -0.21201209] [ 0. 0. 0. 1. ]] SLAMing on 3.604203822 meters Centerline goodness [0,1] 0.19085304131775094 Centerline is valid? [False, False] Translation: X:0.39, Y:0.02, Z:-0.21 [[ 9.99982873e-01 5.85209522e-03 8.16584548e-05 3.94071879e-01] [-5.85209747e-03 9.99982876e-01 2.72762390e-05 2.29102458e-02] [-8.14974333e-05 -2.77536450e-05 9.99999996e-01 -2.14641086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6342038220000004 meters Centerline goodness [0,1] 0.1868026339857326 Centerline is valid? [False, False] Translation: X:0.40, Y:0.03, Z:-0.21 [[ 9.99982657e-01 5.87957042e-03 -3.40423135e-04 3.95765567e-01] [-5.87975834e-03 9.99982561e-01 -5.53666710e-04 2.66267221e-02] [ 3.37161876e-04 5.55658714e-04 9.99999789e-01 -2.14920576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.664203822 meters Centerline goodness [0,1] 0.1866076723076221 Centerline is valid? [False, False] Translation: X:0.40, Y:0.03, Z:-0.22 [[ 9.99982626e-01 5.87639651e-03 -4.65096090e-04 3.96360909e-01] [-5.87667275e-03 9.99982555e-01 -5.94826071e-04 2.68311500e-02] [ 4.61592542e-04 5.97548954e-04 9.99999715e-01 -2.15162068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6942038220000004 meters Centerline goodness [0,1] 0.18371569541392874 Centerline is valid? [False, False] Translation: X:0.40, Y:0.03, Z:-0.22 [[ 9.99982696e-01 5.82865930e-03 -7.96968243e-04 3.97859940e-01] [-5.82927763e-03 9.99982709e-01 -7.75742694e-04 2.77782024e-02] [ 7.92432923e-04 7.80375019e-04 9.99999382e-01 -2.15633883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.724203822 meters Centerline goodness [0,1] 0.18276350671907848 Centerline is valid? [False, False] Translation: X:0.40, Y:0.03, Z:-0.22 [[ 9.99983249e-01 5.71590633e-03 -9.11220927e-04 3.98382089e-01] [-5.71685276e-03 9.99983118e-01 -1.03944122e-03 2.92027268e-02] [ 9.05264195e-04 1.04463313e-03 9.99999045e-01 -2.15828132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7542038220000005 meters Centerline goodness [0,1] 0.18087920105795974 Centerline is valid? [False, False] Translation: X:0.40, Y:0.03, Z:-0.22 [[ 0.99998392 0.00554303 -0.00119922 0.3993864 ] [-0.00554439 0.99998399 -0.00113488 0.02938148] [ 0.00119291 0.00114151 0.99999864 -0.21549922] [ 0. 0. 0. 1. ]] SLAMing on 3.7842038220000003 meters Centerline goodness [0,1] 0.17907370928581245 Centerline is valid? [False, False] Translation: X:0.38, Y:0.03, Z:-0.22 [[ 9.99997878e-01 5.77975142e-04 1.97735995e-03 3.77167430e-01] [-5.83769893e-04 9.99995534e-01 2.93122870e-03 2.87776411e-02] [-1.97565695e-03 -2.93237680e-03 9.99993749e-01 -2.17532331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8142038220000005 meters Centerline goodness [0,1] 0.16861627559579895 Centerline is valid? [False, False] Translation: X:0.38, Y:0.03, Z:-0.22 [[ 9.99998253e-01 4.84631553e-04 1.80547664e-03 3.77770751e-01] [-4.89752407e-04 9.99995856e-01 2.83692749e-03 2.91040881e-02] [-1.80409429e-03 -2.83780677e-03 9.99994346e-01 -2.17499217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8442038220000003 meters Centerline goodness [0,1] 0.16890222786563547 Centerline is valid? [False, False] Translation: X:0.37, Y:0.03, Z:-0.21 [[ 9.99996472e-01 -1.52782624e-03 2.17283238e-03 3.73616121e-01] [ 1.52631240e-03 9.99998591e-01 6.98199550e-04 3.19716622e-02] [-2.17389605e-03 -6.94880666e-04 9.99997396e-01 -2.14319401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.874203822 meters Centerline goodness [0,1] 0.16942692814080795 Centerline is valid? [False, False] Translation: X:0.37, Y:0.03, Z:-0.21 [[ 9.99996898e-01 -1.48818463e-03 1.99750428e-03 3.74150577e-01] [ 1.48640910e-03 9.99998499e-01 8.90065148e-04 3.09326413e-02] [-1.99882586e-03 -8.87093278e-04 9.99997609e-01 -2.14228404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9042038220000004 meters Centerline goodness [0,1] 0.19241563261046035 Centerline is valid? [False, False] Translation: X:0.37, Y:0.03, Z:-0.21 [[ 0.99999031 -0.00358074 0.00256092 0.36873406] [ 0.00358386 0.99999284 -0.00121413 0.03111922] [-0.00255655 0.0012233 0.99999598 -0.20995377] [ 0. 0. 0. 1. ]] SLAMing on 3.934203822 meters Centerline goodness [0,1] 0.19656116576944493 Centerline is valid? [False, False] Translation: X:0.37, Y:0.03, Z:-0.21 [[ 0.99999045 -0.00361619 0.00245398 0.369067 ] [ 0.00361931 0.99999265 -0.00126878 0.03141494] [-0.00244937 0.00127765 0.99999618 -0.2099224 ] [ 0. 0. 0. 1. ]] SLAMing on 3.9642038220000004 meters Centerline goodness [0,1] 0.173281881661154 Centerline is valid? [False, False] Translation: X:0.42, Y:0.04, Z:-0.21 [[ 9.99995289e-01 -3.05359560e-03 -3.11407999e-04 4.16570629e-01] [ 3.05301012e-03 9.99993603e-01 -1.86357646e-03 3.51058019e-02] [ 3.17096616e-04 1.86261695e-03 9.99998215e-01 -2.10170660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9942038220000002 meters Centerline goodness [0,1] 0.1828237122354769 Centerline is valid? [False, False] Translation: X:0.42, Y:0.04, Z:-0.21 [[ 9.99994952e-01 -3.13411199e-03 -5.22268084e-04 4.17090665e-01] [ 3.13302153e-03 9.99992938e-01 -2.07583132e-03 3.62579263e-02] [ 5.28770283e-04 2.07418457e-03 9.99997709e-01 -2.09514406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.0242038220000005 meters Centerline goodness [0,1] 0.20313868276720282 Centerline is valid? [False, False] Translation: X:0.37, Y:0.03, Z:-0.21 [[ 9.99993816e-01 -2.84557459e-03 2.06660641e-03 3.69422398e-01] [ 2.84647316e-03 9.99995855e-01 -4.31996280e-04 3.41141321e-02] [-2.06536857e-03 4.37876149e-04 9.99997771e-01 -2.08768631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.054203822000001 meters Centerline goodness [0,1] 0.22451005286119896 Centerline is valid? [False, False] Translation: X:0.37, Y:0.04, Z:-0.21 [[ 0.99999291 -0.00318255 0.0020127 0.36978236] [ 0.00318511 0.99999412 -0.00126912 0.03830577] [-0.00200865 0.00127552 0.99999717 -0.20915905] [ 0. 0. 0. 1. ]] SLAMing on 4.084203822 meters Centerline goodness [0,1] 0.19334154801022274 Centerline is valid? [False, False] Translation: X:0.42, Y:0.04, Z:-0.21 [[ 9.99997977e-01 -1.96285457e-03 -4.38837768e-04 4.16999599e-01] [ 1.96236853e-03 9.99997464e-01 -1.10525756e-03 4.14699634e-02] [ 4.41006115e-04 1.10439416e-03 9.99999293e-01 -2.09965991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.114203822 meters Centerline goodness [0,1] 0.21501178210044813 Centerline is valid? [False, False] Translation: X:0.37, Y:0.04, Z:-0.21 [[ 9.99996440e-01 -1.81778079e-03 1.95323536e-03 3.68877534e-01] [ 1.81883373e-03 9.99998202e-01 -5.37435270e-04 4.32730119e-02] [-1.95225491e-03 5.40985967e-04 9.99997948e-01 -2.09143103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.144203822000001 meters Centerline goodness [0,1] 0.21335018382352944 Centerline is valid? [False, False] Translation: X:0.37, Y:0.04, Z:-0.21 [[ 9.99996276e-01 -1.96195055e-03 1.89704330e-03 3.69249314e-01] [ 1.96355927e-03 9.99997714e-01 -8.46525383e-04 4.47506341e-02] [-1.89537812e-03 8.50247187e-04 9.99997842e-01 -2.09590863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.174203822 meters Centerline goodness [0,1] 0.2676389526871842 Centerline is valid? [False, False] Translation: X:0.37, Y:0.05, Z:-0.21 [[ 0.99999566 -0.00229772 0.00184245 0.36922788] [ 0.00230047 0.99999624 -0.0014958 0.04784977] [-0.00183901 0.00150003 0.99999718 -0.20919474] [ 0. 0. 0. 1. ]] SLAMing on 4.204203822 meters Centerline goodness [0,1] 0.2142840865066885 Centerline is valid? [False, False] Translation: X:0.37, Y:0.05, Z:-0.21 [[ 0.99999533 -0.00252011 0.00173031 0.36918795] [ 0.00252345 0.99999495 -0.00193049 0.04998348] [-0.00172543 0.00193484 0.99999664 -0.20837836] [ 0. 0. 0. 1. ]] SLAMing on 4.2342038220000005 meters Centerline goodness [0,1] 0.23574388205938235 Centerline is valid? [False, False] Translation: X:0.32, Y:0.05, Z:-0.21 [[ 0.99998603 -0.00309967 0.00428089 0.32008113] [ 0.00311007 0.99999222 -0.00242466 0.05424173] [-0.00427334 0.00243794 0.9999879 -0.20635216] [ 0. 0. 0. 1. ]] SLAMing on 4.264203822000001 meters Centerline goodness [0,1] 0.21966680397272187 Centerline is valid? [False, False] Translation: X:0.32, Y:0.06, Z:-0.21 [[ 0.99998513 -0.00351452 0.00416898 0.32058395] [ 0.00352777 0.99998874 -0.00317511 0.05769159] [-0.00415778 0.00318977 0.99998627 -0.2067565 ] [ 0. 0. 0. 1. ]] SLAMing on 4.294203822 meters Centerline goodness [0,1] 0.24023022634355795 Centerline is valid? [False, False] Translation: X:0.32, Y:0.06, Z:-0.21 [[ 0.99998503 -0.00361617 0.00410681 0.32083432] [ 0.00362993 0.99998781 -0.00334695 0.05844502] [-0.00409466 0.0033618 0.99998597 -0.20688849] [ 0. 0. 0. 1. ]] SLAMing on 4.324203822 meters Centerline goodness [0,1] 0.25040576065836095 Centerline is valid? [False, False] Translation: X:0.32, Y:0.06, Z:-0.21 [[ 0.99998414 -0.00393187 0.00403168 0.32119215] [ 0.00394726 0.99998492 -0.00381701 0.0604924 ] [-0.00401661 0.00383286 0.99998459 -0.20721393] [ 0. 0. 0. 1. ]] SLAMing on 4.354203822000001 meters Centerline goodness [0,1] 0.4538798412481182 Centerline is valid? [False, False] Translation: X:0.32, Y:0.06, Z:-0.21 [[ 0.99998323 -0.00418917 0.00399837 0.3214309 ] [ 0.00420654 0.9999817 -0.0043472 0.06298263] [-0.00398008 0.00436395 0.99998256 -0.20747607] [ 0. 0. 0. 1. ]] SLAMing on 4.384203822000001 meters Centerline goodness [0,1] 0.9927927927927928 Centerline is valid? [False, True] Translation: X:0.32, Y:0.06, Z:-0.21 [[ 9.99993792e-01 -9.69979256e-04 3.38741060e-03 3.23271103e-01] [ 9.71607126e-04 9.99999413e-01 -4.78952262e-04 6.30157166e-02] [-3.38694404e-03 4.82240521e-04 9.99994148e-01 -2.07683045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.414203822 meters Centerline goodness [0,1] 0.9939665771139747 Centerline is valid? [True, True] Translation: X:0.35, Y:0.07, Z:-0.21 [[ 0.99999183 -0.00270537 0.0030043 0.35437101] [ 0.00271246 0.99999354 -0.00235921 0.06894393] [-0.0029979 0.00236734 0.9999927 -0.20986313] [ 0. 0. 0. 1. ]] SLAMing on 4.444203822 meters Centerline goodness [0,1] 0.9945174939715182 Centerline is valid? [True, True] Translation: X:0.39, Y:0.08, Z:-0.21 [[ 0.99998536 -0.00311757 -0.00442339 0.38581 ] [ 0.00301596 0.99973561 -0.02279486 0.084395 ] [ 0.00449329 0.02278119 0.99973038 -0.21199498] [ 0. 0. 0. 1. ]] SLAMing on 4.474203822000001 meters Centerline goodness [0,1] 0.9946031746031746 Centerline is valid? [True, True] Translation: X:0.41, Y:0.08, Z:-0.23 [[ 9.99982695e-01 -5.87745657e-03 -2.55636428e-04 4.13980609e-01] [ 5.87992234e-03 9.99921677e-01 1.10483287e-02 7.93185069e-02] [ 1.90680333e-04 -1.10496407e-02 9.99938933e-01 -2.33406555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.504203822 meters Centerline goodness [0,1] 0.9958882326215357 Centerline is valid? [True, True] Translation: X:0.44, Y:0.09, Z:-0.23 [[ 9.99976422e-01 -6.85287635e-03 4.39052961e-04 4.44506577e-01] [ 6.85287224e-03 9.99976519e-01 1.08631953e-05 8.55983480e-02] [-4.39117096e-04 -7.85416529e-06 9.99999904e-01 -2.33447988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.534203822 meters Centerline goodness [0,1] 0.995369429197443 Centerline is valid? [True, True] Translation: X:0.47, Y:0.09, Z:-0.24 [[ 9.99971326e-01 -7.57005265e-03 -2.05098510e-04 4.74920175e-01] [ 7.57005185e-03 9.99971347e-01 -4.69802948e-06 9.14766920e-02] [ 2.05128198e-04 3.14528841e-06 9.99999979e-01 -2.40450173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.5642038220000005 meters Centerline goodness [0,1] 0.995369429197443 Centerline is valid? [True, True] Translation: X:0.50, Y:0.09, Z:-0.24 [[ 9.99971326e-01 -7.57004010e-03 -2.05089259e-04 5.04915619e-01] [ 7.57003922e-03 9.99971347e-01 -5.07209496e-06 9.22187641e-02] [ 2.05121779e-04 3.51941579e-06 9.99999979e-01 -2.41456495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.594203822000001 meters Centerline goodness [0,1] 0.9967622885865013 Centerline is valid? [True, True] Translation: X:0.54, Y:0.09, Z:-0.24 [[ 9.99971233e-01 -7.58328702e-03 -1.66980421e-04 5.35000442e-01] [ 7.58328644e-03 9.99971246e-01 -4.12961926e-06 9.42472555e-02] [ 1.67006936e-04 2.86324009e-06 9.99999986e-01 -2.39312485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.624203822 meters Centerline goodness [0,1] 0.9966880702940183 Centerline is valid? [True, True] Translation: X:0.57, Y:0.10, Z:-0.24 [[ 9.99969343e-01 -7.81963289e-03 -4.06773001e-04 5.65472568e-01] [ 7.81962944e-03 9.99969426e-01 -1.00599675e-05 9.74455447e-02] [ 4.06839230e-04 6.87884500e-06 9.99999917e-01 -2.42020874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.654203822 meters Centerline goodness [0,1] 0.9977400619223034 Centerline is valid? [True, True] Translation: X:0.60, Y:0.10, Z:-0.24 [[ 9.99961117e-01 -8.79580912e-03 6.31360759e-04 5.95664500e-01] [ 8.79580125e-03 9.99961316e-01 1.52449680e-05 9.56256196e-02] [-6.31470427e-04 -9.69105144e-06 9.99999801e-01 -2.39479155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.684203822000001 meters Centerline goodness [0,1] 0.8725197856646414 Centerline is valid? [True, False] Translation: X:0.60, Y:0.10, Z:-0.24 [[ 9.99959453e-01 -8.98176947e-03 6.48362162e-04 5.95527268e-01] [ 8.98197605e-03 9.99959611e-01 -3.16400305e-04 9.71714045e-02] [-6.45494141e-04 3.22211050e-04 9.99999740e-01 -2.39281404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.714203822 meters Centerline goodness [0,1] 0.9979610127716783 Centerline is valid? [False, True] Translation: X:0.60, Y:0.10, Z:-0.24 [[ 9.99985580e-01 -5.35682519e-03 3.79951841e-04 5.96111849e-01] [ 5.35534074e-03 9.99978417e-01 3.80590347e-03 9.68051677e-02] [-4.00331200e-04 -3.80381382e-03 9.99992685e-01 -2.39005195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.744203822 meters Centerline goodness [0,1] 0.9973918858671422 Centerline is valid? [True, True] Translation: X:0.63, Y:0.10, Z:-0.24 [[ 9.99984355e-01 -5.57719369e-03 4.29541658e-04 6.26636137e-01] [ 5.57719020e-03 9.99984447e-01 9.31642627e-06 1.01087417e-01] [-4.29586937e-04 -6.92064499e-06 9.99999908e-01 -2.41257037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.7742038220000005 meters Centerline goodness [0,1] 0.9982358983520164 Centerline is valid? [True, True] Translation: X:0.66, Y:0.10, Z:-0.24 [[ 9.99985138e-01 -5.43638165e-03 -4.11843037e-04 6.57457525e-01] [ 5.43637888e-03 9.99985223e-01 -7.85594764e-06 1.01690601e-01] [ 4.11879659e-04 5.61689610e-06 9.99999915e-01 -2.42482978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.804203822000001 meters Centerline goodness [0,1] 0.9984168747770246 Centerline is valid? [True, True] Translation: X:0.69, Y:0.10, Z:-0.24 [[ 9.99988167e-01 -4.86434448e-03 -5.59868054e-05 6.88284407e-01] [ 4.86434443e-03 9.99988169e-01 -1.06795398e-06 9.89219371e-02] [ 5.59913379e-05 7.95602241e-07 9.99999998e-01 -2.35193312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.834203822 meters Centerline goodness [0,1] 0.9987081542196583 Centerline is valid? [True, True] Translation: X:0.72, Y:0.11, Z:-0.24 [[ 9.99996275e-01 -2.60584538e-03 8.12065036e-04 7.17174044e-01] [ 2.60583396e-03 9.99996605e-01 1.51201575e-05 1.05517670e-01] [-8.12101679e-04 -1.30039945e-05 9.99999670e-01 -2.38377368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.864203822 meters Centerline goodness [0,1] 0.9982061389910085 Centerline is valid? [True, True] Translation: X:0.75, Y:0.11, Z:-0.24 [[ 9.99997343e-01 -7.28016496e-04 2.18731736e-03 7.47471763e-01] [ 7.27926184e-04 9.99999734e-01 4.20848152e-05 1.11181745e-01] [-2.18734742e-03 -4.04924978e-05 9.99997607e-01 -2.36958602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.894203822000001 meters Centerline goodness [0,1] 0.9977661786172425 Centerline is valid? [True, True] Translation: X:0.78, Y:0.13, Z:-0.24 [[ 9.99984874e-01 2.93375906e-03 4.65247338e-03 7.77896306e-01] [-2.93420795e-03 9.99995691e-01 8.96623557e-05 1.25307981e-01] [-4.65219029e-03 -1.03312324e-04 9.99989173e-01 -2.38838572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.924203822000001 meters Centerline goodness [0,1] 0.9982116441834279 Centerline is valid? [True, True] Translation: X:0.81, Y:0.13, Z:-0.23 [[ 9.99967729e-01 7.16130383e-03 3.64086476e-03 8.08706594e-01] [-7.16160487e-03 9.99974353e-01 6.96522077e-05 1.28751049e-01] [-3.64027259e-03 -9.57243948e-05 9.99993370e-01 -2.34987857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.954203822 meters Centerline goodness [0,1] 0.9980333664788421 Centerline is valid? [True, True] Translation: X:0.84, Y:0.13, Z:-0.24 [[ 9.99951236e-01 9.44840860e-03 2.87266957e-03 8.39765076e-01] [-9.44860653e-03 9.99955359e-01 5.53356903e-05 1.31567984e-01] [-2.87201850e-03 -8.24757165e-05 9.99995872e-01 -2.36802882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.9842038220000005 meters Centerline goodness [0,1] 0.9954273654590221 Centerline is valid? [True, True] Translation: X:0.87, Y:0.14, Z:-0.24 [[ 9.99908755e-01 1.32450620e-02 2.65510309e-03 8.70579638e-01] [-1.32452435e-02 9.99912277e-01 5.08002719e-05 1.36362945e-01] [-2.65419732e-03 -8.59631236e-05 9.99996474e-01 -2.37870552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.014203822000001 meters Centerline goodness [0,1] 0.997039916940953 Centerline is valid? [True, True] Translation: X:0.90, Y:0.14, Z:-0.24 [[ 9.99883040e-01 1.49284622e-02 3.32366315e-03 9.02084266e-01] [-1.49287567e-02 9.99888558e-01 6.38078540e-05 1.38178539e-01] [-3.32234020e-03 -1.13418549e-04 9.99994475e-01 -2.35494613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.044203822 meters Centerline goodness [0,1] 0.9835702377818725 Centerline is valid? [True, True] Translation: X:0.93, Y:0.15, Z:-0.24 [[ 9.99844010e-01 1.72965245e-02 3.57573867e-03 9.32300193e-01] [-1.72968799e-02 9.99850395e-01 6.84984185e-05 1.49767010e-01] [-3.57401894e-03 -1.30336856e-04 9.99993605e-01 -2.39229939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.074203822 meters Centerline goodness [0,1] 0.983319834511744 Centerline is valid? [True, True] Translation: X:0.96, Y:0.15, Z:-0.24 [[ 9.99830410e-01 1.80016065e-02 3.88502718e-03 9.64718290e-01] [-1.80020456e-02 9.99837947e-01 7.81041733e-05 1.49925129e-01] [-3.88299160e-03 -1.48029364e-04 9.99992450e-01 -2.39029833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.104203822000001 meters Centerline goodness [0,1] 0.9869580389077903 Centerline is valid? [True, True] Translation: X:1.00, Y:0.15, Z:-0.24 [[ 9.99816487e-01 1.82985395e-02 5.67061637e-03 9.96835773e-01] [-1.82994613e-02 9.99832545e-01 1.10701405e-04 1.48376499e-01] [-5.66764112e-03 -2.14450314e-04 9.99983916e-01 -2.37235116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.134203822000001 meters Centerline goodness [0,1] 0.9695432577175949 Centerline is valid? [True, True] Translation: X:1.03, Y:0.15, Z:-0.24 [[ 9.99814677e-01 1.83192612e-02 5.91752440e-03 1.02794945e+00] [-1.83202564e-02 9.99832164e-01 1.13999567e-04 1.52498328e-01] [-5.91444284e-03 -2.22389005e-04 9.99982485e-01 -2.41077007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.164203822 meters Centerline goodness [0,1] 0.9866217098107462 Centerline is valid? [True, True] Translation: X:1.06, Y:0.15, Z:-0.24 [[ 9.99823012e-01 1.80935894e-02 5.15437206e-03 1.06085900e+00] [-1.80943453e-02 9.99836279e-01 1.00050399e-04 1.49913758e-01] [-5.15171791e-03 -1.93297679e-04 9.99986711e-01 -2.41481937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.194203822 meters Centerline goodness [0,1] 0.9850548207448659 Centerline is valid? [True, True] Translation: X:1.09, Y:0.15, Z:-0.24 [[ 9.99820784e-01 1.80533490e-02 5.69878769e-03 1.09264942e+00] [-1.80542594e-02 9.99837003e-01 1.08344332e-04 1.54043081e-01] [-5.69590283e-03 -2.11212307e-04 9.99983756e-01 -2.42853995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.224203822000001 meters Centerline goodness [0,1] 0.9891294895208279 Centerline is valid? [True, True] Translation: X:1.13, Y:0.16, Z:-0.24 [[ 9.99822898e-01 1.79173132e-02 5.75692307e-03 1.12526492e+00] [-1.79182346e-02 9.99839450e-01 1.08506891e-04 1.55196304e-01] [-5.75405464e-03 -2.11641572e-04 9.99983423e-01 -2.43140987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.254203822 meters Centerline goodness [0,1] 0.9858785249457701 Centerline is valid? [True, True] Translation: X:1.16, Y:0.16, Z:-0.24 [[ 9.99833779e-01 1.72934396e-02 5.77500228e-03 1.15693695e+00] [-1.72943508e-02 9.99850436e-01 1.07866387e-04 1.57308611e-01] [-5.77227316e-03 -2.07723372e-04 9.99983319e-01 -2.44597687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.284203822 meters Centerline goodness [0,1] 0.9930075966850829 Centerline is valid? [True, True] Translation: X:1.19, Y:0.15, Z:-0.24 [[ 9.99843884e-01 1.64726837e-02 6.39206708e-03 1.18928016e+00] [-1.64737731e-02 9.99864291e-01 1.17816521e-04 1.54024854e-01] [-6.38925887e-03 -2.23099591e-04 9.99979564e-01 -2.43193577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.3142038220000005 meters Centerline goodness [0,1] 0.9962857389651896 Centerline is valid? [True, True] Translation: X:1.22, Y:0.15, Z:-0.24 [[ 9.99871007e-01 1.44422716e-02 7.02779628e-03 1.22134589e+00] [-1.44435080e-02 9.99895679e-01 1.25192178e-04 1.53958907e-01] [-7.02525507e-03 -2.26682060e-04 9.99975297e-01 -2.43164561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.344203822000001 meters Centerline goodness [0,1] 0.9975834466092736 Centerline is valid? [True, True] Translation: X:1.25, Y:0.16, Z:-0.24 [[ 9.99885561e-01 1.37356226e-02 6.34013739e-03 1.25393751e+00] [-1.37366149e-02 9.99905642e-01 1.12994242e-04 1.55849353e-01] [-6.33798710e-03 -2.00073337e-04 9.99979895e-01 -2.44775905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.374203822 meters Centerline goodness [0,1] 0.9954689915822024 Centerline is valid? [True, True] Translation: X:1.29, Y:0.16, Z:-0.25 [[ 9.99913343e-01 1.20019082e-02 5.40923718e-03 1.28510059e+00] [-1.20026178e-02 9.99927961e-01 9.87367909e-05 1.60698384e-01] [-5.40766248e-03 -1.63653241e-04 9.99985365e-01 -2.51367884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.404203822 meters Centerline goodness [0,1] 0.9986205707388568 Centerline is valid? [True, True] Translation: X:1.32, Y:0.16, Z:-0.25 [[ 9.99920404e-01 1.11791155e-02 5.84917839e-03 1.31762416e+00] [-1.11799255e-02 9.99937497e-01 1.05796883e-04 1.56065966e-01] [-5.84763009e-03 -1.71181840e-04 9.99982888e-01 -2.50050683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.434203822000001 meters Centerline goodness [0,1] 0.9993714917318653 Centerline is valid? [True, True] Translation: X:1.35, Y:0.15, Z:-0.25 [[ 9.99934282e-01 9.07023295e-03 7.01157349e-03 1.34922308e+00] [-9.07130672e-03 9.99958847e-01 1.21355020e-04 1.52149777e-01] [-7.01018423e-03 -1.84951179e-04 9.99975411e-01 -2.48897140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.464203822000001 meters Centerline goodness [0,1] 0.9995007922210405 Centerline is valid? [True, True] Translation: X:1.38, Y:0.16, Z:-0.25 [[ 9.99934867e-01 8.22553906e-03 7.91215189e-03 1.38090738e+00] [-8.22690317e-03 9.99966149e-01 1.39875420e-04 1.56795304e-01] [-7.91073351e-03 -2.04958817e-04 9.99968689e-01 -2.48610654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.494203822 meters Centerline goodness [0,1] 0.9996720092712046 Centerline is valid? [True, True] Translation: X:1.41, Y:0.16, Z:-0.25 [[ 9.99925545e-01 8.64281260e-03 8.61428639e-03 1.41336730e+00] [-8.64442943e-03 9.99962625e-01 1.50475355e-04 1.59309205e-01] [-8.61266390e-03 -2.24929742e-04 9.99962885e-01 -2.47527017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.5242038220000005 meters Centerline goodness [0,1] 0.999563108916947 Centerline is valid? [True, True] Translation: X:1.44, Y:0.17, Z:-0.25 [[ 9.99907388e-01 1.05464474e-02 8.60160380e-03 1.44438810e+00] [-1.05481157e-02 9.99944356e-01 1.48609524e-04 1.67642577e-01] [-8.59955787e-03 -2.39326473e-04 9.99962994e-01 -2.49543775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.554203822000001 meters Centerline goodness [0,1] 0.9992330616180208 Centerline is valid? [True, True] Translation: X:1.48, Y:0.17, Z:-0.25 [[ 9.99885151e-01 1.24845803e-02 8.59185157e-03 1.47683743e+00] [-1.24862854e-02 9.99922033e-01 1.44845734e-04 1.70504269e-01] [-8.58937335e-03 -2.52109410e-04 9.99963079e-01 -2.50510440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.584203822 meters Centerline goodness [0,1] 0.9976071871397185 Centerline is valid? [True, True] Translation: X:1.51, Y:0.17, Z:-0.25 [[ 9.99870290e-01 1.36874347e-02 8.48861628e-03 1.50776699e+00] [-1.36891588e-02 9.99906289e-01 1.45041080e-04 1.74439795e-01] [-8.48583556e-03 -2.61224283e-04 9.99963961e-01 -2.52273087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.614203822 meters Centerline goodness [0,1] 0.9927452560946385 Centerline is valid? [True, True] Translation: X:1.54, Y:0.19, Z:-0.25 [[ 9.99833157e-01 1.64001049e-02 8.04335853e-03 1.53878214e+00] [-1.64017099e-02 9.99865474e-01 1.33613905e-04 1.86960566e-01] [-8.04008521e-03 -2.65516446e-04 9.99967643e-01 -2.52861558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.644203822000001 meters Centerline goodness [0,1] 0.9904404307200967 Centerline is valid? [True, True] Translation: X:1.57, Y:0.20, Z:-0.25 [[ 9.99801456e-01 1.78123343e-02 8.93132940e-03 1.57072951e+00] [-1.78143937e-02 9.99841300e-01 1.51081437e-04 1.95250975e-01] [-8.92722088e-03 -3.10157659e-04 9.99960103e-01 -2.52385478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.674203822000001 meters Centerline goodness [0,1] 0.9664723661485319 Centerline is valid? [True, True] Translation: X:1.60, Y:0.21, Z:-0.25 [[ 9.99749910e-01 1.99892277e-02 1.00273312e-02 1.60100804e+00] [-1.99918829e-02 9.99800129e-01 1.64620843e-04 2.10909105e-01] [-1.00220364e-02 -3.65044904e-04 9.99949711e-01 -2.54115713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.704203822 meters Centerline goodness [0,1] 0.9865642994241842 Centerline is valid? [True, True] Translation: X:1.63, Y:0.21, Z:-0.25 [[ 9.99737861e-01 2.04896448e-02 1.02168280e-02 1.63278077e+00] [-2.04924386e-02 9.99789994e-01 1.68821517e-04 2.10271568e-01] [-1.02112233e-02 -3.78144983e-04 9.99947793e-01 -2.52536316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.7342038220000005 meters Centerline goodness [0,1] 0.9868412537480855 Centerline is valid? [True, True] Translation: X:1.66, Y:0.21, Z:-0.25 [[ 9.99745490e-01 1.98343048e-02 1.07496780e-02 1.66388048e+00] [-1.98373490e-02 9.99803205e-01 1.76634272e-04 2.12938064e-01] [-1.07440591e-02 -3.89834432e-04 9.99942205e-01 -2.54177525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.764203822000001 meters Centerline goodness [0,1] 0.9933926023488091 Centerline is valid? [True, True] Translation: X:1.70, Y:0.22, Z:-0.26 [[ 9.99796654e-01 1.72582401e-02 1.04309366e-02 1.69522498e+00] [-1.72609434e-02 9.99851005e-01 1.69180302e-04 2.15016644e-01] [-1.04264627e-02 -3.49193707e-04 9.99945582e-01 -2.56325444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.794203822 meters Centerline goodness [0,1] 0.995168255868645 Centerline is valid? [True, True] Translation: X:1.73, Y:0.22, Z:-0.26 [[ 9.99819728e-01 1.55078016e-02 1.09553642e-02 1.72523672e+00] [-1.55106731e-02 9.99879687e-01 1.77188108e-04 2.18596351e-01] [-1.09512983e-02 -3.47081239e-04 9.99939972e-01 -2.56971079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.824203822 meters Centerline goodness [0,1] 0.9994192674166004 Centerline is valid? [True, True] Translation: X:1.76, Y:0.22, Z:-0.26 [[ 9.99880980e-01 1.05061587e-02 1.12980764e-02 1.75625499e+00] [-1.05088908e-02 9.99944763e-01 1.82477841e-04 2.20119704e-01] [-1.12955352e-02 -3.01186374e-04 9.99936158e-01 -2.56682075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.854203822000001 meters Centerline goodness [0,1] 0.9996987303636755 Centerline is valid? [True, True] Translation: X:1.79, Y:0.22, Z:-0.26 [[ 9.99915283e-01 7.62689582e-03 1.05478231e-02 1.78686106e+00] [-7.62912017e-03 9.99970883e-01 1.70661816e-04 2.17713309e-01] [-1.05462144e-02 -2.51117969e-04 9.99944356e-01 -2.59807636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.884203822000001 meters Centerline goodness [0,1] 0.9997631352282516 Centerline is valid? [True, True] Translation: X:1.82, Y:0.21, Z:-0.26 [[ 9.99950244e-01 2.35542361e-03 9.69335502e-03 1.81763374e+00] [-2.35705309e-03 9.99997210e-01 1.56682038e-04 2.07818033e-01] [-9.69295892e-03 -1.79521995e-04 9.99953006e-01 -2.63387150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.914203822 meters Centerline goodness [0,1] 0.9999561557348299 Centerline is valid? [True, True] Translation: X:1.85, Y:0.20, Z:-0.26 [[ 9.99948687e-01 3.37575122e-04 1.01246693e-02 1.84977345e+00] [-3.39274852e-04 9.99999929e-01 1.66162982e-04 2.04866284e-01] [-1.01246125e-02 -1.69589502e-04 9.99948730e-01 -2.63709405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.944203822 meters Centerline goodness [0,1] 0.9999566132286266 Centerline is valid? [True, True] Translation: X:1.88, Y:0.21, Z:-0.26 [[ 9.99931971e-01 -2.33321953e-03 1.14284796e-02 1.88146871e+00] [ 2.33128207e-03 9.99997266e-01 1.82848655e-04 2.06063708e-01] [-1.14288749e-02 -1.56193206e-04 9.99934676e-01 -2.62086562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.974203822000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.91, Y:0.21, Z:-0.26 [[ 9.99921022e-01 -4.77113068e-03 1.16269368e-02 1.91314823e+00] [ 4.76926768e-03 9.99988609e-01 1.87952794e-04 2.05189824e-01] [-1.16277011e-02 -1.32485976e-04 9.99932387e-01 -2.63548874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.004203822000001 meters Centerline goodness [0,1] 0.9999571899481998 Centerline is valid? [True, True] Translation: X:1.95, Y:0.20, Z:-0.27 [[ 9.99914560e-01 -6.33575024e-03 1.14337583e-02 1.94574476e+00] [ 6.33409414e-03 9.99979923e-01 1.81050454e-04 2.03312136e-01] [-1.14346759e-02 -1.08612483e-04 9.99934616e-01 -2.65119509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.034203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.98, Y:0.20, Z:-0.27 [[ 9.99905977e-01 -9.21901012e-03 1.01511677e-02 1.97683877e+00] [ 9.21785848e-03 9.99957502e-01 1.60231123e-04 2.01135375e-01] [-1.01522135e-02 -6.66440303e-05 9.99948463e-01 -2.69051801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.0642038220000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.01, Y:0.20, Z:-0.27 [[ 9.99896068e-01 -1.04561058e-02 9.92591716e-03 2.00929243e+00] [ 1.04550663e-02 9.99945332e-01 1.56611704e-04 1.99618743e-01] [-9.92701208e-03 -5.28193049e-05 9.99950725e-01 -2.71068633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.094203822000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.04, Y:0.19, Z:-0.26 [[ 9.99861397e-01 -1.27858776e-02 1.06634031e-02 2.04242759e+00] [ 1.27848117e-02 9.99918257e-01 1.68115001e-04 1.94018420e-01] [-1.06646810e-02 -3.17620987e-05 9.99943130e-01 -2.61002959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.124203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.07, Y:0.19, Z:-0.26 [[ 9.99842448e-01 -1.34354041e-02 1.16004138e-02 2.07467872e+00] [ 1.34341995e-02 9.99909741e-01 1.81757361e-04 1.94138087e-01] [-1.16018087e-02 -2.58864507e-05 9.99932696e-01 -2.60358753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.154203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.11, Y:0.20, Z:-0.26 [[ 9.99851816e-01 -1.29326203e-02 1.13619573e-02 2.10610831e+00] [ 1.29314413e-02 9.99916370e-01 1.77228078e-04 1.95312512e-01] [-1.13632991e-02 -3.02753310e-05 9.99935435e-01 -2.63040940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.184203822000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.14, Y:0.20, Z:-0.26 [[ 9.99850024e-01 -1.20149220e-02 1.24728002e-02 2.13838802e+00] [ 1.20134338e-02 9.99927817e-01 1.94241199e-04 1.95260228e-01] [-1.24742337e-02 -4.43709084e-05 9.99922193e-01 -2.61860172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.214203822000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.17, Y:0.20, Z:-0.27 [[ 9.99886923e-01 -9.29364934e-03 1.18224057e-02 2.16900696e+00] [ 9.29213115e-03 9.99956810e-01 1.83340600e-04 2.00065334e-01] [-1.18235990e-02 -7.34645241e-05 9.99930096e-01 -2.65193645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.244203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.20, Y:0.21, Z:-0.28 [[ 9.99928361e-01 -5.35511315e-03 1.07049499e-02 2.19935953e+00] [ 5.35364619e-03 9.99985655e-01 1.65687799e-04 2.12673642e-01] [-1.07056836e-02 -1.08365415e-04 9.99942687e-01 -2.79624761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.2742038220000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.23, Y:0.22, Z:-0.28 [[ 9.99946236e-01 -3.32744391e-03 9.82109575e-03 2.23092684e+00] [ 3.32611523e-03 9.99994457e-01 1.51618877e-04 2.16802984e-01] [-9.82154581e-03 -1.18944629e-04 9.99951760e-01 -2.81852346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.304203822000001 meters Centerline goodness [0,1] 0.9998709538660071 Centerline is valid? [True, True] Translation: X:2.26, Y:0.23, Z:-0.29 [[ 9.99957871e-01 4.30901756e-04 9.16899413e-03 2.26271949e+00] [-4.32217884e-04 9.99999897e-01 1.41560179e-04 2.27817458e-01] [-9.16893218e-03 -1.45517219e-04 9.99957954e-01 -2.85125733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.334203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.30, Y:0.22, Z:-0.27 [[ 9.99945909e-01 2.25428811e-03 1.01536949e-02 2.29532728e+00] [-2.25599200e-03 9.99997443e-01 1.56359093e-04 2.22849671e-01] [-1.01533164e-02 -1.79257290e-04 9.99948438e-01 -2.72289724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.364203822 meters Centerline goodness [0,1] 0.999891683455731 Centerline is valid? [True, True] Translation: X:2.33, Y:0.23, Z:-0.28 [[ 9.99929654e-01 5.30779753e-03 1.06072649e-02 2.32646264e+00] [-5.30981966e-03 9.99985890e-01 1.62483858e-04 2.31453588e-01] [-1.06062528e-02 -2.18795092e-04 9.99943728e-01 -2.75413577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.394203822000001 meters Centerline goodness [0,1] 0.9999777520690576 Centerline is valid? [True, True] Translation: X:2.36, Y:0.23, Z:-0.27 [[ 9.99904459e-01 6.50674444e-03 1.21957185e-02 2.35927004e+00] [-6.50953233e-03 9.99978795e-01 1.88913923e-04 2.30157278e-01] [-1.21942307e-02 -2.68284297e-04 9.99925612e-01 -2.71980817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.424203822000001 meters Centerline goodness [0,1] 0.9999783587257618 Centerline is valid? [True, True] Translation: X:2.39, Y:0.24, Z:-0.28 [[ 9.99919711e-01 7.60438286e-03 1.01363052e-02 2.38981242e+00] [-7.60632313e-03 9.99971060e-01 1.52880131e-04 2.36916888e-01] [-1.01348493e-02 -2.29967869e-04 9.99948615e-01 -2.78376566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.454203822 meters Centerline goodness [0,1] 0.9999782457361643 Centerline is valid? [True, True] Translation: X:2.42, Y:0.23, Z:-0.27 [[ 9.99882654e-01 6.65085503e-03 1.38001257e-02 2.42138650e+00] [-6.65435184e-03 9.99977838e-01 2.07486937e-04 2.32345295e-01] [-1.37984399e-02 -2.99293481e-04 9.99904752e-01 -2.73214267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.4842038220000005 meters Centerline goodness [0,1] 0.9999782457361643 Centerline is valid? [True, True] Translation: X:2.45, Y:0.23, Z:-0.27 [[ 9.99881319e-01 6.84879027e-03 1.38000855e-02 2.45391912e+00] [-6.85234329e-03 9.99976500e-01 2.10195756e-04 2.32640168e-01] [-1.37983216e-02 -3.04733733e-04 9.99904752e-01 -2.74237174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.514203822000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.49, Y:0.23, Z:-0.27 [[ 9.99884368e-01 5.65161935e-03 1.41177097e-02 2.48564314e+00] [-5.65517070e-03 9.99983987e-01 2.11644190e-04 2.31329592e-01] [-1.41162875e-02 -2.91457775e-04 9.99900318e-01 -2.74440505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.544203822000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.52, Y:0.23, Z:-0.27 [[ 9.99869713e-01 1.81647752e-03 1.60392733e-02 2.51727028e+00] [-1.82047583e-03 9.99998315e-01 2.34685584e-04 2.27265516e-01] [-1.60388200e-02 -2.63854117e-04 9.99871335e-01 -2.73312681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.574203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.55, Y:0.23, Z:-0.28 [[ 9.99875843e-01 2.27156062e-04 1.57558412e-02 2.54867921e+00] [-2.30844369e-04 9.99999946e-01 2.32273148e-04 2.26241231e-01] [-1.57557876e-02 -2.35881457e-04 9.99875842e-01 -2.75230773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.604203822000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.58, Y:0.22, Z:-0.28 [[ 9.99853265e-01 -2.23716622e-03 1.69836511e-02 2.57964019e+00] [ 2.23328918e-03 9.99997476e-01 2.47243706e-04 2.23351524e-01] [-1.69841613e-02 -2.09278022e-04 9.99855737e-01 -2.76583751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.634203822000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.61, Y:0.22, Z:-0.28 [[ 9.99870014e-01 -2.43750675e-03 1.59378042e-02 2.61216728e+00] [ 2.43417742e-03 9.99997011e-01 2.28290913e-04 2.18265120e-01] [-1.59383130e-02 -1.89465795e-04 9.99872959e-01 -2.78166372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.664203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.64, Y:0.22, Z:-0.28 [[ 9.99889388e-01 -1.94910641e-03 1.47449382e-02 2.64391202e+00] [ 1.94621759e-03 9.99998084e-01 2.10266246e-04 2.16297996e-01] [-1.47453197e-02 -1.81546130e-04 9.99891265e-01 -2.81321437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.694203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.68, Y:0.22, Z:-0.28 [[ 9.99905789e-01 -1.21592218e-03 1.36723941e-02 2.67636045e+00] [ 1.21337725e-03 9.99999245e-01 1.94430321e-04 2.15569788e-01] [-1.36726202e-02 -1.77822232e-04 9.99906510e-01 -2.83577237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.724203822000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.71, Y:0.22, Z:-0.29 [[ 9.99925340e-01 1.72707576e-03 1.20967800e-02 2.70766741e+00] [-1.72927536e-03 9.99998490e-01 1.71375780e-04 2.20838991e-01] [-1.20964657e-02 -1.92281649e-04 9.99926817e-01 -2.88188663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.754203822000001 meters Centerline goodness [0,1] 0.9999564763231198 Centerline is valid? [True, True] Translation: X:2.74, Y:0.23, Z:-0.29 [[ 9.99899915e-01 6.21137704e-03 1.27113287e-02 2.73926239e+00] [-6.21416156e-03 9.99980676e-01 1.79572863e-04 2.26828018e-01] [-1.27099677e-02 -2.58545141e-04 9.99919192e-01 -2.86182147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.784203822 meters Centerline goodness [0,1] 0.9999784152474692 Centerline is valid? [True, True] Translation: X:2.77, Y:0.23, Z:-0.29 [[ 9.99880820e-01 8.78210880e-03 1.26972844e-02 2.77017469e+00] [-8.78509915e-03 9.99961394e-01 1.79753186e-04 2.30996925e-01] [-1.26952156e-02 -2.91278666e-04 9.99919370e-01 -2.87662395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.8142038220000005 meters Centerline goodness [0,1] 0.9999131944444445 Centerline is valid? [True, True] Translation: X:2.80, Y:0.23, Z:-0.28 [[ 9.99809611e-01 1.25248166e-02 1.49623076e-02 2.80197503e+00] [-1.25293811e-02 9.99921482e-01 2.11366046e-04 2.32722740e-01] [-1.49584854e-02 -3.98794258e-04 9.99888036e-01 -2.84716990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.844203822000001 meters Centerline goodness [0,1] 0.999956655541589 Centerline is valid? [True, True] Translation: X:2.83, Y:0.23, Z:-0.28 [[ 9.99772742e-01 1.39828533e-02 1.60917610e-02 2.83420609e+00] [-1.39882794e-02 9.99902134e-01 2.24683949e-04 2.30781206e-01] [-1.60870444e-02 -4.49728936e-04 9.99870494e-01 -2.83009817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.874203822 meters Centerline goodness [0,1] 0.9999782608695652 Centerline is valid? [True, True] Translation: X:2.87, Y:0.23, Z:-0.28 [[ 9.99735422e-01 1.59598490e-02 1.65640899e-02 2.86664932e+00] [-1.59658195e-02 9.99872512e-01 2.28265983e-04 2.33764760e-01] [-1.65583351e-02 -4.92664859e-04 9.99862780e-01 -2.82914019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.904203822 meters Centerline goodness [0,1] 0.9999343645393485 Centerline is valid? [True, True] Translation: X:2.90, Y:0.24, Z:-0.28 [[ 9.99713938e-01 1.67058168e-02 1.71160390e-02 2.89992124e+00] [-1.67122542e-02 9.99860313e-01 2.33128936e-04 2.35408990e-01] [-1.71097535e-02 -5.19109841e-04 9.99853483e-01 -2.83540204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.934203822000001 meters Centerline goodness [0,1] 0.9998915424828095 Centerline is valid? [True, True] Translation: X:2.93, Y:0.23, Z:-0.29 [[ 9.99718195e-01 1.67895174e-02 1.67821863e-02 2.93207466e+00] [-1.67956454e-02 9.99858918e-01 2.24265011e-04 2.34615766e-01] [-1.67760534e-02 -5.06069463e-04 9.99859144e-01 -2.87198592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.964203822000001 meters Centerline goodness [0,1] 0.9998283114430423 Centerline is valid? [True, True] Translation: X:2.96, Y:0.24, Z:-0.29 [[ 9.99762294e-01 1.61208869e-02 1.46789999e-02 2.96307616e+00] [-1.61254920e-02 9.99869957e-01 1.95400562e-04 2.35016630e-01] [-1.46739409e-02 -4.32060208e-04 9.99892239e-01 -2.92898006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.994203822 meters Centerline goodness [0,1] 0.9998710924911376 Centerline is valid? [True, True] Translation: X:3.00, Y:0.23, Z:-0.29 [[ 9.99766661e-01 1.60912924e-02 1.44115557e-02 2.99569272e+00] [-1.60957057e-02 9.99870438e-01 1.90286462e-04 2.32476035e-01] [-1.44066266e-02 -4.22206220e-04 9.99896130e-01 -2.92752374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.0242038220000005 meters Centerline goodness [0,1] 0.9997836949233199 Centerline is valid? [True, True] Translation: X:3.03, Y:0.24, Z:-0.30 [[ 9.99769536e-01 1.63058893e-02 1.39640105e-02 3.02699759e+00] [-1.63100093e-02 9.99866967e-01 1.81207177e-04 2.35136798e-01] [-1.39591981e-02 -4.08918558e-04 9.99902482e-01 -2.95482377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.054203822000001 meters Centerline goodness [0,1] 0.9999782622872422 Centerline is valid? [True, True] Translation: X:3.06, Y:0.23, Z:-0.29 [[ 9.99725043e-01 1.68190067e-02 1.63388873e-02 3.05904542e+00] [-1.68246659e-02 9.99858433e-01 2.08963490e-04 2.31209406e-01] [-1.63330597e-02 -4.83802354e-04 9.99866490e-01 -2.88732188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.084203822000001 meters Centerline goodness [0,1] 0.9998710093518219 Centerline is valid? [True, True] Translation: X:3.09, Y:0.24, Z:-0.29 [[ 9.99710820e-01 1.69521657e-02 1.70558198e-02 3.08974969e+00] [-1.69582770e-02 9.99856175e-01 2.13737363e-04 2.43486665e-01] [-1.70497435e-02 -5.02912872e-04 9.99854516e-01 -2.93680220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.114203822 meters Centerline goodness [0,1] 0.9998498144135253 Centerline is valid? [True, True] Translation: X:3.12, Y:0.24, Z:-0.29 [[ 9.99722746e-01 1.65111029e-02 1.67873435e-02 3.12229765e+00] [-1.65169494e-02 9.99863564e-01 2.09668364e-04 2.41154896e-01] [-1.67815913e-02 -4.86885936e-04 9.99859061e-01 -2.94178350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.144203822000001 meters Centerline goodness [0,1] 0.999914006234548 Centerline is valid? [True, True] Translation: X:3.15, Y:0.24, Z:-0.29 [[ 9.99725599e-01 1.61326032e-02 1.69843019e-02 3.15457565e+00] [-1.61384868e-02 9.99869744e-01 2.09405767e-04 2.37705806e-01] [-1.69787113e-02 -4.83449238e-04 9.99855734e-01 -2.93318249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.174203822000001 meters Centerline goodness [0,1] 0.999851234751562 Centerline is valid? [True, True] Translation: X:3.19, Y:0.24, Z:-0.30 [[ 9.99754396e-01 1.45726958e-02 1.66968180e-02 3.18552392e+00] [-1.45781152e-02 9.99893713e-01 2.02902169e-04 2.43506424e-01] [-1.66920865e-02 -4.46260473e-04 9.99860578e-01 -2.98157551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.204203822 meters Centerline goodness [0,1] 0.9999357684237571 Centerline is valid? [True, True] Translation: X:3.22, Y:0.24, Z:-0.30 [[ 9.99820820e-01 1.12303306e-02 1.52383543e-02 3.21745728e+00] [-1.12343959e-02 9.99936876e-01 1.81199436e-04 2.37574540e-01] [-1.52353575e-02 -3.52360673e-04 9.99883873e-01 -3.00134524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.2342038220000005 meters Centerline goodness [0,1] 0.999956455475724 Centerline is valid? [True, True] Translation: X:3.25, Y:0.23, Z:-0.30 [[ 9.99830581e-01 9.87111496e-03 1.55360703e-02 3.24986029e+00] [-9.87520201e-03 9.99951222e-01 1.86372885e-04 2.33414936e-01] [-1.55334728e-02 -3.39763143e-04 9.99879291e-01 -2.98702046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.264203822000001 meters Centerline goodness [0,1] 0.9999784686934803 Centerline is valid? [True, True] Translation: X:3.28, Y:0.23, Z:-0.30 [[ 9.99868192e-01 7.27939224e-03 1.45123433e-02 3.28103322e+00] [-7.28265081e-03 9.99973466e-01 1.71702702e-04 2.33410963e-01] [-1.45107083e-02 -2.77368399e-04 9.99894676e-01 -3.02418317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.294203822000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.31, Y:0.23, Z:-0.30 [[ 9.99877789e-01 5.77524154e-03 1.45276646e-02 3.31294230e+00] [-5.77831745e-03 9.99983291e-01 1.69761470e-04 2.31429766e-01] [-1.45264415e-02 -2.53686182e-04 9.99894454e-01 -3.02584852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.324203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.34, Y:0.23, Z:-0.30 [[ 9.99869465e-01 2.17773474e-03 1.60096724e-02 3.34365934e+00] [-2.18091886e-03 9.99997605e-01 1.81431274e-04 2.29716168e-01] [-1.60092389e-02 -2.16323388e-04 9.99871821e-01 -3.00814831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.354203822000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.37, Y:0.23, Z:-0.30 [[ 9.99874788e-01 7.10267210e-04 1.58083531e-02 3.37474227e+00] [-7.13215355e-04 9.99999729e-01 1.80855937e-04 2.29200258e-01] [-1.58082204e-02 -1.92108052e-04 9.99875024e-01 -3.02176400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.384203822000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.41, Y:0.23, Z:-0.30 [[ 9.99883089e-01 -2.07293965e-03 1.51496064e-02 3.40707010e+00] [ 2.07058034e-03 9.99997842e-01 1.71417403e-04 2.25838474e-01] [-1.51499291e-02 -1.40028885e-04 9.99885223e-01 -3.03484435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.414203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.44, Y:0.23, Z:-0.31 [[ 9.99887257e-01 -2.70378877e-03 1.47703060e-02 3.43940314e+00] [ 2.70164865e-03 9.99996337e-01 1.64844747e-04 2.25256169e-01] [-1.47706976e-02 -1.24921985e-04 9.99890899e-01 -3.08413311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.444203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.47, Y:0.22, Z:-0.31 [[ 9.99892844e-01 -3.78920716e-03 1.41401037e-02 3.47269928e+00] [ 3.78741635e-03 9.99992816e-01 1.53424392e-04 2.21733998e-01] [-1.41405835e-02 -9.98534912e-05 9.99900012e-01 -3.10633121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.474203822000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.50, Y:0.22, Z:-0.31 [[ 9.99886825e-01 -3.92881004e-03 1.45224208e-02 3.50447561e+00] [ 3.92695812e-03 9.99992277e-01 1.56035169e-04 2.21830546e-01] [-1.45229217e-02 -9.89885720e-05 9.99894532e-01 -3.10034426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.504203822000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.54, Y:0.23, Z:-0.31 [[ 9.99869929e-01 -3.89974703e-03 1.56498135e-02 3.53608395e+00] [ 3.89760691e-03 9.99992390e-01 1.67248297e-04 2.25415553e-01] [-1.56503466e-02 -1.06229722e-04 9.99877520e-01 -3.09894333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.534203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.57, Y:0.23, Z:-0.31 [[ 9.99882067e-01 -3.59910341e-03 1.49298093e-02 3.56797505e+00] [ 3.59713252e-03 9.99993518e-01 1.58861789e-04 2.25379149e-01] [-1.49302842e-02 -1.05138551e-04 9.99888532e-01 -3.12151244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.5642038220000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.60, Y:0.22, Z:-0.31 [[ 9.99884285e-01 -3.22138524e-03 1.48673582e-02 3.60007066e+00] [ 3.21939888e-03 9.99994805e-01 1.57536946e-04 2.24667131e-01] [-1.48677885e-02 -1.09654761e-04 9.99889462e-01 -3.11264053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.594203822000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.63, Y:0.22, Z:-0.31 [[ 9.99877129e-01 -1.95407881e-03 1.55533833e-02 3.63174656e+00] [ 1.95176162e-03 9.99998082e-01 1.64161343e-04 2.23786066e-01] [-1.55536742e-02 -1.33784676e-04 9.99879025e-01 -3.11351686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.624203822000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.66, Y:0.22, Z:-0.31 [[ 9.99877454e-01 -1.06877843e-03 1.56184146e-02 3.66306557e+00] [ 1.06634094e-03 9.99999418e-01 1.64392222e-04 2.22844062e-01] [-1.56185812e-02 -1.47717522e-04 9.99878012e-01 -3.12723406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.654203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.70, Y:0.22, Z:-0.31 [[ 9.99882208e-01 6.36894027e-04 1.53350439e-02 3.69524775e+00] [-6.39411519e-04 9.99999783e-01 1.59263516e-04 2.23701768e-01] [-1.53349392e-02 -1.69050159e-04 9.99882399e-01 -3.14011182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.684203822000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.73, Y:0.23, Z:-0.31 [[ 9.99863977e-01 3.05501503e-03 1.62078241e-02 3.72711363e+00] [-3.05813085e-03 9.99995310e-01 1.67460891e-04 2.28367233e-01] [-1.62072365e-02 -2.17003760e-04 9.99868631e-01 -3.13604859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.714203822000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.76, Y:0.23, Z:-0.31 [[ 9.99857145e-01 4.30288567e-03 1.63454963e-02 3.75964601e+00] [-4.30621857e-03 9.99990714e-01 1.68712457e-04 2.29606735e-01] [-1.63446186e-02 -2.39075636e-04 9.99866389e-01 -3.14626202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.744203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.79, Y:0.23, Z:-0.32 [[ 9.99849984e-01 5.66598633e-03 1.63678330e-02 3.79068443e+00] [-5.66948626e-03 9.99983914e-01 1.67435726e-04 2.30916693e-01] [-1.63666210e-02 -2.60207812e-04 9.99866024e-01 -3.15993581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.7742038220000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.82, Y:0.23, Z:-0.32 [[ 9.99833448e-01 8.72732966e-03 1.60284205e-02 3.82213988e+00] [-8.73107163e-03 9.99961870e-01 1.63494733e-04 2.33664133e-01] [-1.60263825e-02 -3.03412791e-04 9.99871523e-01 -3.17966771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.804203822000001 meters Centerline goodness [0,1] 0.9999361348831268 Centerline is valid? [True, True] Translation: X:3.85, Y:0.23, Z:-0.32 [[ 9.99825818e-01 1.11313081e-02 1.49808770e-02 3.85451431e+00] [-1.11347891e-02 9.99937995e-01 1.48975613e-04 2.32810308e-01] [-1.49782898e-02 -3.15758571e-04 9.99887769e-01 -3.19527023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.834203822000001 meters Centerline goodness [0,1] 0.999978465447811 Centerline is valid? [True, True] Translation: X:3.89, Y:0.24, Z:-0.32 [[ 9.99808077e-01 1.18629903e-02 1.55909897e-02 3.88689104e+00] [-1.18668698e-02 9.99929574e-01 1.56336492e-04 2.35113861e-01] [-1.55880370e-02 -3.41322732e-04 9.99878441e-01 -3.20338469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.864203822 meters Centerline goodness [0,1] 0.9999574811854246 Centerline is valid? [True, True] Translation: X:3.92, Y:0.24, Z:-0.32 [[ 9.99764027e-01 1.37483274e-02 1.68188514e-02 3.91783983e+00] [-1.37530422e-02 9.99905409e-01 1.64692165e-04 2.41510298e-01] [-1.68149963e-02 -3.95963676e-04 9.99858540e-01 -3.20704243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.894203822000001 meters Centerline goodness [0,1] 0.9998714845674385 Centerline is valid? [True, True] Translation: X:3.95, Y:0.24, Z:-0.32 [[ 9.99757483e-01 1.49145743e-02 1.62028017e-02 3.94977458e+00] [-1.49190688e-02 9.99888692e-01 1.56546040e-04 2.41052116e-01] [-1.61986634e-02 -3.98238789e-04 9.99868714e-01 -3.22171170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.924203822000001 meters Centerline goodness [0,1] 0.9999570889117748 Centerline is valid? [True, True] Translation: X:3.98, Y:0.24, Z:-0.32 [[ 9.99748571e-01 1.48055815e-02 1.68401454e-02 3.98203897e+00] [-1.48103700e-02 9.99890308e-01 1.59660913e-04 2.36863435e-01] [-1.68359343e-02 -4.09029553e-04 9.99858182e-01 -3.22326409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.954203822000001 meters Centerline goodness [0,1] 0.9999786475348579 Centerline is valid? [True, True] Translation: X:4.01, Y:0.23, Z:-0.32 [[ 9.99759805e-01 1.28112409e-02 1.77821597e-02 4.01243288e+00] [-1.28161813e-02 9.99917856e-01 1.63893099e-04 2.34076691e-01] [-1.77785993e-02 -3.91753114e-04 9.99841871e-01 -3.23252785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.9842038220000005 meters Centerline goodness [0,1] 0.9999149696016326 Centerline is valid? [True, True] Translation: X:4.04, Y:0.23, Z:-0.33 [[ 9.99781109e-01 1.23000767e-02 1.69246091e-02 4.04447358e+00] [-1.23044864e-02 9.99924285e-01 1.56436325e-04 2.32235750e-01] [-1.69214035e-02 -3.64650704e-04 9.99856756e-01 -3.26025608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.014203821999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.08, Y:0.23, Z:-0.33 [[ 9.99804159e-01 1.14283769e-02 1.61565891e-02 4.07583944e+00] [-1.14322184e-02 9.99934639e-01 1.45426946e-04 2.32162587e-01] [-1.61538711e-02 -3.30104121e-04 9.99869463e-01 -3.28008498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.044203822 meters Centerline goodness [0,1] 0.9999785729590743 Centerline is valid? [True, True] Translation: X:4.11, Y:0.24, Z:-0.33 [[ 9.99784139e-01 1.30016777e-02 1.62059151e-02 4.10774367e+00] [-1.30057428e-02 9.99915411e-01 1.45470382e-04 2.38377526e-01] [-1.62026529e-02 -3.56208943e-04 9.99868665e-01 -3.28022680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.074203822 meters Centerline goodness [0,1] 0.9999364312503973 Centerline is valid? [True, True] Translation: X:4.14, Y:0.24, Z:-0.33 [[ 9.99759797e-01 1.47462038e-02 1.62141092e-02 4.13875842e+00] [-1.47504556e-02 9.99891196e-01 1.42666472e-04 2.43097858e-01] [-1.62102413e-02 -3.81797702e-04 9.99868533e-01 -3.29518639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.104203822 meters Centerline goodness [0,1] 0.999893644175955 Centerline is valid? [True, True] Translation: X:4.17, Y:0.25, Z:-0.33 [[ 9.99717425e-01 1.81096560e-02 1.53983928e-02 4.16995032e+00] [-1.81138246e-02 9.99835923e-01 1.31283682e-04 2.47424342e-01] [-1.53934887e-02 -4.10170371e-04 9.99881429e-01 -3.31895387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.134203822 meters Centerline goodness [0,1] 0.999914628420199 Centerline is valid? [True, True] Translation: X:4.20, Y:0.25, Z:-0.33 [[ 9.99703764e-01 1.95719664e-02 1.44679764e-02 4.20206167e+00] [-1.95758296e-02 9.99808367e-01 1.25434064e-04 2.47952046e-01] [-1.44627488e-02 -4.08619547e-04 9.99895325e-01 -3.33780790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.164203822 meters Centerline goodness [0,1] 0.9998298885770179 Centerline is valid? [True, True] Translation: X:4.23, Y:0.25, Z:-0.34 [[ 9.99678934e-01 2.10397452e-02 1.41194491e-02 4.23305982e+00] [-2.10435378e-02 9.99778553e-01 1.20077461e-04 2.54005276e-01] [-1.41137960e-02 -4.17162070e-04 9.99900308e-01 -3.36743699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.194203822 meters Centerline goodness [0,1] 0.9997228026781526 Centerline is valid? [True, True] Translation: X:4.27, Y:0.26, Z:-0.34 [[ 9.99673773e-01 2.07814806e-02 1.48484584e-02 4.26519610e+00] [-2.07856107e-02 9.99783948e-01 1.23859196e-04 2.55653786e-01] [-1.48426764e-02 -4.32453067e-04 9.99889748e-01 -3.36310187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.224203822 meters Centerline goodness [0,1] 0.9999575344501773 Centerline is valid? [True, True] Translation: X:4.30, Y:0.26, Z:-0.34 [[ 9.99687330e-01 1.92872127e-02 1.59137250e-02 4.29705460e+00] [-1.92916884e-02 9.99813890e-01 1.27767815e-04 2.59157959e-01] [-1.59082990e-02 -4.34730490e-04 9.99873360e-01 -3.35111420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.254203822 meters Centerline goodness [0,1] 0.9999571017974347 Centerline is valid? [True, True] Translation: X:4.33, Y:0.26, Z:-0.34 [[ 9.99738273e-01 1.63979826e-02 1.59528051e-02 4.32891938e+00] [-1.64021040e-02 9.99865468e-01 1.27535764e-04 2.55058468e-01] [-1.59485677e-02 -3.89161954e-04 9.99872738e-01 -3.35410555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.284203822 meters Centerline goodness [0,1] 0.9999786580160491 Centerline is valid? [True, True] Translation: X:4.36, Y:0.25, Z:-0.34 [[ 9.99767080e-01 1.48801589e-02 1.56322577e-02 4.36010884e+00] [-1.48839521e-02 9.99889220e-01 1.26330038e-04 2.52559484e-01] [-1.56286461e-02 -3.58970387e-04 9.99877801e-01 -3.37727855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.314203822 meters Centerline goodness [0,1] 0.9999785780081832 Centerline is valid? [True, True] Translation: X:4.39, Y:0.25, Z:-0.34 [[ 9.99809756e-01 1.21556471e-02 1.52542225e-02 4.39132639e+00] [-1.21588922e-02 9.99926071e-01 1.20007848e-04 2.49132531e-01] [-1.52516360e-02 -3.05459464e-04 9.99883640e-01 -3.39137126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.344203821999999 meters Centerline goodness [0,1] 0.9999785780081832 Centerline is valid? [True, True] Translation: X:4.42, Y:0.25, Z:-0.34 [[ 9.99807413e-01 1.23468887e-02 1.52542222e-02 4.42385821e+00] [-1.23501573e-02 9.99923727e-01 1.20089387e-04 2.49183453e-01] [-1.52515760e-02 -3.08458303e-04 9.99883640e-01 -3.40159748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.374203822 meters Centerline goodness [0,1] 0.9998937074829932 Centerline is valid? [True, True] Translation: X:4.46, Y:0.25, Z:-0.34 [[ 9.99822925e-01 1.13707280e-02 1.49941719e-02 4.45579398e+00] [-1.13737290e-02 9.99935310e-01 1.14885405e-04 2.48923944e-01] [-1.49918956e-02 -2.85404709e-04 9.99887574e-01 -3.41316407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.404203822 meters Centerline goodness [0,1] 0.9999787964886985 Centerline is valid? [True, True] Translation: X:4.49, Y:0.25, Z:-0.34 [[ 9.99830485e-01 1.00297403e-02 1.54404123e-02 4.48721141e+00] [-1.00327172e-02 9.99949664e-01 1.15353187e-04 2.51475791e-01] [-1.54384781e-02 -2.70242923e-04 9.99880783e-01 -3.41314362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.434203822 meters Centerline goodness [0,1] 0.9999576199355823 Centerline is valid? [True, True] Translation: X:4.52, Y:0.26, Z:-0.34 [[ 9.99817234e-01 1.08220484e-02 1.57601131e-02 4.51944059e+00] [-1.08252137e-02 9.99941399e-01 1.15540931e-04 2.58693451e-01] [-1.57579392e-02 -2.86126406e-04 9.99875795e-01 -3.42830294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.464203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.55, Y:0.26, Z:-0.34 [[ 9.99800781e-01 1.18104951e-02 1.60906971e-02 4.55152612e+00] [-1.18138740e-02 9.99930207e-01 1.14950543e-04 2.57144808e-01] [-1.60882164e-02 -3.05021110e-04 9.99870530e-01 -3.40288236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.494203822 meters Centerline goodness [0,1] 0.9999787437559783 Centerline is valid? [True, True] Translation: X:4.58, Y:0.26, Z:-0.34 [[ 9.99782580e-01 1.35270679e-02 1.58685527e-02 4.58277250e+00] [-1.35305250e-02 9.99908452e-01 1.10508378e-04 2.62770022e-01] [-1.58656051e-02 -3.25194200e-04 9.99874080e-01 -3.44346591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.524203822 meters Centerline goodness [0,1] 0.9999360981532366 Centerline is valid? [True, True] Translation: X:4.61, Y:0.26, Z:-0.34 [[ 9.99780528e-01 1.42818807e-02 1.53272047e-02 4.61449958e+00] [-1.42851592e-02 9.99897956e-01 1.04428348e-04 2.62911845e-01] [-1.53241492e-02 -3.23356987e-04 9.99882526e-01 -3.44547705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.554203822 meters Centerline goodness [0,1] 0.9998314156867704 Centerline is valid? [True, True] Translation: X:4.65, Y:0.27, Z:-0.35 [[ 9.99772059e-01 1.45684133e-02 1.56074172e-02 4.64642073e+00] [-1.45718135e-02 9.99893820e-01 1.04154615e-04 2.69960075e-01] [-1.56042427e-02 -3.31559246e-04 9.99878191e-01 -3.47697092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.584203822 meters Centerline goodness [0,1] 0.9999576495500264 Centerline is valid? [True, True] Translation: X:4.68, Y:0.27, Z:-0.35 [[ 9.99795870e-01 1.30311493e-02 1.54404770e-02 4.67903961e+00] [-1.30342215e-02 9.99915046e-01 9.83511273e-05 2.71992878e-01] [-1.54378837e-02 -2.99585649e-04 9.99880784e-01 -3.47449540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.614203822 meters Centerline goodness [0,1] 0.9999573178539417 Centerline is valid? [True, True] Translation: X:4.71, Y:0.27, Z:-0.35 [[ 9.99813745e-01 1.15560582e-02 1.54574540e-02 4.71151532e+00] [-1.15589734e-02 9.99933188e-01 9.92629579e-05 2.70951382e-01] [-1.54552741e-02 -2.77916768e-04 9.99880521e-01 -3.48077342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.644203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.74, Y:0.27, Z:-0.35 [[ 9.99836919e-01 7.41840596e-03 1.64652193e-02 4.74327943e+00] [-7.42106949e-03 9.99972458e-01 1.00673108e-04 2.65994809e-01] [-1.64640190e-02 -2.22846227e-04 9.99864434e-01 -3.47135122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.674203821999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.77, Y:0.26, Z:-0.34 [[ 9.99825740e-01 3.39403396e-03 1.83567653e-02 4.77483987e+00] [-3.39664935e-03 9.99994225e-01 1.11298469e-04 2.60646820e-01] [-1.83562816e-02 -1.73630569e-04 9.99831494e-01 -3.44762885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.704203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.81, Y:0.26, Z:-0.34 [[ 9.99822003e-01 1.87727122e-03 1.87733520e-02 4.80696597e+00] [-1.87976455e-03 9.99998227e-01 1.15166725e-04 2.57607360e-01] [-1.87731025e-02 -1.50435707e-04 9.99823758e-01 -3.44675484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.734203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.84, Y:0.25, Z:-0.34 [[ 9.99815544e-01 1.85578715e-04 1.92053241e-02 4.83927120e+00] [-1.87813032e-04 9.99999976e-01 1.14534833e-04 2.54673237e-01] [-1.92053023e-02 -1.18120716e-04 9.99815554e-01 -3.44231994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.764203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.87, Y:0.26, Z:-0.35 [[ 9.99803874e-01 1.23671983e-04 1.98039887e-02 4.87017223e+00] [-1.25962972e-04 9.99999986e-01 1.14435852e-04 2.55695185e-01] [-1.98039742e-02 -1.16907978e-04 9.99803875e-01 -3.45364491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.794203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.90, Y:0.26, Z:-0.35 [[ 9.99812279e-01 4.17081806e-04 1.93709455e-02 4.90167759e+00] [-4.19276730e-04 9.99999906e-01 1.09249016e-04 2.58818838e-01] [-1.93708981e-02 -1.17350294e-04 9.99812360e-01 -3.48613819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.824203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.93, Y:0.26, Z:-0.35 [[ 9.99820008e-01 7.29985597e-04 1.89583511e-02 4.93439292e+00] [-7.32085598e-04 9.99999727e-01 1.03829212e-04 2.59032266e-01] [-1.89582702e-02 -1.17689660e-04 9.99820269e-01 -3.48822304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.854203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.97, Y:0.26, Z:-0.35 [[ 9.99834483e-01 1.04925406e-03 1.81633015e-02 4.96524782e+00] [-1.05115244e-03 9.99999443e-01 9.49710014e-05 2.59536859e-01] [-1.81631917e-02 -1.14047681e-04 9.99835029e-01 -3.52118866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.884203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.00, Y:0.26, Z:-0.35 [[ 9.99843627e-01 1.62913813e-03 1.76087093e-02 4.99679001e+00] [-1.63100084e-03 9.99998666e-01 9.14232847e-05 2.58279350e-01] [-1.76085368e-02 -1.20128808e-04 9.99844950e-01 -3.54552576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.914203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.03, Y:0.26, Z:-0.36 [[ 9.99845136e-01 1.94667645e-03 1.74904001e-02 5.02936829e+00] [-1.94852556e-03 9.99998098e-01 8.86803646e-05 2.57450670e-01] [-1.74901942e-02 -1.22747123e-04 9.99847027e-01 -3.56124802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.944203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.06, Y:0.26, Z:-0.36 [[ 9.99853033e-01 1.95125010e-03 1.70324939e-02 5.06092383e+00] [-1.95292897e-03 9.99998090e-01 8.19362780e-05 2.57847396e-01] [-1.70323015e-02 -1.15187487e-04 9.99854933e-01 -3.57681377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.974203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.09, Y:0.26, Z:-0.36 [[ 9.99857583e-01 2.22508924e-03 1.67290868e-02 5.09370955e+00] [-2.22674787e-03 9.99997518e-01 8.05201585e-05 2.58063082e-01] [-1.67288661e-02 -1.17760149e-04 9.99860056e-01 -3.57877552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.004203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.13, Y:0.26, Z:-0.36 [[ 9.99879730e-01 2.58865662e-03 1.52913310e-02 5.12511521e+00] [-2.59003905e-03 9.99996643e-01 7.06030793e-05 2.59061676e-01] [-1.52910969e-02 -1.10199732e-04 9.99883078e-01 -3.63363093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.034203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.16, Y:0.26, Z:-0.36 [[ 9.99884671e-01 3.10682206e-03 1.48658098e-02 5.15762033e+00] [-3.10815558e-03 9.99995167e-01 6.66003467e-05 2.57875940e-01] [-1.48655310e-02 -1.12797915e-04 9.99889496e-01 -3.64156931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.064203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.19, Y:0.26, Z:-0.36 [[ 9.99870180e-01 4.50552567e-03 1.54701107e-02 5.19103975e+00] [-4.50710234e-03 9.99989841e-01 6.70537676e-05 2.57377334e-01] [-1.54696514e-02 -1.36770435e-04 9.99880328e-01 -3.62802095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.094203821999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.22, Y:0.26, Z:-0.36 [[ 9.99867598e-01 4.60366872e-03 1.56074621e-02 5.22436214e+00] [-4.60523789e-03 9.99989394e-01 6.46008701e-05 2.58003292e-01] [-1.56069991e-02 -1.36468392e-04 9.99878194e-01 -3.63689567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.124203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.26, Y:0.26, Z:-0.36 [[ 9.99858244e-01 5.04890510e-03 1.60624047e-02 5.25752850e+00] [-5.05057183e-03 9.99987244e-01 6.32021301e-05 2.58537960e-01] [-1.60618807e-02 -1.44317500e-04 9.99870989e-01 -3.63743302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.154203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.29, Y:0.26, Z:-0.37 [[ 9.99857498e-01 5.94948136e-03 1.57983214e-02 5.28833798e+00] [-5.95115028e-03 9.99982290e-01 5.86287462e-05 2.59256881e-01] [-1.57976928e-02 -1.52638576e-04 9.99875197e-01 -3.67173396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.184203822 meters Centerline goodness [0,1] 0.9999573369739115 Centerline is valid? [True, True] Translation: X:5.32, Y:0.26, Z:-0.37 [[ 9.99864228e-01 6.78932218e-03 1.50143735e-02 5.32080057e+00] [-6.79089535e-03 9.99976940e-01 5.37961156e-05 2.57834564e-01] [-1.50136621e-02 -1.55749851e-04 9.99887276e-01 -3.69772311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.214203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.35, Y:0.25, Z:-0.37 [[ 9.99864076e-01 8.12398642e-03 1.43468232e-02 5.35293996e+00] [-8.12552974e-03 9.99966986e-01 4.92835679e-05 2.54166239e-01] [-1.43459492e-02 -1.65852408e-04 9.99897078e-01 -3.72939352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.244203822 meters Centerline goodness [0,1] 0.9999576001695993 Centerline is valid? [True, True] Translation: X:5.38, Y:0.26, Z:-0.37 [[ 9.99847669e-01 9.18240706e-03 1.48432453e-02 5.38465460e+00] [-9.18413838e-03 9.99957824e-01 4.84783012e-05 2.56879571e-01] [-1.48421741e-02 -1.84793335e-04 9.99889832e-01 -3.74182895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.274203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.42, Y:0.26, Z:-0.37 [[ 9.99837439e-01 9.63384975e-03 1.52408517e-02 5.41770396e+00] [-9.63568524e-03 9.99953575e-01 4.70030400e-05 2.58126136e-01] [-1.52396913e-02 -1.93851449e-04 9.99883850e-01 -3.73064829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.304203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.45, Y:0.26, Z:-0.37 [[ 9.99833170e-01 9.82683366e-03 1.53969118e-02 5.45054581e+00] [-9.82868534e-03 9.99951696e-01 4.45957999e-05 2.58123816e-01] [-1.53957299e-02 -1.95919761e-04 9.99881460e-01 -3.72820088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.334203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.48, Y:0.26, Z:-0.38 [[ 9.99830331e-01 1.01817155e-02 1.53506234e-02 5.48280283e+00] [-1.01835492e-02 9.99948145e-01 4.12912456e-05 2.57177332e-01] [-1.53494069e-02 -1.97608068e-04 9.99882171e-01 -3.75488142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.364203822 meters Centerline goodness [0,1] 0.9999363408734032 Centerline is valid? [True, True] Translation: X:5.51, Y:0.26, Z:-0.38 [[ 9.99795228e-01 1.11962658e-02 1.68565946e-02 5.51378616e+00] [-1.11985537e-02 9.99937293e-01 4.13390312e-05 2.57824603e-01] [-1.68550748e-02 -2.30100045e-04 9.99857917e-01 -3.75706577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.394203822 meters Centerline goodness [0,1] 0.9999574205360755 Centerline is valid? [True, True] Translation: X:5.55, Y:0.26, Z:-0.37 [[ 9.99737633e-01 1.29640601e-02 1.88837963e-02 5.54700807e+00] [-1.29671882e-02 9.99915922e-01 4.32087424e-05 2.58690998e-01] [-1.88816484e-02 -2.88067147e-04 9.99821684e-01 -3.71563635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.424203821999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.58, Y:0.26, Z:-0.37 [[ 9.99736788e-01 1.36164164e-02 1.84647620e-02 5.57900041e+00] [-1.36194529e-02 9.99907250e-01 3.86994029e-05 2.58023320e-01] [-1.84625225e-02 -2.90169173e-04 9.99829511e-01 -3.72049915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.454203822 meters Centerline goodness [0,1] 0.9999788842434224 Centerline is valid? [True, True] Translation: X:5.61, Y:0.26, Z:-0.38 [[ 9.99750660e-01 1.40686072e-02 1.73404721e-02 5.61034135e+00] [-1.40712884e-02 9.99900994e-01 3.26140879e-05 2.62486036e-01] [-1.73382964e-02 -2.76608740e-04 9.99849642e-01 -3.76810889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.484203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.64, Y:0.26, Z:-0.38 [[ 9.99766130e-01 1.34709536e-02 1.69179964e-02 5.64126066e+00] [-1.34733949e-02 9.99909229e-01 3.03258922e-05 2.63531515e-01] [-1.69160522e-02 -2.58261646e-04 9.99856880e-01 -3.79300174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.514203822 meters Centerline goodness [0,1] 0.9999787906424314 Centerline is valid? [True, True] Translation: X:5.67, Y:0.26, Z:-0.38 [[ 9.99812033e-01 1.11711368e-02 1.58462965e-02 5.67353795e+00] [-1.11729878e-02 9.99937580e-01 2.82807662e-05 2.58143049e-01] [-1.58449914e-02 -2.05325927e-04 9.99874439e-01 -3.82006807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.544203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.71, Y:0.26, Z:-0.38 [[ 9.99836754e-01 9.84096193e-03 1.51532173e-02 5.70589338e+00] [-9.84246790e-03 9.99951561e-01 2.48068925e-05 2.55324577e-01] [-1.51522392e-02 -1.73947898e-04 9.99885183e-01 -3.83647041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.574203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.74, Y:0.26, Z:-0.39 [[ 9.99867164e-01 7.86893735e-03 1.42735155e-02 5.73658894e+00] [-7.87003994e-03 9.99969031e-01 2.10787840e-05 2.55572869e-01] [-1.42729076e-02 -1.33409121e-04 9.99898128e-01 -3.88466906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.604203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.77, Y:0.25, Z:-0.38 [[ 9.99834564e-01 7.60452340e-03 1.65231817e-02 5.76902150e+00] [-7.60591239e-03 9.99971074e-01 2.12227612e-05 2.54376141e-01] [-1.65225424e-02 -1.46893123e-04 9.99863483e-01 -3.83428023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.634203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.80, Y:0.26, Z:-0.38 [[ 9.99803373e-01 8.12278801e-03 1.80896405e-02 5.80091878e+00] [-8.12447609e-03 9.99966996e-01 1.98282411e-05 2.56249663e-01] [-1.80888824e-02 -1.66793194e-04 9.99836369e-01 -3.81580154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.664203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.83, Y:0.26, Z:-0.38 [[ 9.99775153e-01 9.44154983e-03 1.89868668e-02 5.83413936e+00] [-9.44359005e-03 9.99955408e-01 1.77950763e-05 2.62792884e-01] [-1.89858521e-02 -1.97095262e-04 9.99819733e-01 -3.80991647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.694203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.87, Y:0.27, Z:-0.38 [[ 9.99777240e-01 1.04874338e-02 1.83162193e-02 5.86541347e+00] [-1.04894407e-02 9.99944984e-01 1.34968017e-05 2.66232122e-01] [-1.83150701e-02 -2.05620691e-04 9.99832244e-01 -3.83642935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.724203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.90, Y:0.27, Z:-0.38 [[ 9.99774127e-01 1.12327262e-02 1.80422046e-02 5.89793912e+00] [-1.12347510e-02 9.99936888e-01 1.08688593e-05 2.68693086e-01] [-1.80409438e-02 -2.13566081e-04 9.99837226e-01 -3.83472290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.754203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.93, Y:0.28, Z:-0.39 [[ 9.99782286e-01 1.15388068e-02 1.73849571e-02 5.92916532e+00] [-1.15406826e-02 9.99933404e-01 7.57161411e-06 2.77185401e-01] [-1.73837120e-02 -2.08204238e-04 9.99848870e-01 -3.86661328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.784203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.96, Y:0.28, Z:-0.39 [[ 9.99784535e-01 1.15418631e-02 1.72530650e-02 5.96171842e+00] [-1.15436723e-02 9.99933370e-01 5.27379962e-06 2.78872526e-01] [-1.72518545e-02 -2.04436391e-04 9.99851155e-01 -3.88477450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.814203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.99, Y:0.28, Z:-0.39 [[ 9.99808179e-01 1.00535338e-02 1.68086946e-02 5.99416556e+00] [-1.00549864e-02 9.99949447e-01 1.90849628e-06 2.78398876e-01] [-1.68078257e-02 -1.70919327e-04 9.99858724e-01 -3.89373122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.844203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.03, Y:0.28, Z:-0.39 [[ 9.99800228e-01 8.68205820e-03 1.80035042e-02 6.02589881e+00] [-8.68344186e-03 9.99962298e-01 -1.31739013e-06 2.77887997e-01] [-1.80028369e-02 -1.55015255e-04 9.99837924e-01 -3.90016760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.874203822 meters Centerline goodness [0,1] 0.9999788099677912 Centerline is valid? [True, True] Translation: X:6.06, Y:0.27, Z:-0.39 [[ 9.99785561e-01 6.18924956e-03 1.97617095e-02 6.05785183e+00] [-6.19035648e-03 9.99980840e-01 -5.15864801e-06 2.74757592e-01] [-1.97613628e-02 -1.17174485e-04 9.99804718e-01 -3.87189232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.904203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.09, Y:0.27, Z:-0.39 [[ 9.99800876e-01 5.13468358e-03 1.92832180e-02 6.09131114e+00] [-5.13548795e-03 9.99986813e-01 -7.80583839e-06 2.74271430e-01] [-1.92830038e-02 -9.12244496e-05 9.99814061e-01 -3.88887699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.934203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.12, Y:0.28, Z:-0.39 [[ 9.99828897e-01 2.59746388e-03 1.83147230e-02 6.12325178e+00] [-2.59770277e-03 9.99996626e-01 -1.07463138e-05 2.76908253e-01] [-1.83146891e-02 -3.68317317e-05 9.99832271e-01 -3.93418110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.964203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.16, Y:0.28, Z:-0.39 [[ 9.99831760e-01 -4.47466964e-04 1.83371589e-02 6.15652906e+00] [ 4.47798228e-04 9.99999900e-01 -1.39591637e-05 2.76842259e-01] [-1.83371508e-02 2.21681625e-05 9.99831860e-01 -3.94786443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.994203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.19, Y:0.28, Z:-0.39 [[ 9.99830986e-01 -2.17669113e-03 1.82554768e-02 6.18930983e+00] [ 2.17736277e-03 9.99997629e-01 -1.69148519e-05 2.75935519e-01] [-1.82553967e-02 5.66607885e-05 9.99833355e-01 -3.92786641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.024203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.22, Y:0.27, Z:-0.40 [[ 9.99821414e-01 -5.16977923e-03 1.81773059e-02 6.22006261e+00] [ 5.17102671e-03 9.99986630e-01 -2.16273110e-05 2.70927724e-01] [-1.81769510e-02 1.15618783e-04 9.99834779e-01 -3.96975669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.054203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.25, Y:0.27, Z:-0.39 [[ 9.99807527e-01 -6.26302311e-03 1.85925832e-02 6.25326039e+00] [ 6.26455423e-03 9.99980377e-01 -2.41097433e-05 2.71322602e-01] [-1.85920674e-02 1.40579349e-04 9.99827143e-01 -3.93443196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.084203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.28, Y:0.27, Z:-0.40 [[ 9.99779600e-01 -8.50524501e-03 1.91940552e-02 6.28444069e+00] [ 8.50729854e-03 9.99963812e-01 -2.53362565e-05 2.66051149e-01] [-1.91931451e-02 1.88620230e-04 9.99815777e-01 -3.97516875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.114203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.32, Y:0.27, Z:-0.40 [[ 9.99763542e-01 -1.06524060e-02 1.89575008e-02 6.31622262e+00] [ 1.06548489e-02 9.99943235e-01 -2.78590141e-05 2.65364240e-01] [-1.89561280e-02 2.29841734e-04 9.99820290e-01 -3.95850194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.144203822 meters Centerline goodness [0,1] 0.9999787978373794 Centerline is valid? [True, True] Translation: X:6.35, Y:0.26, Z:-0.40 [[ 9.99729505e-01 -1.12563212e-02 2.03521894e-02 6.34788771e+00] [ 1.12593342e-02 9.99936611e-01 -3.34541736e-05 2.62164616e-01] [-2.03505228e-02 2.62597226e-04 9.99792872e-01 -3.95520058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.174203821999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.38, Y:0.26, Z:-0.40 [[ 9.99728447e-01 -1.11240904e-02 2.04765064e-02 6.38136094e+00] [ 1.11271968e-02 9.99938090e-01 -3.77702614e-05 2.63613753e-01] [-2.04748185e-02 2.65606120e-04 9.99790334e-01 -3.95147926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.204203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.41, Y:0.27, Z:-0.40 [[ 9.99764560e-01 -1.02086537e-02 1.91470151e-02 6.41394951e+00] [ 1.02112301e-02 9.99947863e-01 -3.67966656e-05 2.65626675e-01] [-1.91456412e-02 2.32302579e-04 9.99816678e-01 -3.97901766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.234203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.45, Y:0.27, Z:-0.40 [[ 9.99837395e-01 -6.16894897e-03 1.69448596e-02 6.44520332e+00] [ 6.17039731e-03 9.99980962e-01 -3.31924879e-05 2.71708369e-01] [-1.69443322e-02 1.37743606e-04 9.99856425e-01 -4.03001742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.264203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.48, Y:0.27, Z:-0.41 [[ 9.99852821e-01 -3.72113651e-03 1.67478116e-02 6.47606362e+00] [ 3.72219512e-03 9.99993072e-01 -3.20375194e-05 2.74004230e-01] [-1.67475763e-02 9.43714266e-05 9.99859745e-01 -4.05246620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.294203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.51, Y:0.27, Z:-0.41 [[ 9.99853076e-01 -3.65205627e-03 1.67478034e-02 6.50856680e+00] [ 3.65316769e-03 9.99993327e-01 -3.57688064e-05 2.73802313e-01] [-1.67475610e-02 9.69460854e-05 9.99859745e-01 -4.06268065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.324203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.54, Y:0.28, Z:-0.40 [[ 9.99843173e-01 9.22026647e-04 1.76855519e-02 6.54054710e+00] [-9.21473705e-04 9.99999575e-01 -3.94142002e-05 2.79108975e-01] [-1.76855807e-02 2.31112480e-05 9.99843598e-01 -4.04577864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.354203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.57, Y:0.28, Z:-0.41 [[ 9.99835157e-01 2.92216810e-03 1.79198386e-02 6.57232060e+00] [-2.92193746e-03 9.99995730e-01 -3.90534735e-05 2.81588202e-01] [-1.79198763e-02 -1.33136120e-05 9.99839426e-01 -4.06446506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.384203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.60, Y:0.29, Z:-0.41 [[ 9.99815929e-01 6.38313307e-03 1.80931965e-02 6.60404468e+00] [-6.38337445e-03 9.99979625e-01 -4.44120843e-05 2.87023513e-01] [-1.80931114e-02 -7.10917392e-05 9.99836304e-01 -4.06775784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.414203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.64, Y:0.29, Z:-0.41 [[ 9.99756873e-01 1.03746711e-02 1.94566260e-02 6.63613227e+00] [-1.03757157e-02 9.99946170e-01 -4.72602121e-05 2.93783561e-01] [-1.94560689e-02 -1.54627697e-04 9.99810701e-01 -4.05716677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.444203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.67, Y:0.29, Z:-0.40 [[ 9.99731468e-01 1.22094802e-02 1.96956844e-02 6.66862859e+00] [-1.22108381e-02 9.99925444e-01 -5.13196498e-05 2.94597285e-01] [-1.96948426e-02 -1.89194945e-04 9.99806020e-01 -4.04682008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.474203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.70, Y:0.30, Z:-0.41 [[ 9.99716109e-01 1.43048074e-02 1.90545035e-02 6.69971874e+00] [-1.43063973e-02 9.99897657e-01 -5.28793451e-05 2.97258224e-01] [-1.90533098e-02 -2.19736964e-04 9.99818445e-01 -4.09965014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.504203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.73, Y:0.29, Z:-0.41 [[ 9.99703162e-01 1.49145804e-02 1.92650521e-02 6.73325179e+00] [-1.49162669e-02 9.99888745e-01 -5.61584709e-05 2.94701203e-01] [-1.92637464e-02 -2.31220858e-04 9.99814410e-01 -4.08895872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.534203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.76, Y:0.30, Z:-0.41 [[ 9.99671998e-01 1.48367118e-02 2.08750774e-02 6.76454897e+00] [-1.48385731e-02 9.99889900e-01 -6.57364206e-05 2.95042360e-01] [-2.08737543e-02 -2.44041503e-04 9.99782090e-01 -4.08142372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.564203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.80, Y:0.29, Z:-0.41 [[ 9.99683583e-01 1.29640987e-02 2.15561146e-02 6.79642729e+00] [-1.29655761e-02 9.99915941e-01 -7.12231629e-05 2.87653469e-01] [-2.15552260e-02 -2.08286818e-04 9.99767637e-01 -4.06209942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.594203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.83, Y:0.28, Z:-0.41 [[ 9.99696079e-01 1.19497643e-02 2.15627485e-02 6.82893119e+00] [-1.19509287e-02 9.99928582e-01 -7.48652981e-05 2.84762032e-01] [-2.15621032e-02 -1.82852325e-04 9.99767494e-01 -4.07000702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.624203822 meters Centerline goodness [0,1] 0.9999577702702702 Centerline is valid? [True, True] Translation: X:6.86, Y:0.28, Z:-0.41 [[ 9.99694289e-01 1.02361928e-02 2.25066442e-02 6.86006743e+00] [-1.02369353e-02 9.99947598e-01 -8.22285580e-05 2.80256991e-01] [-2.25063065e-02 -1.48195640e-04 9.99746690e-01 -4.07226840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.654203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.89, Y:0.28, Z:-0.41 [[ 9.99698869e-01 9.62173715e-03 2.25741736e-02 6.89332888e+00] [-9.62225541e-03 9.99953701e-01 -8.56650994e-05 2.76866686e-01] [-2.25739527e-02 -1.31575161e-04 9.99745167e-01 -4.07527099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.684203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.93, Y:0.27, Z:-0.41 [[ 9.99706662e-01 8.96802286e-03 2.24981195e-02 6.92508638e+00] [-8.96827539e-03 9.99959780e-01 -8.96752492e-05 2.72365367e-01] [-2.24980189e-02 -1.12120388e-04 9.99746881e-01 -4.09829579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.714203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.96, Y:0.27, Z:-0.41 [[ 9.99704583e-01 9.46666525e-03 2.23859254e-02 6.95844832e+00] [-9.46695546e-03 9.99955183e-01 -9.30152131e-05 2.68180191e-01] [-2.23858027e-02 -1.18938824e-04 9.99749399e-01 -4.10668139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.744203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.99, Y:0.27, Z:-0.41 [[ 9.99690688e-01 1.04307579e-02 2.25771316e-02 6.99065774e+00] [-1.04312003e-02 9.99945589e-01 -9.81783226e-05 2.68531239e-01] [-2.25769272e-02 -1.37358627e-04 9.99745099e-01 -4.11310171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.774203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.02, Y:0.27, Z:-0.41 [[ 9.99653035e-01 1.21372716e-02 2.33772543e-02 7.02242828e+00] [-1.21381122e-02 9.99926325e-01 -1.05942354e-04 2.70075222e-01] [-2.33768178e-02 -1.77850141e-04 9.99726709e-01 -4.11770188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.804203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.06, Y:0.27, Z:-0.41 [[ 9.99654111e-01 1.24386039e-02 2.31719524e-02 7.05538254e+00] [-1.24394218e-02 9.99922621e-01 -1.08853718e-04 2.68834647e-01] [-2.31715134e-02 -1.79429623e-04 9.99731488e-01 -4.13141225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.834203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.09, Y:0.26, Z:-0.42 [[ 9.99683124e-01 1.19348324e-02 2.21633020e-02 7.08679419e+00] [-1.19353671e-02 9.99928765e-01 -1.08158520e-04 2.63479446e-01] [-2.21630140e-02 -1.56402898e-04 9.99754358e-01 -4.17095463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.864203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.12, Y:0.26, Z:-0.42 [[ 9.99692209e-01 1.10327050e-02 2.22208565e-02 7.11938338e+00] [-1.10329403e-02 9.99939129e-01 -1.12012015e-04 2.59267880e-01] [-2.22207397e-02 -1.33183844e-04 9.99753080e-01 -4.18367906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.894203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.15, Y:0.25, Z:-0.42 [[ 9.99735378e-01 8.67407639e-03 2.13057583e-02 7.15277781e+00] [-8.67369636e-03 9.99962377e-01 -1.10248820e-04 2.51791742e-01] [-2.13059130e-02 -7.45800325e-05 9.99773000e-01 -4.19421837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.924203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.18, Y:0.25, Z:-0.42 [[ 9.99752999e-01 7.89641205e-03 2.07747020e-02 7.18441816e+00] [-7.89580099e-03 9.99968821e-01 -1.11440192e-04 2.50946239e-01] [-2.07749343e-02 -5.26202465e-05 9.99784176e-01 -4.22720212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.954203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.22, Y:0.25, Z:-0.42 [[ 9.99789454e-01 7.71443907e-03 1.90140772e-02 7.21651097e+00] [-7.71383674e-03 9.99970242e-01 -1.05021319e-04 2.50707088e-01] [-1.90143216e-02 -4.16722809e-05 9.99819211e-01 -4.22900809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.984203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.25, Y:0.25, Z:-0.43 [[ 9.99789957e-01 8.85034222e-03 1.84855137e-02 7.24758244e+00] [-8.84989330e-03 9.99960833e-01 -1.06090838e-04 2.48039686e-01] [-1.84857286e-02 -5.75262702e-05 9.99829123e-01 -4.25815028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.014203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.28, Y:0.25, Z:-0.43 [[ 9.99769704e-01 9.91388018e-03 1.90329439e-02 7.28092032e+00] [-9.91358337e-03 9.99950853e-01 -1.09947614e-04 2.46721792e-01] [-1.90330985e-02 -7.87623826e-05 9.99818851e-01 -4.26331987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.044203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.31, Y:0.25, Z:-0.43 [[ 9.99716264e-01 1.26928637e-02 2.01564448e-02 7.31367561e+00] [-1.26930127e-02 9.99919433e-01 -1.20545897e-04 2.47641875e-01] [-2.01563510e-02 -1.35334317e-04 9.99796831e-01 -4.25548745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.074203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.35, Y:0.25, Z:-0.43 [[ 9.99658038e-01 1.52822284e-02 2.12193409e-02 7.34723826e+00] [-1.52828856e-02 9.99883201e-01 -1.31202274e-04 2.52448824e-01] [-2.12188676e-02 -1.93135351e-04 9.99774836e-01 -4.25017459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.104203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.38, Y:0.25, Z:-0.43 [[ 9.99643429e-01 1.59135141e-02 2.14423695e-02 7.38019173e+00] [-1.59142426e-02 9.99873351e-01 -1.36676652e-04 2.54839792e-01] [-2.14418288e-02 -2.04611152e-04 9.99770077e-01 -4.25214539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.134203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.41, Y:0.26, Z:-0.42 [[ 9.99627902e-01 1.56501636e-02 2.23412069e-02 7.41271269e+00] [-1.56507849e-02 9.99877508e-01 -1.47049817e-04 2.55778741e-01] [-2.23407717e-02 -2.02662324e-04 9.99750393e-01 -4.24473912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.164203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.45, Y:0.25, Z:-0.42 [[ 9.99640790e-01 1.50605463e-02 2.21691346e-02 7.44552891e+00] [-1.50609386e-02 9.99886566e-01 -1.49277623e-04 2.52663081e-01] [-2.21688681e-02 -1.84663974e-04 9.99754223e-01 -4.24793268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.194203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.48, Y:0.24, Z:-0.43 [[ 9.99657602e-01 1.29032301e-02 2.27636734e-02 7.47751071e+00] [-1.29029761e-02 9.99916741e-01 -1.58041608e-04 2.43876105e-01] [-2.27638173e-02 -1.35731637e-04 9.99740862e-01 -4.25379453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.224203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.51, Y:0.24, Z:-0.43 [[ 9.99670996e-01 1.13176503e-02 2.30176083e-02 7.50873900e+00] [-1.13168759e-02 9.99935949e-01 -1.63906656e-04 2.40265969e-01] [-2.30179890e-02 -9.66346875e-05 9.99735046e-01 -4.26310952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.254203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.54, Y:0.24, Z:-0.43 [[ 9.99702924e-01 8.76498610e-03 2.27428864e-02 7.54152620e+00] [-8.76349638e-03 9.99961586e-01 -1.65170098e-04 2.38487461e-01] [-2.27434604e-02 -3.41861727e-05 9.99741333e-01 -4.27833226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.284203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.57, Y:0.24, Z:-0.43 [[ 9.99728739e-01 7.08164424e-03 2.21877934e-02 7.57483014e+00] [-7.07972040e-03 9.99974925e-01 -1.65258185e-04 2.35022152e-01] [-2.21884073e-02 8.12998378e-06 9.99753807e-01 -4.31020438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.314203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.61, Y:0.23, Z:-0.43 [[ 9.99743158e-01 6.65892815e-03 2.16628157e-02 7.60677688e+00] [-6.65690544e-03 9.99977829e-01 -1.65484053e-04 2.33229331e-01] [-2.16634373e-02 2.12342347e-05 9.99765320e-01 -4.33196768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.344203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.64, Y:0.23, Z:-0.44 [[ 9.99775082e-01 5.71602144e-03 2.04233130e-02 7.63852954e+00] [-5.71395606e-03 9.99983663e-01 -1.59482595e-04 2.29240215e-01] [-2.04238910e-02 4.27488115e-05 9.99791410e-01 -4.35791943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.374203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.67, Y:0.23, Z:-0.44 [[ 9.99763645e-01 5.55188440e-03 2.10197541e-02 7.66989255e+00] [-5.54957988e-03 9.99984587e-01 -1.67966425e-04 2.26659151e-01] [-2.10203627e-02 5.12759211e-05 9.99779046e-01 -4.37321540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.404203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.70, Y:0.23, Z:-0.44 [[ 9.99760021e-01 6.46595027e-03 2.09306674e-02 7.70276569e+00] [-6.46380521e-03 9.99979095e-01 -1.70136490e-04 2.27697244e-01] [-2.09313300e-02 3.48039034e-05 9.99780915e-01 -4.36768250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.434203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.74, Y:0.23, Z:-0.44 [[ 9.99764656e-01 7.63783006e-03 2.03050532e-02 7.73605626e+00] [-7.63597886e-03 9.99970831e-01 -1.68701873e-04 2.29373973e-01] [-2.03057494e-02 1.36132134e-05 9.99793817e-01 -4.38961313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.464203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.77, Y:0.23, Z:-0.44 [[ 9.99750863e-01 9.94714293e-03 1.99816716e-02 7.76871221e+00] [-9.94573885e-03 9.99950526e-01 -1.69645777e-04 2.30820603e-01] [-1.99823705e-02 -2.91289756e-05 9.99800332e-01 -4.40744545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.494203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.80, Y:0.23, Z:-0.44 [[ 9.99718175e-01 1.10517027e-02 2.10102385e-02 7.79949206e+00] [-1.10502949e-02 9.99938927e-01 -1.83101569e-04 2.30765569e-01] [-2.10109789e-02 -4.91193664e-05 9.99779244e-01 -4.41078472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.524203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.83, Y:0.23, Z:-0.44 [[ 9.99686549e-01 1.19158582e-02 2.20185404e-02 7.83032666e+00] [-1.19144409e-02 9.99929001e-01 -1.95560851e-04 2.32332147e-01] [-2.20193074e-02 -6.68390452e-05 9.99757543e-01 -4.40025092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.554203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.86, Y:0.24, Z:-0.44 [[ 9.99688298e-01 1.22531278e-02 2.17524301e-02 7.86243048e+00] [-1.22517578e-02 9.99924925e-01 -1.96252767e-04 2.35022368e-01] [-2.17532018e-02 -7.03139106e-05 9.99763369e-01 -4.41427820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.584203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.89, Y:0.23, Z:-0.44 [[ 9.99687254e-01 1.25071668e-02 2.16555806e-02 7.89467859e+00] [-1.25057869e-02 9.99921780e-01 -1.99148910e-04 2.34982596e-01] [-2.16563775e-02 -7.17334490e-05 9.99765471e-01 -4.42860432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.614203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.93, Y:0.23, Z:-0.44 [[ 9.99695890e-01 1.26952799e-02 2.11413853e-02 7.92748441e+00] [-1.26939368e-02 9.99919409e-01 -1.97730608e-04 2.33728498e-01] [-2.11421917e-02 -7.06969321e-05 9.99776476e-01 -4.44708849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.644203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.96, Y:0.23, Z:-0.45 [[ 9.99694243e-01 1.30011466e-02 2.10330640e-02 7.95986522e+00] [-1.29997968e-02 9.99915479e-01 -2.00906827e-04 2.33278193e-01] [-2.10338983e-02 -7.25801603e-05 9.99778760e-01 -4.49110092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.674203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.99, Y:0.24, Z:-0.45 [[ 9.99693772e-01 1.42540341e-02 2.02282928e-02 7.99169514e+00] [-1.42529667e-02 9.99898402e-01 -1.96945909e-04 2.36311881e-01] [-2.02290449e-02 -9.14275848e-05 9.99795368e-01 -4.50927270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.704203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.02, Y:0.24, Z:-0.45 [[ 9.99683429e-01 1.52174523e-02 2.00367419e-02 8.02344718e+00] [-1.52165386e-02 9.99884202e-01 -1.98067769e-04 2.41157292e-01] [-2.00374358e-02 -1.06884792e-04 9.99799225e-01 -4.52838998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.734203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.06, Y:0.25, Z:-0.46 [[ 9.99668298e-01 1.68212465e-02 1.95022767e-02 8.05598483e+00] [-1.68206217e-02 9.99858504e-01 -1.96082116e-04 2.48838024e-01] [-1.95028155e-02 -1.32023344e-04 9.99809793e-01 -4.55731921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.764203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.09, Y:0.25, Z:-0.45 [[ 9.99670982e-01 1.69190288e-02 1.92788676e-02 8.08943314e+00] [-1.69183879e-02 9.99856855e-01 -1.96357223e-04 2.47726290e-01] [-1.92794301e-02 -1.29874741e-04 9.99814126e-01 -4.54564403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.794203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.12, Y:0.25, Z:-0.45 [[ 9.99664675e-01 1.66527449e-02 1.98298514e-02 8.12176773e+00] [-1.66519319e-02 9.99861326e-01 -2.06126836e-04 2.47500895e-01] [-1.98305341e-02 -1.24147618e-04 9.99803348e-01 -4.53582348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.824203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.15, Y:0.25, Z:-0.45 [[ 9.99677177e-01 1.50254485e-02 2.04884922e-02 8.15255694e+00] [-1.50241597e-02 9.99887107e-01 -2.16837618e-04 2.49148243e-01] [-2.04894373e-02 -9.10547606e-05 9.99790065e-01 -4.54856007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.854203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.18, Y:0.25, Z:-0.46 [[ 9.99689390e-01 1.38311784e-02 2.07321382e-02 8.18491762e+00] [-1.38295335e-02 9.99904343e-01 -2.22716203e-04 2.48105404e-01] [-2.07332355e-02 -6.40687756e-05 9.99785041e-01 -4.55216041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.884203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.22, Y:0.25, Z:-0.45 [[ 9.99675351e-01 1.07641994e-02 2.30938233e-02 8.21759762e+00] [-1.07612398e-02 9.99942064e-01 -2.52431942e-04 2.46426298e-01] [-2.30952026e-02 3.83182063e-06 9.99733270e-01 -4.51827134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.914203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.25, Y:0.24, Z:-0.45 [[ 9.99667438e-01 8.95199410e-03 2.41841969e-02 8.24834608e+00] [-8.94811166e-03 9.99959929e-01 -2.68750956e-04 2.44812064e-01] [-2.41856336e-02 5.22586857e-05 9.99707483e-01 -4.51014016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.944203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.28, Y:0.24, Z:-0.45 [[ 9.99660850e-01 5.71477269e-03 2.54071959e-02 8.27988690e+00] [-5.70933978e-03 9.99983661e-01 -2.86369608e-04 2.38500618e-01] [-2.54084173e-02 1.41214172e-04 9.99677144e-01 -4.50361450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.974203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.31, Y:0.24, Z:-0.45 [[ 9.99669049e-01 4.56020541e-03 2.53179155e-02 8.31059139e+00] [-4.55431358e-03 9.99989587e-01 -2.90371420e-04 2.35129835e-01] [-2.53189760e-02 1.74969595e-04 9.99679408e-01 -4.52340953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.004203822000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.34, Y:0.24, Z:-0.45 [[ 9.99670945e-01 4.07243815e-03 2.53262016e-02 8.34317765e+00] [-4.06634377e-03 9.99991690e-01 -2.92131585e-04 2.35710179e-01] [-2.53271808e-02 1.89050416e-04 9.99679198e-01 -4.52996047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.034203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.38, Y:0.24, Z:-0.46 [[ 9.99695415e-01 5.92094954e-03 2.39587220e-02 8.37647120e+00] [-5.91593206e-03 9.99982461e-01 -2.80296304e-04 2.38647339e-01] [-2.39599615e-02 1.38472758e-04 9.99712909e-01 -4.55835871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.064203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.41, Y:0.24, Z:-0.46 [[ 9.99709680e-01 9.03555503e-03 2.23363993e-02 8.40852355e+00] [-9.03188191e-03 9.99959177e-01 -2.65324640e-04 2.44812546e-01] [-2.23378848e-02 6.35078904e-05 9.99750476e-01 -4.60001309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.094203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.44, Y:0.25, Z:-0.46 [[ 9.99684289e-01 1.07075316e-02 2.27304164e-02 8.43989583e+00] [-1.07040483e-02 9.99942672e-01 -2.74914540e-04 2.48786043e-01] [-2.27320570e-02 3.15202724e-05 9.99741593e-01 -4.61128576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.124203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.47, Y:0.26, Z:-0.46 [[ 9.99638471e-01 1.33777845e-02 2.33229882e-02 8.47219436e+00] [-1.33748038e-02 9.99910513e-01 -2.83793380e-04 2.56109984e-01] [-2.33246976e-02 -2.82496103e-05 9.99727942e-01 -4.60510176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.154203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.50, Y:0.26, Z:-0.46 [[ 9.99636005e-01 1.35608987e-02 2.33229447e-02 8.50471682e+00] [-1.35578856e-02 9.99908046e-01 -2.87316690e-04 2.55517280e-01] [-2.33246964e-02 -2.89977088e-05 9.99727942e-01 -4.61532304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.184203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.54, Y:0.26, Z:-0.46 [[ 9.99621351e-01 1.46061311e-02 2.33198541e-02 8.53746874e+00] [-1.46033049e-02 9.99893324e-01 -2.91497257e-04 2.57675980e-01] [-2.33216241e-02 -4.91600577e-05 9.99728013e-01 -4.61434131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.214203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.57, Y:0.26, Z:-0.47 [[ 9.99601143e-01 1.60351822e-02 2.32471031e-02 8.56946247e+00] [-1.60326553e-02 9.99871425e-01 -2.95084136e-04 2.59618394e-01] [-2.32488458e-02 -7.77463515e-05 9.99729706e-01 -4.65017277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.244203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.60, Y:0.26, Z:-0.47 [[ 9.99590233e-01 1.64729319e-02 2.34096027e-02 8.60288481e+00] [-1.64703948e-02 9.99864308e-01 -3.01196260e-04 2.58534777e-01] [-2.34113878e-02 -8.44925581e-05 9.99725912e-01 -4.65300401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.274203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.63, Y:0.26, Z:-0.47 [[ 9.99579700e-01 1.66239294e-02 2.37501164e-02 8.63489711e+00] [-1.66212477e-02 9.99861809e-01 -3.10330835e-04 2.60401036e-01] [-2.37519933e-02 -8.45561648e-05 9.99717878e-01 -4.66585188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.304203822 meters Centerline goodness [0,1] 0.9999149641786602 Centerline is valid? [True, True] Translation: X:8.67, Y:0.26, Z:-0.47 [[ 9.99584502e-01 1.62798255e-02 2.37863607e-02 8.66679702e+00] [-1.62769357e-02 9.99867472e-01 -3.15109455e-04 2.60417656e-01] [-2.37883383e-02 -7.21905356e-05 9.99717015e-01 -4.68393005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.334203822000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.70, Y:0.26, Z:-0.47 [[ 9.99622729e-01 1.45928921e-02 2.32690144e-02 8.69964187e+00] [-1.45895793e-02 9.99893518e-01 -3.12136868e-04 2.56696929e-01] [-2.32710917e-02 -2.74660234e-05 9.99729191e-01 -4.70583976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.364203822 meters Centerline goodness [0,1] 0.9999785264875776 Centerline is valid? [True, True] Translation: X:8.73, Y:0.25, Z:-0.47 [[ 9.99696289e-01 1.17532881e-02 2.16607812e-02 8.73192065e+00] [-1.17496676e-02 9.99930927e-01 -2.94412146e-04 2.53901132e-01] [-2.16627453e-02 3.98157508e-05 9.99765334e-01 -4.72519328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.394203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.76, Y:0.25, Z:-0.48 [[ 9.99712784e-01 1.03836271e-02 2.15992930e-02 8.76398812e+00] [-1.03796300e-02 9.99946086e-01 -2.97163733e-04 2.51947556e-01] [-2.16012141e-02 7.28857141e-05 9.99766664e-01 -4.75420011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.424203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.80, Y:0.25, Z:-0.48 [[ 9.99731435e-01 8.28492163e-03 2.16429790e-02 8.79592174e+00] [-8.28032636e-03 9.99965672e-01 -3.01930367e-04 2.45650522e-01] [-2.16447375e-02 1.22638350e-04 9.99765718e-01 -4.77419279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.454203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.83, Y:0.24, Z:-0.48 [[ 9.99733543e-01 7.70063562e-03 2.17610648e-02 8.82941890e+00] [-7.69578041e-03 9.99970340e-01 -3.06851016e-04 2.41894567e-01] [-2.17627823e-02 1.39300877e-04 9.99763153e-01 -4.77318470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.484203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.86, Y:0.24, Z:-0.48 [[ 9.99733049e-01 6.75930602e-03 2.20939441e-02 8.86099174e+00] [-6.75397123e-03 9.99977142e-01 -3.16071394e-04 2.38071941e-01] [-2.20955755e-02 1.66765156e-04 9.99755849e-01 -4.78671691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.514203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.89, Y:0.24, Z:-0.48 [[ 9.99776911e-01 7.03401975e-03 1.99160894e-02 8.89339439e+00] [-7.02967421e-03 9.99975250e-01 -2.88193887e-04 2.40924236e-01] [-1.99176236e-02 1.48125975e-04 9.99801613e-01 -4.82544208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.544203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.93, Y:0.24, Z:-0.48 [[ 9.99788584e-01 7.43092174e-03 1.91720640e-02 8.92613863e+00] [-7.42691673e-03 9.99972381e-01 -2.80091958e-04 2.39625460e-01] [-1.91736158e-02 1.37643419e-04 9.99816160e-01 -4.84777376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.574203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.96, Y:0.24, Z:-0.49 [[ 9.99777531e-01 7.97617764e-03 1.95261232e-02 8.95730090e+00] [-7.97204526e-03 9.99968181e-01 -2.89464766e-04 2.37211663e-01] [-1.95278108e-02 1.33737231e-04 9.99809305e-01 -4.86074659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.604203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.99, Y:0.23, Z:-0.49 [[ 9.99731833e-01 9.55458510e-03 2.10943623e-02 8.98958743e+00] [-9.55004048e-03 9.99954347e-01 -3.16171500e-04 2.34053050e-01] [-2.10964201e-02 1.14634700e-04 9.99777439e-01 -4.85619563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.634203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.02, Y:0.23, Z:-0.48 [[ 9.99682946e-01 1.09900981e-02 2.26544766e-02 9.02225777e+00] [-1.09851187e-02 9.99939603e-01 -3.44237423e-04 2.32759263e-01] [-2.26568915e-02 9.52661671e-05 9.99743295e-01 -4.84342173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.664203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.05, Y:0.23, Z:-0.49 [[ 9.99668894e-01 1.17348766e-02 2.28996540e-02 9.05409198e+00] [-1.17299549e-02 9.99931141e-01 -3.49243722e-04 2.33179463e-01] [-2.29021755e-02 8.05161780e-05 9.99737708e-01 -4.85036556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.694203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.09, Y:0.24, Z:-0.48 [[ 9.99659334e-01 1.30961689e-02 2.25766679e-02 9.08683554e+00] [-1.30916502e-02 9.99914240e-01 -3.47946666e-04 2.37262819e-01] [-2.25792885e-02 5.22622946e-05 9.99745054e-01 -4.84843540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.724203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.12, Y:0.24, Z:-0.49 [[ 9.99654731e-01 1.40440784e-02 2.22077202e-02 9.11901866e+00] [-1.40398452e-02 9.99901376e-01 -3.46526891e-04 2.37502646e-01] [-2.22103967e-02 3.46142906e-05 9.99753318e-01 -4.87630997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.754203822000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.15, Y:0.24, Z:-0.49 [[ 9.99671705e-01 1.62490934e-02 1.98103539e-02 9.15146201e+00] [-1.62460976e-02 9.99867975e-01 -3.12158735e-04 2.35785305e-01] [-1.98128107e-02 -9.78468981e-06 9.99803707e-01 -4.91997984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.784203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.18, Y:0.23, Z:-0.50 [[ 9.99645558e-01 1.82931706e-02 1.93421609e-02 9.18310881e+00] [-1.82906394e-02 9.99832665e-01 -3.07777474e-04 2.33338750e-01] [-1.93445545e-02 -4.61121049e-05 9.99812876e-01 -4.96014099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.814203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.22, Y:0.23, Z:-0.50 [[ 9.99616589e-01 1.93372064e-02 1.98178517e-02 9.21544915e+00] [-1.93346798e-02 9.99813017e-01 -3.19107838e-04 2.33814232e-01] [-1.98203167e-02 -6.41863268e-05 9.99803556e-01 -4.96149564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.844203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.25, Y:0.24, Z:-0.50 [[ 9.99582757e-01 2.01736556e-02 2.06721132e-02 9.24629240e+00] [-2.01709999e-02 9.99796488e-01 -3.36990250e-04 2.35098735e-01] [-2.06747045e-02 -8.01275518e-05 9.99786252e-01 -4.95258386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.874203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.28, Y:0.23, Z:-0.50 [[ 9.99575154e-01 1.97885526e-02 2.13991943e-02 9.27771947e+00] [-1.97855458e-02 9.99804185e-01 -3.52239306e-04 2.33085756e-01] [-2.14019744e-02 -7.13050825e-05 9.99770949e-01 -4.95346547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.904203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.31, Y:0.23, Z:-0.49 [[ 9.99585974e-01 1.74896593e-02 2.28471700e-02 9.31005815e+00] [-1.74855494e-02 9.99847044e-01 -3.79665021e-04 2.28278474e-01] [-2.28503156e-02 -1.99874905e-05 9.99738897e-01 -4.93638575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.934203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.34, Y:0.23, Z:-0.50 [[ 9.99605944e-01 1.66858124e-02 2.25729816e-02 9.34211313e+00] [-1.66815143e-02 9.99860782e-01 -3.78704300e-04 2.25369124e-01] [-2.25761581e-02 2.00355197e-06 9.99745126e-01 -4.96346511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.964203822 meters Centerline goodness [0,1] 0.9999573114768094 Centerline is valid? [True, True] Translation: X:9.37, Y:0.22, Z:-0.50 [[ 9.99651477e-01 1.56416229e-02 2.12664932e-02 9.37444062e+00] [-1.56374967e-02 9.99877662e-01 -3.60316359e-04 2.19661506e-01] [-2.12695275e-02 2.76360630e-05 9.99773778e-01 -4.98196404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.994203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.41, Y:0.22, Z:-0.50 [[ 9.99650241e-01 1.56610878e-02 2.13102330e-02 9.40658937e+00] [-1.56568741e-02 9.99877357e-01 -3.64572706e-04 2.17890458e-01] [-2.13133291e-02 3.07935573e-05 9.99772845e-01 -5.00392038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.024203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.44, Y:0.22, Z:-0.50 [[ 9.99646281e-01 1.60944235e-02 2.11726741e-02 9.43972204e+00] [-1.60902826e-02 9.99870476e-01 -3.65932924e-04 2.17438585e-01] [-2.11758212e-02 2.51291777e-05 9.99775767e-01 -5.02267081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.054203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.47, Y:0.22, Z:-0.50 [[ 9.99643640e-01 1.64111205e-02 2.10539324e-02 9.47287867e+00] [-1.64070141e-02 9.99865328e-01 -3.67773866e-04 2.17301286e-01] [-2.10571326e-02 2.22106412e-05 9.99778274e-01 -5.03159975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.084203822000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.50, Y:0.22, Z:-0.50 [[ 9.99615533e-01 1.66480615e-02 2.21727080e-02 9.50418206e+00] [-1.66434581e-02 9.99861411e-01 -3.92150422e-04 2.17378342e-01] [-2.21761637e-02 2.29691149e-05 9.99754078e-01 -5.03584656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.114203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.54, Y:0.22, Z:-0.50 [[ 9.99586214e-01 1.65153025e-02 2.35509140e-02 9.53595086e+00] [-1.65099818e-02 9.99863613e-01 -4.20355543e-04 2.16589765e-01] [-2.35546442e-02 3.13564439e-05 9.99722550e-01 -5.02634477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.144203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.57, Y:0.21, Z:-0.50 [[ 9.99600390e-01 1.64488463e-02 2.29890171e-02 9.56920021e+00] [-1.64436827e-02 9.99864708e-01 -4.13642068e-04 2.14757585e-01] [-2.29927108e-02 3.54526701e-05 9.99735632e-01 -5.04107834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.174203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.60, Y:0.21, Z:-0.51 [[ 9.99650128e-01 1.57162006e-02 2.12749187e-02 9.60094607e+00] [-1.57115324e-02 9.99876492e-01 -3.86567407e-04 2.12571896e-01] [-2.12783665e-02 5.21705832e-05 9.99773589e-01 -5.08714443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.204203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.63, Y:0.21, Z:-0.51 [[ 9.99669765e-01 1.58888745e-02 2.01966695e-02 9.63298047e+00] [-1.58846417e-02 9.99873763e-01 -3.69994944e-04 2.11382355e-01] [-2.01999988e-02 4.90558990e-05 9.99795958e-01 -5.11318061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.234203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.66, Y:0.21, Z:-0.51 [[ 9.99688003e-01 1.62657070e-02 1.89558248e-02 9.66473176e+00] [-1.62619921e-02 9.99867704e-01 -3.50109917e-04 2.08524061e-01] [-1.89590118e-02 4.17412092e-05 9.99820261e-01 -5.14830627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.264203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.70, Y:0.21, Z:-0.51 [[ 9.99648811e-01 1.76133676e-02 1.97996063e-02 9.69570777e+00] [-1.76094922e-02 9.99844872e-01 -3.70071904e-04 2.09725410e-01] [-1.98030531e-02 2.12809249e-05 9.99803900e-01 -5.14151677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.294203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.73, Y:0.21, Z:-0.52 [[ 9.99629929e-01 1.85207312e-02 1.99245303e-02 9.72809437e+00] [-1.85169668e-02 9.99828477e-01 -3.73422180e-04 2.10773446e-01] [-1.99280288e-02 4.34212271e-06 9.99801417e-01 -5.16368529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.324203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.76, Y:0.21, Z:-0.52 [[ 9.99614235e-01 2.00873517e-02 1.91801719e-02 9.76007117e+00] [-2.00840894e-02 9.99798229e-01 -3.62716153e-04 2.12498729e-01] [-1.91835879e-02 -2.26400574e-05 9.99815978e-01 -5.17853632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.354203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.79, Y:0.21, Z:-0.52 [[ 9.99620494e-01 2.10683059e-02 1.77480705e-02 9.79237324e+00] [-2.10656255e-02 9.99778038e-01 -3.37980832e-04 2.11707459e-01] [-1.77512517e-02 -3.60216394e-05 9.99842433e-01 -5.20975492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.384203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.82, Y:0.21, Z:-0.52 [[ 9.99592663e-01 2.17717323e-02 1.84526404e-02 9.82313236e+00] [-2.17688899e-02 9.99762967e-01 -3.54913605e-04 2.12559518e-01] [-1.84559936e-02 -4.69244625e-05 9.99829673e-01 -5.23038046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.414203822000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.86, Y:0.21, Z:-0.52 [[ 9.99547890e-01 2.25116946e-02 1.99308708e-02 9.85533348e+00] [-2.25084571e-02 9.99746578e-01 -3.86780391e-04 2.13292869e-01] [-1.99345269e-02 -6.20076257e-05 9.99801286e-01 -5.21003445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.444203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.89, Y:0.21, Z:-0.52 [[ 9.99547813e-01 2.33156226e-02 1.89881755e-02 9.88664042e+00] [-2.33127709e-02 9.99728151e-01 -3.71555791e-04 2.12809478e-01] [-1.89916766e-02 -7.12792060e-05 9.99819639e-01 -5.24077283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.474203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.92, Y:0.22, Z:-0.53 [[ 9.99523478e-01 2.52754509e-02 1.77191651e-02 9.91757717e+00] [-2.52732321e-02 9.99680520e-01 -3.49174888e-04 2.18229628e-01] [-1.77223297e-02 -9.88120716e-05 9.99842942e-01 -5.28535409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.504203822000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.95, Y:0.22, Z:-0.53 [[ 9.99498917e-01 2.57956333e-02 1.83439162e-02 9.94995733e+00] [-2.57932918e-02 9.99667231e-01 -3.64264449e-04 2.20179357e-01] [-1.83472084e-02 -1.09068062e-04 9.99831670e-01 -5.27213805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.534203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.98, Y:0.22, Z:-0.53 [[ 9.99496992e-01 2.59210938e-02 1.82718423e-02 9.98208151e+00] [-2.59187404e-02 9.99663986e-01 -3.65639949e-04 2.24726237e-01] [-1.82751805e-02 -1.08127107e-04 9.99832989e-01 -5.29777411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.564203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.01, Y:0.22, Z:-0.53 [[ 9.99508082e-01 2.44840441e-02 1.95991237e-02 1.00144815e+01] [-2.44809827e-02 9.99700217e-01 -3.96145197e-04 2.22935392e-01] [-1.96029475e-02 -8.38554831e-05 9.99807840e-01 -5.27077894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.594203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.05, Y:0.22, Z:-0.53 [[ 9.99513741e-01 2.33419157e-02 2.06745392e-02 1.00467484e+01] [-2.33381908e-02 9.99727538e-01 -4.21459077e-04 2.21067052e-01] [-2.06787438e-02 -6.12522022e-05 9.99786170e-01 -5.26232565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.624203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.08, Y:0.22, Z:-0.53 [[ 9.99592023e-01 2.01234937e-02 2.02690015e-02 1.00794619e+01] [-2.01191920e-02 9.99797502e-01 -4.16150341e-04 2.18444024e-01] [-2.02732715e-02 8.18462792e-06 9.99794476e-01 -5.27895096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.654203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.11, Y:0.22, Z:-0.53 [[ 9.99650716e-01 1.85277378e-02 1.88459068e-02 1.01103680e+01] [-1.85236515e-02 9.99828346e-01 -3.91385450e-04 2.16258597e-01] [-1.88499233e-02 4.21537357e-05 9.99822324e-01 -5.32934972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.684203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.14, Y:0.22, Z:-0.54 [[ 9.99733500e-01 1.63759344e-02 1.62713996e-02 1.01423463e+01] [-1.63726036e-02 9.99865903e-01 -3.37905475e-04 2.16636447e-01] [-1.62747512e-02 7.14102470e-05 9.99867555e-01 -5.37456417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.714203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.17, Y:0.22, Z:-0.54 [[ 9.99771670e-01 1.54222138e-02 1.47906625e-02 1.01742344e+01] [-1.54193287e-02 9.99881067e-01 -3.09086001e-04 2.19248467e-01] [-1.47936702e-02 8.09533405e-05 9.99890564e-01 -5.41232494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.744203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.21, Y:0.22, Z:-0.54 [[ 9.99768120e-01 1.53105784e-02 1.51424069e-02 1.02071352e+01] [-1.53075081e-02 9.99882782e-01 -3.18649061e-04 2.17530281e-01] [-1.51455107e-02 8.67826552e-05 9.99885296e-01 -5.41815140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.774203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.24, Y:0.22, Z:-0.54 [[ 9.99738233e-01 1.61092983e-02 1.62467336e-02 1.02390653e+01] [-1.61058077e-02 9.99870233e-01 -3.45676438e-04 2.18528397e-01] [-1.62501939e-02 8.39191835e-05 9.99867953e-01 -5.39793220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.804203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.27, Y:0.22, Z:-0.54 [[ 9.99715264e-01 1.70360634e-02 1.67081693e-02 1.02708376e+01] [-1.70324528e-02 9.99854873e-01 -3.58380065e-04 2.21225778e-01] [-1.67118499e-02 7.36969147e-05 9.99860345e-01 -5.40560245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.834203822000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.30, Y:0.23, Z:-0.54 [[ 9.99662193e-01 1.77517894e-02 1.89835001e-02 1.03036524e+01] [-1.77471858e-02 9.99842422e-01 -4.10959945e-04 2.26341090e-01] [-1.89878039e-02 7.39174178e-05 9.99819713e-01 -5.37111758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.864203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.34, Y:0.23, Z:-0.54 [[ 9.99652472e-01 1.79182462e-02 1.93357462e-02 1.03367299e+01] [-1.79134433e-02 9.99839453e-01 -4.21578149e-04 2.27420380e-01] [-1.93401958e-02 7.50618454e-05 9.99812958e-01 -5.37757268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.894203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.37, Y:0.23, Z:-0.54 [[ 9.99696231e-01 1.74199521e-02 1.74353091e-02 1.03683151e+01] [-1.74159168e-02 9.99848258e-01 -3.83266411e-04 2.28435081e-01] [-1.74393399e-02 7.94980933e-05 9.99847920e-01 -5.41711143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.924203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.40, Y:0.23, Z:-0.55 [[ 9.99710141e-01 1.71101834e-02 1.69374216e-02 1.03996471e+01] [-1.71062879e-02 9.99853606e-01 -3.74855492e-04 2.27094604e-01] [-1.69413559e-02 8.50104261e-05 9.99856481e-01 -5.46214576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.954203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.43, Y:0.23, Z:-0.55 [[ 9.99700734e-01 1.75194443e-02 1.70736931e-02 1.04314243e+01] [-1.75155028e-02 9.99846519e-01 -3.80376210e-04 2.26808690e-01] [-1.70777366e-02 8.12080581e-05 9.99854162e-01 -5.47845806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.984203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.46, Y:0.23, Z:-0.55 [[ 9.99667302e-01 1.92521323e-02 1.71650981e-02 1.04641156e+01] [-1.92483511e-02 9.99814659e-01 -3.85487519e-04 2.32109251e-01] [-1.71693382e-02 5.49594333e-05 9.99852595e-01 -5.46266768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.014203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.50, Y:0.24, Z:-0.55 [[ 9.99644373e-01 2.06922840e-02 1.68213249e-02 1.04976909e+01] [-2.06888168e-02 9.99785891e-01 -3.80133658e-04 2.36549639e-01] [-1.68255891e-02 3.19851632e-05 9.99858439e-01 -5.47311441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.044203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.53, Y:0.25, Z:-0.55 [[ 9.99624641e-01 2.29209323e-02 1.50069595e-02 1.05287028e+01] [-2.29183819e-02 9.99737281e-01 -3.41921269e-04 2.45837578e-01] [-1.50108540e-02 -2.14230344e-06 9.99887331e-01 -5.52883164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.074203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.56, Y:0.24, Z:-0.55 [[ 9.99620387e-01 2.31057111e-02 1.50069188e-02 1.05612270e+01] [-2.31031549e-02 9.99733027e-01 -3.43695825e-04 2.44899440e-01] [-1.50108537e-02 -3.14181524e-06 9.99887331e-01 -5.53905457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.104203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.59, Y:0.25, Z:-0.56 [[ 9.99617631e-01 2.40000462e-02 1.37327567e-02 1.05932258e+01] [-2.39979573e-02 9.99711957e-01 -3.16899181e-04 2.47290798e-01] [-1.37364067e-02 -1.27800998e-05 9.99905651e-01 -5.56895067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.134203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.63, Y:0.25, Z:-0.56 [[ 9.99616080e-01 2.39588940e-02 1.39162916e-02 1.06256649e+01] [-2.39567175e-02 9.99712944e-01 -3.23103842e-04 2.46037929e-01] [-1.39200381e-02 -1.04088714e-05 9.99903112e-01 -5.60470287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.164203822000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.66, Y:0.24, Z:-0.56 [[ 9.99667499e-01 2.23398711e-02 1.28771567e-02 1.06579542e+01] [-2.23378427e-02 9.99750434e-01 -3.01352274e-04 2.40901914e-01] [-1.28806752e-02 1.36041735e-05 9.99917041e-01 -5.60654053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.194203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.69, Y:0.24, Z:-0.56 [[ 9.99685250e-01 2.17634683e-02 1.24800483e-02 1.06891882e+01] [-2.17614908e-02 9.99763147e-01 -2.94245937e-04 2.38240526e-01] [-1.24834962e-02 2.25688668e-05 9.99922078e-01 -5.64661449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.224203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.72, Y:0.24, Z:-0.56 [[ 9.99703961e-01 2.05235349e-02 1.30681126e-02 1.07213370e+01] [-2.05212328e-02 9.99789369e-01 -3.10244584e-04 2.38266251e-01] [-1.30717274e-02 4.19789593e-05 9.99914560e-01 -5.63006079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.254203822000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.75, Y:0.24, Z:-0.56 [[ 9.99690275e-01 2.07207457e-02 1.37842344e-02 1.07540028e+01] [-2.07181684e-02 9.99785301e-01 -3.29762195e-04 2.39643943e-01] [-1.37881079e-02 4.40759696e-05 9.99904939e-01 -5.62163642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.284203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.79, Y:0.24, Z:-0.56 [[ 9.99668573e-01 2.11283411e-02 1.47084099e-02 1.07856209e+01] [-2.11254075e-02 9.99776771e-01 -3.54807933e-04 2.39098073e-01] [-1.47126230e-02 4.39691880e-05 9.99891763e-01 -5.62175584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.314203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.82, Y:0.24, Z:-0.56 [[ 9.99641300e-01 2.22747439e-02 1.48696719e-02 1.08185593e+01] [-2.22718463e-02 9.99751887e-01 -3.60459239e-04 2.36194547e-01] [-1.48740117e-02 2.91548949e-05 9.99889375e-01 -5.63348954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.344203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.85, Y:0.24, Z:-0.56 [[ 9.99631752e-01 2.28048125e-02 1.47071506e-02 1.08507962e+01] [-2.28019796e-02 9.99739936e-01 -3.60298929e-04 2.35109237e-01] [-1.47115423e-02 2.48141022e-05 9.99891779e-01 -5.64901337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.374203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.88, Y:0.23, Z:-0.57 [[ 9.99613993e-01 2.34120102e-02 1.49580022e-02 1.08842417e+01] [-2.34091380e-02 9.99725901e-01 -3.67100714e-04 2.34907360e-01] [-1.49624968e-02 1.68050738e-05 9.99888055e-01 -5.66037723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.404203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.92, Y:0.23, Z:-0.57 [[ 9.99619061e-01 2.34996686e-02 1.44740670e-02 1.09160936e+01] [-2.34969487e-02 9.99723844e-01 -3.57971525e-04 2.34418409e-01] [-1.44784822e-02 1.77387492e-05 9.99895181e-01 -5.66487336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.434203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.95, Y:0.23, Z:-0.57 [[ 9.99640852e-01 2.37835046e-02 1.23495676e-02 1.09471580e+01] [-2.37815304e-02 9.99717132e-01 -3.06708586e-04 2.34520096e-01] [-1.23533690e-02 1.29068142e-05 9.99923694e-01 -5.72936483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.464203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.98, Y:0.24, Z:-0.58 [[ 9.99621661e-01 2.52293125e-02 1.09552541e-02 1.09777145e+01] [-2.52278142e-02 9.99681690e-01 -2.74961193e-04 2.35835133e-01] [-1.09587040e-02 -1.51995095e-06 9.99939952e-01 -5.78621456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.494203822000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.01, Y:0.24, Z:-0.58 [[ 9.99592493e-01 2.66032732e-02 1.03495717e-02 1.10102340e+01] [-2.66020214e-02 9.99646070e-01 -2.58615038e-04 2.35888077e-01] [-1.03527887e-02 -1.68098787e-05 9.99946408e-01 -5.76719822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.524203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.04, Y:0.24, Z:-0.58 [[ 9.99488789e-01 3.03118031e-02 1.01664138e-02 1.10416526e+01] [-3.03107681e-02 9.99540490e-01 -2.55904931e-04 2.40875167e-01] [-1.01694992e-02 -5.23777032e-05 9.99948288e-01 -5.82593141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.554203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.07, Y:0.24, Z:-0.58 [[ 9.99441392e-01 3.20626186e-02 9.42832707e-03 1.10734249e+01] [-3.20617690e-02 9.99485860e-01 -2.41282280e-04 2.43694511e-01] [-9.43121574e-03 -6.11413471e-05 9.99955523e-01 -5.83520581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.584203822000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.10, Y:0.25, Z:-0.59 [[ 9.99379246e-01 3.45105582e-02 7.08131204e-03 1.11039471e+01] [-3.45101366e-02 9.99404331e-01 -1.81757566e-04 2.50532937e-01] [-7.08336648e-03 -6.27323061e-05 9.99974911e-01 -5.85348325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.614203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.13, Y:0.25, Z:-0.59 [[ 9.99349392e-01 3.54775764e-02 6.49105365e-03 1.11325304e+01] [-3.54772367e-02 9.99370471e-01 -1.67501263e-04 2.54590939e-01] [-6.49290988e-03 -6.28923610e-05 9.99978919e-01 -5.89007913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.644203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.16, Y:0.26, Z:-0.59 [[ 9.99328414e-01 3.60507842e-02 6.56213245e-03 1.11617720e+01] [-3.60504492e-02 9.99349957e-01 -1.69374692e-04 2.59125770e-01] [-6.56397287e-03 -6.73068801e-05 9.99978455e-01 -5.89160543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.674203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.19, Y:0.27, Z:-0.59 [[ 9.99294848e-01 3.71182285e-02 5.66065367e-03 1.11901891e+01] [-3.71179984e-02 9.99310879e-01 -1.45735134e-04 2.65729291e-01] [-5.66216222e-03 -6.44797649e-05 9.99983968e-01 -5.91811033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.704203822 meters Centerline goodness [0,1] 0.9999785080272519 Centerline is valid? [True, True] Translation: X:11.22, Y:0.27, Z:-0.59 [[ 9.99288591e-01 3.69004699e-02 7.78895941e-03 1.12190386e+01] [-3.69000306e-02 9.99318942e-01 -2.00150133e-04 2.65393839e-01] [-7.79104031e-03 -8.74050961e-05 9.99969646e-01 -5.87394303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.734203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.25, Y:0.27, Z:-0.59 [[ 9.99312254e-01 3.61751882e-02 8.14705174e-03 1.12474249e+01] [-3.61746896e-02 9.99345460e-01 -2.08594184e-04 2.67164460e-01] [-8.14926510e-03 -8.62663437e-05 9.99966790e-01 -5.93283739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.764203822 meters Centerline goodness [0,1] 0.9999786825836708 Centerline is valid? [True, True] Translation: X:11.28, Y:0.27, Z:-0.59 [[ 9.99406350e-01 3.37749390e-02 6.79711101e-03 1.12772666e+01] [-3.37745390e-02 9.99429462e-01 -1.73657046e-04 2.67736535e-01] [-6.79909826e-03 -5.60153361e-05 9.99976884e-01 -5.93570541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.794203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.31, Y:0.27, Z:-0.59 [[ 9.99455408e-01 3.22061506e-02 7.18690690e-03 1.13072733e+01] [-3.22056643e-02 9.99481246e-01 -1.83412714e-04 2.67924909e-01] [-7.18908568e-03 -4.81462825e-05 9.99974157e-01 -5.92418911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.824203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.34, Y:0.27, Z:-0.59 [[ 9.99531139e-01 2.94638950e-02 8.32953098e-03 1.13356416e+01] [-2.94631504e-02 9.99565845e-01 -2.12115291e-04 2.70496758e-01] [-8.33216441e-03 -3.33983857e-05 9.99965286e-01 -5.92449061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.854203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.37, Y:0.27, Z:-0.59 [[ 9.99556175e-01 2.83626567e-02 9.11111084e-03 1.13653784e+01] [-2.83617233e-02 9.99597699e-01 -2.31655869e-04 2.71650460e-01] [-9.11401580e-03 -2.68537504e-05 9.99958466e-01 -5.93657285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.884203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.40, Y:0.27, Z:-0.59 [[ 9.99598549e-01 2.64431331e-02 1.01735291e-02 1.13958999e+01] [-2.64418741e-02 9.99650319e-01 -2.58263998e-04 2.70343635e-01] [-1.01768009e-02 -1.08468571e-05 9.99948215e-01 -5.91579263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.914203822000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.43, Y:0.27, Z:-0.59 [[ 9.99630623e-01 2.50937000e-02 1.04366223e-02 1.14257677e+01] [-2.50923040e-02 9.99685104e-01 -2.64699520e-04 2.68225027e-01] [-1.04399782e-02 2.72284531e-06 9.99945502e-01 -5.93760637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.944203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.46, Y:0.27, Z:-0.59 [[ 9.99704434e-01 2.17234815e-02 1.09148834e-02 1.14568074e+01] [-2.17217548e-02 9.99764017e-01 -2.76730092e-04 2.69039409e-01] [-1.09183192e-02 3.95578789e-05 9.99940393e-01 -5.91667094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.974203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.49, Y:0.27, Z:-0.60 [[ 9.99780151e-01 1.89977587e-02 8.87329833e-03 1.14879236e+01] [-1.89965215e-02 9.99819525e-01 -2.23687814e-04 2.70276904e-01] [-8.87594648e-03 5.50768339e-05 9.99960606e-01 -5.97456588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.004203822000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.52, Y:0.27, Z:-0.60 [[ 9.99809726e-01 1.79598591e-02 7.61287345e-03 1.15194946e+01] [-1.79589287e-02 9.99838707e-01 -1.90560086e-04 2.69169228e-01] [-7.61506799e-03 5.38047760e-05 9.99971004e-01 -5.99902034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.034203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.55, Y:0.27, Z:-0.60 [[ 9.99858081e-01 1.57588887e-02 5.95615158e-03 1.15503794e+01] [-1.57582705e-02 9.99875819e-01 -1.50712505e-04 2.66312272e-01] [-5.95778700e-03 5.68324681e-05 9.99982251e-01 -6.04363146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.064203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.58, Y:0.27, Z:-0.60 [[ 9.99868032e-01 1.51644134e-02 5.82747734e-03 1.15806903e+01] [-1.51637968e-02 9.99885012e-01 -1.49987758e-04 2.67052419e-01] [-5.82908172e-03 6.16012829e-05 9.99983009e-01 -6.02700474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.094203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.61, Y:0.27, Z:-0.61 [[ 9.99868500e-01 1.47712367e-02 6.69275726e-03 1.16111569e+01] [-1.47704165e-02 9.99890897e-01 -1.71964146e-04 2.67837683e-01] [-6.69456718e-03 7.30867203e-05 9.99977588e-01 -6.06579274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.124203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.64, Y:0.27, Z:-0.61 [[ 9.99864404e-01 1.48562006e-02 7.10398706e-03 1.16428102e+01] [-1.48552912e-02 9.99889638e-01 -1.80763875e-04 2.70133962e-01] [-7.10588851e-03 7.52075675e-05 9.99974750e-01 -6.07157096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.154203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.67, Y:0.27, Z:-0.61 [[ 9.99864782e-01 1.50577107e-02 6.60928309e-03 1.16738124e+01] [-1.50569145e-02 9.99886624e-01 -1.70213502e-04 2.71347517e-01] [-6.61109678e-03 7.06750756e-05 9.99978144e-01 -6.07010064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.184203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.70, Y:0.27, Z:-0.60 [[ 9.99855416e-01 1.53310408e-02 7.35564366e-03 1.17049099e+01] [-1.53300603e-02 9.99882470e-01 -1.89665953e-04 2.73018706e-01] [-7.35768692e-03 7.68760693e-05 9.99972929e-01 -6.04992411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.214203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.74, Y:0.27, Z:-0.61 [[ 9.99847581e-01 1.56592995e-02 7.72011626e-03 1.17357281e+01] [-1.56582275e-02 9.99877383e-01 -1.99283181e-04 2.72490339e-01] [-7.72229028e-03 7.83694701e-05 9.99970180e-01 -6.06373682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.244203822000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.77, Y:0.27, Z:-0.61 [[ 9.99839746e-01 1.66415091e-02 6.59861275e-03 1.17670642e+01] [-1.66407676e-02 9.99861519e-01 -1.67264007e-04 2.70399498e-01] [-6.60048249e-03 5.74312215e-05 9.99978215e-01 -6.11086142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.274203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.80, Y:0.27, Z:-0.61 [[ 9.99821607e-01 1.80585923e-02 5.53540643e-03 1.17976601e+01] [-1.80580705e-02 9.99836929e-01 -1.44237971e-04 2.70576802e-01] [-5.53710850e-03 4.42534809e-05 9.99984669e-01 -6.10959192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.304203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.83, Y:0.27, Z:-0.62 [[ 9.99794276e-01 1.95707931e-02 5.32823990e-03 1.18274074e+01] [-1.95703295e-02 9.99808473e-01 -1.39143698e-04 2.70744910e-01] [-5.32994255e-03 3.48396627e-05 9.99985795e-01 -6.15965400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.334203822000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.86, Y:0.28, Z:-0.62 [[ 9.99718922e-01 2.32792845e-02 4.48917969e-03 1.18570298e+01] [-2.32789914e-02 9.99729001e-01 -1.17547471e-04 2.75694191e-01] [-4.49069954e-03 1.30108558e-05 9.99989917e-01 -6.15187914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.364203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.89, Y:0.28, Z:-0.62 [[ 9.99656676e-01 2.57795162e-02 4.68470362e-03 1.18856047e+01] [-2.57792236e-02 9.99667653e-01 -1.22834132e-04 2.78814817e-01] [-4.68631327e-03 2.02393796e-06 9.99989019e-01 -6.16636870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.394203822 meters Centerline goodness [0,1] 0.9999786657564056 Centerline is valid? [True, True] Translation: X:11.91, Y:0.29, Z:-0.61 [[ 9.99479401e-01 3.17709881e-02 5.61531837e-03 1.19145961e+01] [-3.17706628e-02 9.99495174e-01 -1.47144667e-04 2.87627772e-01] [-5.61715854e-03 -3.13343223e-05 9.99984223e-01 -6.12781905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.424203822 meters Centerline goodness [0,1] 0.9999786753102743 Centerline is valid? [True, True] Translation: X:11.94, Y:0.29, Z:-0.62 [[ 9.99381329e-01 3.47462274e-02 5.44597469e-03 1.19423868e+01] [-3.47459668e-02 9.99396166e-01 -1.42490157e-04 2.92025926e-01] [-5.44763722e-03 -4.68236531e-05 9.99985160e-01 -6.16583092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.454203822 meters Centerline goodness [0,1] 0.9999146648461834 Centerline is valid? [True, True] Translation: X:11.97, Y:0.30, Z:-0.62 [[ 9.99167350e-01 4.05624628e-02 4.39242774e-03 1.19718322e+01] [-4.05623505e-02 9.99177003e-01 -1.14688431e-04 3.00628010e-01] [-4.39346483e-03 -6.35742578e-05 9.99990347e-01 -6.18290015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.484203822 meters Centerline goodness [0,1] 0.9999785665294925 Centerline is valid? [True, True] Translation: X:12.00, Y:0.31, Z:-0.62 [[ 9.99024538e-01 4.38522718e-02 5.19141167e-03 1.20008879e+01] [-4.38521597e-02 9.99038022e-01 -1.35488936e-04 3.05823647e-01] [-5.19235914e-03 -9.22978417e-05 9.99986515e-01 -6.17686422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.514203822 meters Centerline goodness [0,1] 0.9998511683286203 Centerline is valid? [True, True] Translation: X:12.03, Y:0.31, Z:-0.62 [[ 9.98961339e-01 4.50843366e-02 6.60656355e-03 1.20292718e+01] [-4.50841847e-02 9.98983176e-01 -1.71991062e-04 3.09502670e-01] [-6.60759994e-03 -1.26039110e-04 9.99978162e-01 -6.16914691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.544203822 meters Centerline goodness [0,1] 0.9998513674197385 Centerline is valid? [True, True] Translation: X:12.06, Y:0.31, Z:-0.62 [[ 9.98950680e-01 4.52742203e-02 6.91256173e-03 1.20584379e+01] [-4.52740641e-02 9.98974588e-01 -1.79159614e-04 3.09795592e-01] [-6.91358481e-03 -1.33988144e-04 9.99976092e-01 -6.16401980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.574203822000001 meters Centerline goodness [0,1] 0.999893962208131 Centerline is valid? [True, True] Translation: X:12.09, Y:0.31, Z:-0.62 [[ 9.98996261e-01 4.40860030e-02 7.93060754e-03 1.20864991e+01] [-4.40857624e-02 9.99027729e-01 -2.05228351e-04 3.09360225e-01] [-7.93194454e-03 -1.44604525e-04 9.99968531e-01 -6.17490661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.604203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.12, Y:0.30, Z:-0.62 [[ 9.99046473e-01 4.29579422e-02 7.79484349e-03 1.21153748e+01] [-4.29576808e-02 9.99076873e-01 -2.01036389e-04 3.03512676e-01] [-7.79628397e-03 -1.34003703e-04 9.99969600e-01 -6.15486847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.634203822 meters Centerline goodness [0,1] 0.9999785651512229 Centerline is valid? [True, True] Translation: X:12.14, Y:0.30, Z:-0.62 [[ 9.99189495e-01 3.97406420e-02 6.40578889e-03 1.21434289e+01] [-3.97403996e-02 9.99210025e-01 -1.65162047e-04 2.98419485e-01] [-6.40729212e-03 -8.95404277e-05 9.99979469e-01 -6.18777015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.664203822000001 meters Centerline goodness [0,1] 0.9999359111301004 Centerline is valid? [True, True] Translation: X:12.17, Y:0.30, Z:-0.62 [[ 9.99260670e-01 3.78334607e-02 6.83680491e-03 1.21725673e+01] [-3.78331430e-02 9.99284055e-01 -1.75845983e-04 2.96093020e-01] [-6.83856300e-03 -8.29418425e-05 9.99976613e-01 -6.19158279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.694203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.20, Y:0.29, Z:-0.62 [[ 9.99361252e-01 3.45244730e-02 9.22759382e-03 1.22012552e+01] [-3.45237643e-02 9.99403849e-01 -2.36126651e-04 2.91845215e-01] [-9.23024493e-03 -8.25954482e-05 9.99957397e-01 -6.19573447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.724203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.23, Y:0.29, Z:-0.62 [[ 9.99402451e-01 3.32877879e-02 9.30935252e-03 1.22310154e+01] [-3.32870184e-02 9.99445805e-01 -2.37629869e-04 2.86138810e-01] [-9.31210350e-03 -7.23927154e-05 9.99956639e-01 -6.17003717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.754203822000001 meters Centerline goodness [0,1] 0.9999785495184367 Centerline is valid? [True, True] Translation: X:12.26, Y:0.28, Z:-0.62 [[ 9.99460466e-01 3.16365113e-02 8.82653252e-03 1.22588386e+01] [-3.16357543e-02 9.99499439e-01 -2.25398650e-04 2.78546053e-01] [-8.82924512e-03 -5.39569747e-05 9.99961020e-01 -6.24371850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.784203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.29, Y:0.28, Z:-0.62 [[ 9.99471334e-01 3.13945257e-02 8.45197050e-03 1.22886587e+01] [-3.13938276e-02 9.99507069e-01 -2.15292484e-04 2.75764855e-01] [-8.45456327e-03 -5.01610380e-05 9.99964258e-01 -6.23604769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.814203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.32, Y:0.28, Z:-0.63 [[ 9.99473046e-01 3.18461839e-02 6.28094227e-03 1.23185416e+01] [-3.18458070e-02 9.99492781e-01 -1.60038908e-04 2.77313715e-01] [-6.28285308e-03 -4.00670999e-05 9.99980262e-01 -6.26209924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.844203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.35, Y:0.28, Z:-0.63 [[ 9.99446474e-01 3.28513734e-02 5.24723838e-03 1.23485207e+01] [-3.28511242e-02 9.99460247e-01 -1.33701226e-04 2.77741066e-01] [-5.24879843e-03 -3.87504613e-05 9.99986224e-01 -6.28033426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.874203822 meters Centerline goodness [0,1] 0.9999570049659264 Centerline is valid? [True, True] Translation: X:12.38, Y:0.28, Z:-0.63 [[ 9.99426898e-01 3.34798160e-02 4.99783027e-03 1.23771307e+01] [-3.34795951e-02 9.99439393e-01 -1.27881693e-04 2.76502288e-01] [-4.99930991e-03 -3.95169301e-05 9.99987503e-01 -6.29043901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.904203822000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.41, Y:0.27, Z:-0.63 [[ 9.99383282e-01 3.49415714e-02 3.48455743e-03 1.24052940e+01] [-3.49414730e-02 9.99389356e-01 -8.91126669e-05 2.73586451e-01] [-3.48554334e-03 -3.26978599e-05 9.99993925e-01 -6.34757721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.934203822 meters Centerline goodness [0,1] 0.9999575398594569 Centerline is valid? [True, True] Translation: X:12.43, Y:0.27, Z:-0.63 [[ 9.99353456e-01 3.57097746e-02 4.18122757e-03 1.24339020e+01] [-3.57096400e-02 9.99362202e-01 -1.06868384e-04 2.71837963e-01] [-4.18237704e-03 -4.25108426e-05 9.99991253e-01 -6.34763628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.964203822 meters Centerline goodness [0,1] 0.9999575398594569 Centerline is valid? [True, True] Translation: X:12.46, Y:0.27, Z:-0.64 [[ 9.99355090e-01 3.56640051e-02 4.18123247e-03 1.24622115e+01] [-3.56638709e-02 9.99363836e-01 -1.06675241e-04 2.71213827e-01] [-4.18237699e-03 -4.25124902e-05 9.99991253e-01 -6.35654353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.994203822000001 meters Centerline goodness [0,1] 0.9999786420623225 Centerline is valid? [True, True] Translation: X:12.49, Y:0.27, Z:-0.63 [[ 9.99354890e-01 3.56830395e-02 4.06494567e-03 1.24907183e+01] [-3.56829133e-02 9.99363157e-01 -1.03587445e-04 2.69570691e-01] [-4.06605325e-03 -4.15284842e-05 9.99991733e-01 -6.34792185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.024203822 meters Centerline goodness [0,1] 0.9999574459031043 Centerline is valid? [True, True] Translation: X:12.52, Y:0.27, Z:-0.64 [[ 9.99390967e-01 3.47546685e-02 3.13173715e-03 1.25186268e+01] [-3.47545874e-02 9.99395874e-01 -8.03183327e-05 2.65393430e-01] [-3.13263663e-03 -2.85728165e-05 9.99995093e-01 -6.39292655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.054203822 meters Centerline goodness [0,1] 0.9999144568006844 Centerline is valid? [True, True] Translation: X:12.55, Y:0.26, Z:-0.64 [[ 9.99421029e-01 3.39082305e-02 2.79978952e-03 1.25462286e+01] [-3.39081624e-02 9.99424950e-01 -7.17988041e-05 2.60756830e-01] [-2.80061407e-03 -2.31784830e-05 9.99996078e-01 -6.43243861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.084203822000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.57, Y:0.25, Z:-0.64 [[ 9.99458783e-01 3.28474312e-02 1.78540969e-03 1.25746516e+01] [-3.28474013e-02 9.99460377e-01 -4.60469980e-05 2.52770545e-01] [-1.78595877e-03 -1.26239920e-05 9.99998405e-01 -6.42778352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.114203822000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.60, Y:0.25, Z:-0.64 [[ 9.99440990e-01 3.33365089e-02 2.52691221e-03 1.26024741e+01] [-3.33364516e-02 9.99444184e-01 -6.47723759e-05 2.51397942e-01] [-2.52766700e-03 -1.95021192e-05 9.99996805e-01 -6.42852840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.144203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.63, Y:0.25, Z:-0.64 [[ 9.99408105e-01 3.42878522e-02 2.78979899e-03 1.26313529e+01] [-3.42877881e-02 9.99411998e-01 -7.08069498e-05 2.50739125e-01] [-2.79058640e-03 -2.48909972e-05 9.99996106e-01 -6.42323393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.174203822000003 meters Centerline goodness [0,1] 0.9999785084891468 Centerline is valid? [True, True] Translation: X:12.66, Y:0.25, Z:-0.64 [[ 9.99306160e-01 3.72350048e-02 8.68099556e-04 1.26603434e+01] [-3.72349994e-02 9.99306537e-01 -2.23096692e-05 2.50886090e-01] [-8.68328262e-04 -1.00294967e-05 9.99999623e-01 -6.43580649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.204203822000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.69, Y:0.25, Z:-0.65 [[ 9.99235786e-01 3.90840004e-02 5.33563924e-04 1.26876917e+01] [-3.90839977e-02 9.99235929e-01 -1.54757372e-05 2.54016388e-01] [-5.33761097e-04 -5.38990074e-06 9.99999858e-01 -6.46443067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.234203822 meters Centerline goodness [0,1] 0.9999357037227544 Centerline is valid? [True, True] Translation: X:12.72, Y:0.26, Z:-0.65 [[ 9.99075330e-01 4.29937371e-02 -1.52993140e-04 1.27163141e+01] [-4.29937372e-02 9.99075342e-01 2.66557591e-06 2.63419058e-01] [ 1.52966276e-04 3.91463571e-06 9.99999988e-01 -6.51720916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.264203822000002 meters Centerline goodness [0,1] 0.9998502289357696 Centerline is valid? [True, True] Translation: X:12.75, Y:0.26, Z:-0.65 [[ 9.99001949e-01 4.46664326e-02 -1.22475758e-04 1.27453643e+01] [-4.46664328e-02 9.99001957e-01 1.51114716e-06 2.61837333e-01] [ 1.22421020e-04 3.96091626e-06 9.99999992e-01 -6.49621478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.294203822000004 meters Centerline goodness [0,1] 0.999807803190467 Centerline is valid? [True, True] Translation: X:12.77, Y:0.26, Z:-0.65 [[ 9.98999881e-01 4.47071765e-02 7.11415630e-04 1.27731698e+01] [-4.47071741e-02 9.99000134e-01 -1.93883329e-05 2.63456717e-01] [-7.11571107e-04 -1.24364401e-05 9.99999747e-01 -6.51910523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.324203822 meters Centerline goodness [0,1] 0.9999567436629466 Centerline is valid? [True, True] Translation: X:12.80, Y:0.26, Z:-0.65 [[ 9.99080330e-01 4.28659991e-02 1.00060518e-03 1.28015310e+01] [-4.28659944e-02 9.99080830e-01 -2.60686361e-05 2.58590270e-01] [-1.00080292e-03 -1.68472747e-05 9.99999499e-01 -6.51429047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.354203822000002 meters Centerline goodness [0,1] 0.9999786830380935 Centerline is valid? [True, True] Translation: X:12.83, Y:0.26, Z:-0.65 [[ 9.99147985e-01 4.12674686e-02 5.47668382e-04 1.28299289e+01] [-4.12674666e-02 9.99148135e-01 -1.49216904e-05 2.55193479e-01] [-5.47817623e-04 -7.69190973e-06 9.99999850e-01 -6.53123072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.384203822000003 meters Centerline goodness [0,1] 0.9999783413831193 Centerline is valid? [True, True] Translation: X:12.86, Y:0.25, Z:-0.65 [[ 9.99298675e-01 3.74453534e-02 -5.94791124e-05 1.28592787e+01] [-3.74453534e-02 9.99298677e-01 2.95474557e-07 2.51087442e-01] [ 5.94484625e-05 1.93194905e-06 9.99999998e-01 -6.50888338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.414203822 meters Centerline goodness [0,1] 0.9999571063975808 Centerline is valid? [True, True] Translation: X:12.89, Y:0.25, Z:-0.66 [[ 9.99440542e-01 3.34453626e-02 1.02201216e-04 1.28872688e+01] [-3.34453624e-02 9.99440547e-01 -4.03391160e-06 2.45164239e-01] [-1.02278955e-04 6.13498078e-07 9.99999995e-01 -6.55515071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.444203822000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.91, Y:0.24, Z:-0.66 [[ 9.99511842e-01 3.12413429e-02 -2.38799055e-04 1.29149809e+01] [-3.12413428e-02 9.99511870e-01 3.98324240e-06 2.40280978e-01] [ 2.38806932e-04 3.47910520e-06 9.99999971e-01 -6.61650229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.474203822000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.94, Y:0.23, Z:-0.66 [[ 9.99617581e-01 2.76156530e-02 -1.43803841e-03 1.29436306e+01] [-2.76156334e-02 9.99618615e-01 3.35123537e-05 2.33160734e-01] [ 1.43841543e-03 6.21280355e-06 9.99998965e-01 -6.60583668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.504203822 meters Centerline goodness [0,1] 0.9999785688262146 Centerline is valid? [True, True] Translation: X:12.97, Y:0.23, Z:-0.66 [[ 9.99655979e-01 2.61590278e-02 -1.90491918e-03 1.29719055e+01] [-2.61589900e-02 9.99657794e-01 4.47790443e-05 2.30642048e-01] [ 1.90543868e-03 5.06712229e-06 9.99998185e-01 -6.62134417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.534203822000002 meters Centerline goodness [0,1] 0.9999785724999465 Centerline is valid? [True, True] Translation: X:13.00, Y:0.23, Z:-0.66 [[ 9.99705486e-01 2.41196827e-02 -2.67985721e-03 1.30003435e+01] [-2.41195992e-02 9.99709078e-01 6.34576625e-05 2.25905361e-01] [ 2.68060816e-03 1.19810847e-06 9.99996407e-01 -6.64107880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.564203822000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.03, Y:0.23, Z:-0.66 [[ 9.99718730e-01 2.35629722e-02 -2.69196179e-03 1.30293926e+01] [-2.35628864e-02 9.99722355e-01 6.36035602e-05 2.26957182e-01] [ 2.69271307e-03 -1.55280621e-07 9.99996375e-01 -6.62293654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.594203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.06, Y:0.23, Z:-0.66 [[ 9.99722867e-01 2.34475968e-02 -2.09732150e-03 1.30568259e+01] [-2.34475462e-02 9.99725067e-01 4.87343765e-05 2.28186834e-01] [ 2.09788758e-03 4.56172204e-07 9.99997799e-01 -6.63258256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.624203822000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.09, Y:0.22, Z:-0.66 [[ 9.99745117e-01 2.25715714e-02 -4.74492153e-04 1.30855032e+01] [-2.25715692e-02 9.99745230e-01 9.93873755e-06 2.24391376e-01] [ 4.74595600e-04 7.73828143e-07 9.99999887e-01 -6.60817073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.654203822000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.11, Y:0.22, Z:-0.66 [[ 9.99761103e-01 2.18426184e-02 -7.98571838e-04 1.31141406e+01] [-2.18426112e-02 9.99761422e-01 1.76773672e-05 2.21477103e-01] [ 7.98767436e-04 -2.30249977e-07 9.99999681e-01 -6.60739707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.684203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.14, Y:0.22, Z:-0.67 [[ 9.99805009e-01 1.96682888e-02 -1.76138075e-03 1.31419412e+01] [-1.96682482e-02 9.99806560e-01 4.03339039e-05 2.17142100e-01] [ 1.76183333e-03 -5.68276527e-06 9.99998448e-01 -6.68734640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.714203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.17, Y:0.21, Z:-0.66 [[ 9.99845353e-01 1.75859884e-02 5.82861553e-05 1.31706421e+01] [-1.75859882e-02 9.99845355e-01 -2.87044309e-06 2.14552355e-01] [-5.83276212e-05 1.84497954e-06 9.99999998e-01 -6.63107494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.744203822000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.20, Y:0.21, Z:-0.66 [[ 9.99862900e-01 1.65229633e-02 1.08267381e-03 1.31997232e+01] [-1.65229434e-02 9.99863486e-01 -2.73342590e-05 2.11852700e-01] [-1.08297766e-03 9.44155338e-06 9.99999414e-01 -6.61073013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.774203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.23, Y:0.20, Z:-0.66 [[ 9.99886544e-01 1.47536520e-02 3.03775938e-03 1.32292647e+01] [-1.47534977e-02 9.99891159e-01 -7.32014341e-05 2.02218443e-01] [-3.03850873e-03 2.83755530e-05 9.99995383e-01 -6.59810360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.804203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.26, Y:0.20, Z:-0.66 [[ 9.99893113e-01 1.44138031e-02 2.45040927e-03 1.32584890e+01] [-1.44137023e-02 9.99896115e-01 -5.87894712e-05 1.96322348e-01] [-2.45100209e-03 2.34637175e-05 9.99996996e-01 -6.61541263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.834203822000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.29, Y:0.20, Z:-0.67 [[ 9.99888998e-01 1.48931334e-02 4.32613222e-04 1.32878722e+01] [-1.48931301e-02 9.99889091e-01 -1.06738295e-05 1.95087355e-01] [-4.32724208e-04 4.22967962e-06 9.99999906e-01 -6.67892778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.864203822000004 meters Centerline goodness [0,1] 0.999978754594319 Centerline is valid? [True, True] Translation: X:13.32, Y:0.20, Z:-0.67 [[ 9.99853875e-01 1.70363072e-02 -1.41134753e-03 1.33173887e+01] [-1.70362777e-02 9.99854872e-01 3.28660966e-05 1.96507352e-01] [ 1.41170262e-03 -8.81718555e-06 9.99999004e-01 -6.69446201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.894203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.35, Y:0.20, Z:-0.66 [[ 9.99794159e-01 2.02774640e-02 6.80814744e-04 1.33477129e+01] [-2.02774574e-02 9.99794391e-01 -1.65730352e-05 1.99621453e-01] [-6.81010822e-04 2.76443175e-06 9.99999768e-01 -6.63844835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.924203822000003 meters Centerline goodness [0,1] 0.9999787825422758 Centerline is valid? [True, True] Translation: X:13.38, Y:0.20, Z:-0.67 [[ 9.99759771e-01 2.18881660e-02 1.14392717e-03 1.33759126e+01] [-2.18881475e-02 9.99760425e-01 -2.86483203e-05 2.00043075e-01] [-1.14428017e-03 3.60299147e-06 9.99999345e-01 -6.68093628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.954203822000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.40, Y:0.20, Z:-0.67 [[ 9.99690534e-01 2.47487525e-02 2.51721035e-03 1.34047984e+01] [-2.47486779e-02 9.99693703e-01 -6.07495346e-05 1.99260640e-01] [-2.51794281e-03 -1.56689348e-06 9.99996830e-01 -6.67478994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.984203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.43, Y:0.20, Z:-0.67 [[ 9.99643847e-01 2.64438474e-02 3.59198236e-03 1.34342787e+01] [-2.64437086e-02 9.99650300e-01 -8.61354216e-05 1.99776347e-01] [-3.59300400e-03 -8.88059053e-06 9.99993545e-01 -6.65318510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.014203822000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.46, Y:0.20, Z:-0.66 [[ 9.99544398e-01 2.97892135e-02 4.85791927e-03 1.34632051e+01] [-2.97890003e-02 9.99556202e-01 -1.16250683e-04 2.02552154e-01] [-4.85922635e-03 -2.85148401e-05 9.99988193e-01 -6.63919716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.044203822000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.49, Y:0.20, Z:-0.66 [[ 9.99508399e-01 3.09798411e-02 4.81774478e-03 1.34928676e+01] [-3.09796491e-02 9.99520009e-01 -1.14506927e-04 2.03300504e-01] [-4.81897971e-03 -3.48014069e-05 9.99988388e-01 -6.60034697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.074203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.52, Y:0.20, Z:-0.66 [[ 9.99511360e-01 3.09285524e-02 4.52387684e-03 1.35219202e+01] [-3.09283798e-02 9.99521597e-01 -1.08124539e-04 2.03108442e-01] [-4.52505675e-03 -3.18444763e-05 9.99989761e-01 -6.61186837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.104203822000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.55, Y:0.20, Z:-0.67 [[ 9.99552661e-01 2.97307244e-02 3.25002813e-03 1.35505878e+01] [-2.97306292e-02 9.99557944e-01 -7.76016256e-05 2.00404203e-01] [-3.25089859e-03 -1.90584702e-05 9.99994716e-01 -6.70417528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.134203822000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.58, Y:0.19, Z:-0.67 [[ 9.99606416e-01 2.80220830e-02 1.33267639e-03 1.35796194e+01] [-2.80220647e-02 9.99607304e-01 -3.24087785e-05 1.94868204e-01] [-1.33306122e-03 -4.94832120e-06 9.99999111e-01 -6.73001542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.164203822 meters Centerline goodness [0,1] 0.999978581678768 Centerline is valid? [True, True] Translation: X:13.61, Y:0.19, Z:-0.67 [[ 9.99595562e-01 2.84289955e-02 7.10995963e-04 1.36087862e+01] [-2.84289897e-02 9.99595814e-01 -1.81673815e-05 1.94052854e-01] [-7.11225069e-04 -2.05286298e-06 9.99999747e-01 -6.74724084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.194203822000002 meters Centerline goodness [0,1] 0.9999575749862119 Centerline is valid? [True, True] Translation: X:13.64, Y:0.20, Z:-0.68 [[ 9.99565326e-01 2.94812615e-02 1.16208518e-04 1.36369664e+01] [-2.94812612e-02 9.99565333e-01 -4.59012584e-06 1.95226276e-01] [-1.16293329e-04 1.16215697e-06 9.99999993e-01 -6.78250088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.224203822000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.67, Y:0.20, Z:-0.68 [[ 9.99468036e-01 3.26109132e-02 -4.15825095e-04 1.36658710e+01] [-3.26109126e-02 9.99468123e-01 8.22664213e-06 2.02353606e-01] [ 4.15872205e-04 5.33816995e-06 9.99999914e-01 -6.78077885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.254203822 meters Centerline goodness [0,1] 0.9999363516781941 Centerline is valid? [True, True] Translation: X:13.69, Y:0.21, Z:-0.68 [[ 9.99421932e-01 3.39917203e-02 6.04374544e-04 1.36942208e+01] [-3.39917171e-02 9.99422114e-01 -1.55390112e-05 2.07028374e-01] [-6.04553482e-04 -5.01369988e-06 9.99999817e-01 -6.80682920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.284203822000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.72, Y:0.21, Z:-0.68 [[ 9.99347246e-01 3.61185206e-02 -7.31417652e-04 1.37235070e+01] [-3.61185188e-02 9.99347513e-01 1.56233629e-05 2.10176970e-01] [ 7.31504705e-04 1.08045575e-05 9.99999732e-01 -6.81138370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.314203822000003 meters Centerline goodness [0,1] 0.9999357312710212 Centerline is valid? [True, True] Translation: X:13.75, Y:0.22, Z:-0.68 [[ 9.99300538e-01 3.73351674e-02 -2.12627068e-03 1.37533816e+01] [-3.73351484e-02 9.99302799e-01 4.86280465e-05 2.15307868e-01] [ 2.12660377e-03 3.07905983e-05 9.99997738e-01 -6.84268823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.344203822 meters Centerline goodness [0,1] 0.9998720300302862 Centerline is valid? [True, True] Translation: X:13.78, Y:0.22, Z:-0.69 [[ 9.99301692e-01 3.73222814e-02 -1.78214393e-03 1.37816316e+01] [-3.73222709e-02 9.99303281e-01 3.91473317e-05 2.19868408e-01] [ 1.78236334e-03 2.73936638e-05 9.99998411e-01 -6.88258209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.374203822000002 meters Centerline goodness [0,1] 0.9998709149975259 Centerline is valid? [True, True] Translation: X:13.81, Y:0.22, Z:-0.68 [[ 9.99330084e-01 3.65652394e-02 -1.53829274e-03 1.38109489e+01] [-3.65652302e-02 9.99331268e-01 3.40722666e-05 2.22098254e-01] [ 1.53850989e-03 2.21985870e-05 9.99998816e-01 -6.84881006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.404203822000003 meters Centerline goodness [0,1] 0.9999569188350853 Centerline is valid? [True, True] Translation: X:13.84, Y:0.22, Z:-0.68 [[ 9.99399296e-01 3.46552737e-02 -2.42089887e-04 1.38403455e+01] [-3.46552739e-02 9.99399326e-01 3.25326527e-06 2.22636047e-01] [ 2.42057212e-04 5.13838032e-06 9.99999971e-01 -6.84631626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.434203822 meters Centerline goodness [0,1] 0.9999786429746065 Centerline is valid? [True, True] Translation: X:13.87, Y:0.22, Z:-0.69 [[ 9.99447956e-01 3.32167476e-02 6.56944173e-04 1.38679543e+01] [-3.32167437e-02 9.99448172e-01 -1.69170900e-05 2.22530136e-01] [-6.57143583e-04 -4.91379520e-06 9.99999784e-01 -6.85414743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.464203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.90, Y:0.22, Z:-0.69 [[ 9.99593606e-01 2.84491934e-02 1.80735661e-03 1.38963198e+01] [-2.84491634e-02 9.99595240e-01 -4.22853822e-05 2.19625173e-01] [-1.80782805e-03 -9.14958594e-06 9.99998366e-01 -6.85715612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.494203822000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.92, Y:0.21, Z:-0.68 [[ 9.99722958e-01 2.33944660e-02 2.58970898e-03 1.39249295e+01] [-2.33943870e-02 9.99726312e-01 -6.07950490e-05 2.13642118e-01] [-2.59042248e-03 1.93552037e-07 9.99996645e-01 -6.79245539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.524203822000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.95, Y:0.21, Z:-0.68 [[ 9.99773658e-01 2.11750085e-02 2.06215949e-03 1.39533808e+01] [-2.11749532e-02 9.99775784e-01 -4.86113135e-05 2.11732332e-01] [-2.06272647e-03 4.93417990e-06 9.99997873e-01 -6.80261049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.554203822 meters Centerline goodness [0,1] 0.9999785038693035 Centerline is valid? [True, True] Translation: X:13.98, Y:0.21, Z:-0.68 [[ 9.99859032e-01 1.66378259e-02 2.25812409e-03 1.39820680e+01] [-1.66377495e-02 9.99861582e-01 -5.26320938e-05 2.08188070e-01] [-2.25868721e-03 1.50545714e-05 9.99997449e-01 -6.82434132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.584203822000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.01, Y:0.21, Z:-0.68 [[ 9.99894660e-01 1.42050165e-02 2.98097272e-03 1.40121373e+01] [-1.42048748e-02 9.99899103e-01 -6.87134976e-05 2.06016166e-01] [-2.98164802e-03 2.63619152e-05 9.99995555e-01 -6.77401055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.614203822000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.04, Y:0.20, Z:-0.68 [[ 9.99931855e-01 1.07331579e-02 4.59177449e-03 1.40414975e+01] [-1.07327889e-02 9.99942396e-01 -1.04985706e-04 1.99787153e-01] [-4.59263681e-03 5.56960052e-05 9.99989452e-01 -6.78150085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.644203822 meters Centerline goodness [0,1] 0.9999786338482576 Centerline is valid? [True, True] Translation: X:14.07, Y:0.19, Z:-0.68 [[ 9.99949608e-01 8.60315682e-03 5.17377832e-03 1.40711846e+01] [-8.60266373e-03 9.99962989e-01 -1.17554131e-04 1.92767089e-01] [-5.17459817e-03 7.30399321e-05 9.99986609e-01 -6.79901078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.674203822000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.10, Y:0.19, Z:-0.69 [[ 9.99958810e-01 7.87705615e-03 4.50893720e-03 1.41015992e+01] [-7.87667561e-03 9.99968973e-01 -1.02148829e-04 1.87771051e-01] [-4.50960193e-03 6.66291863e-05 9.99989829e-01 -6.85246316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.704203822000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.13, Y:0.19, Z:-0.68 [[ 9.99956770e-01 8.11108540e-03 4.54619331e-03 1.41331222e+01] [-8.11070049e-03 9.99967102e-01 -1.03097565e-04 1.89146506e-01] [-4.54687999e-03 6.62202962e-05 9.99989661e-01 -6.81373615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.734203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.16, Y:0.19, Z:-0.68 [[ 9.99935410e-01 9.81297716e-03 5.73429433e-03 1.41643918e+01] [-9.81240963e-03 9.99951849e-01 -1.27096789e-04 1.90297983e-01] [-5.73526541e-03 7.08213352e-05 9.99983551e-01 -6.80020702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.764203822000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.20, Y:0.20, Z:-0.68 [[ 9.99877218e-01 1.47726491e-02 5.22662734e-03 1.41969549e+01] [-1.47722294e-02 9.99890878e-01 -1.18888179e-04 1.98076696e-01] [-5.22781330e-03 4.16646432e-05 9.99986334e-01 -6.78341208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.794203822000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.23, Y:0.20, Z:-0.68 [[ 9.99790595e-01 2.00186221e-02 4.24515648e-03 1.42275126e+01] [-2.00183887e-02 9.99799607e-01 -9.74697375e-05 2.04408975e-01] [-4.24625700e-03 1.24681342e-05 9.99990985e-01 -6.84262402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.824203822 meters Centerline goodness [0,1] 0.9999785089510219 Centerline is valid? [True, True] Translation: X:14.26, Y:0.21, Z:-0.68 [[ 9.99703737e-01 2.38706305e-02 4.75723119e-03 1.42578277e+01] [-2.38703775e-02 9.99715056e-01 -1.09968469e-04 2.07329003e-01] [-4.75850066e-03 -3.62101456e-06 9.99988678e-01 -6.83587745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.854203822000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.29, Y:0.21, Z:-0.69 [[ 9.99678031e-01 2.50496000e-02 4.04386703e-03 1.42865368e+01] [-2.50494241e-02 9.99686210e-01 -9.41335084e-05 2.08194621e-01] [-4.04495611e-03 -7.19334011e-06 9.99991819e-01 -6.86904064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.884203822000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.32, Y:0.21, Z:-0.69 [[ 9.99661387e-01 2.57383846e-02 3.82703568e-03 1.43155469e+01] [-2.57382312e-02 9.99668713e-01 -8.93512325e-05 2.09408223e-01] [-3.82806759e-03 -9.18015205e-06 9.99992673e-01 -6.86417604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.914203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.34, Y:0.21, Z:-0.69 [[ 9.99662616e-01 2.56906390e-02 3.82703999e-03 1.43438571e+01] [-2.56904859e-02 9.99669941e-01 -8.91648589e-05 2.08844239e-01] [-3.82806755e-03 -9.18374108e-06 9.99992673e-01 -6.87308293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.944203822000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.37, Y:0.21, Z:-0.69 [[ 9.99669268e-01 2.53005302e-02 4.60839871e-03 1.43721260e+01] [-2.53003080e-02 9.99679890e-01 -1.06517737e-04 2.09223258e-01] [-4.60961847e-03 -1.01113988e-05 9.99989376e-01 -6.90475004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.974203822000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.40, Y:0.21, Z:-0.69 [[ 9.99703421e-01 2.40090001e-02 4.07890251e-03 1.44019110e+01] [-2.40088167e-02 9.99711742e-01 -9.39311811e-05 2.08778852e-01] [-4.07998193e-03 -4.02629952e-06 9.99991677e-01 -6.89164701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.004203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.43, Y:0.20, Z:-0.69 [[ 9.99744010e-01 2.23785774e-02 3.33363918e-03 1.44313785e+01] [-2.23784456e-02 9.99749568e-01 -7.68454501e-05 2.01713851e-01] [-3.33452403e-03 2.22411535e-06 9.99994440e-01 -6.90412188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.034203822000002 meters Centerline goodness [0,1] 0.9999784399120348 Centerline is valid? [True, True] Translation: X:14.46, Y:0.20, Z:-0.69 [[ 9.99761793e-01 2.15818138e-02 3.25308316e-03 1.44597519e+01] [-2.15816832e-02 9.99767086e-01 -7.52626134e-05 1.97588522e-01] [-3.25394977e-03 5.03767524e-06 9.99994706e-01 -6.94658123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.064203822000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.49, Y:0.20, Z:-0.70 [[ 9.99785233e-01 2.04365401e-02 3.44044527e-03 1.44884573e+01] [-2.04363890e-02 9.99791152e-01 -7.90817069e-05 1.95780058e-01] [-3.44134290e-03 8.75444488e-06 9.99994079e-01 -6.97700451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.094203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.52, Y:0.20, Z:-0.69 [[ 9.99795135e-01 1.98843494e-02 3.78161803e-03 1.45184652e+01] [-1.98841636e-02 9.99802287e-01 -8.67265521e-05 1.95323439e-01] [-3.78259486e-03 1.15144733e-05 9.99992846e-01 -6.94569589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.124203822000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.55, Y:0.19, Z:-0.69 [[ 9.99823184e-01 1.83403637e-02 4.15102510e-03 1.45481092e+01] [-1.83401272e-02 9.99831801e-01 -9.50303361e-05 1.92074450e-01] [-4.15206980e-03 1.88832046e-05 9.99991380e-01 -6.94499338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.154203822000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.58, Y:0.19, Z:-0.70 [[ 9.99848202e-01 1.66913698e-02 4.99720472e-03 1.45775184e+01] [-1.66910094e-02 9.99860689e-01 -1.13822221e-04 1.90148761e-01] [-4.99840840e-03 3.03965520e-05 9.99987507e-01 -6.96300024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.184203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.61, Y:0.19, Z:-0.69 [[ 9.99855742e-01 1.61720172e-02 5.19234091e-03 1.46084239e+01] [-1.61716231e-02 9.99869224e-01 -1.17885772e-04 1.87869140e-01] [-5.19356833e-03 3.39001859e-05 9.99986513e-01 -6.93582167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.214203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.64, Y:0.18, Z:-0.70 [[ 9.99867236e-01 1.59444547e-02 3.35933492e-03 1.46386301e+01] [-1.59442884e-02 9.99872879e-01 -7.62696049e-05 1.81644080e-01] [-3.36012395e-03 2.26972742e-05 9.99994355e-01 -6.95710187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.244203822000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.67, Y:0.18, Z:-0.70 [[ 9.99862323e-01 1.62067826e-02 3.56015208e-03 1.46672747e+01] [-1.62065952e-02 9.99868661e-01 -8.14643505e-05 1.82408492e-01] [-3.56100477e-03 2.37551909e-05 9.99993659e-01 -6.96920441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.274203822000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.70, Y:0.18, Z:-0.70 [[ 9.99860156e-01 1.63559048e-02 3.48602507e-03 1.46956605e+01] [-1.63557251e-02 9.99866233e-01 -8.00497628e-05 1.81924064e-01] [-3.48686804e-03 2.30221005e-05 9.99993921e-01 -7.02000381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.304203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.73, Y:0.18, Z:-0.70 [[ 9.99864487e-01 1.60941171e-02 3.46210499e-03 1.47253028e+01] [-1.60939399e-02 9.99870481e-01 -7.90503537e-05 1.76678617e-01] [-3.46292882e-03 2.33207318e-05 9.99994004e-01 -7.00782092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.334203822000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.76, Y:0.17, Z:-0.70 [[ 9.99846685e-01 1.67349993e-02 5.15223765e-03 1.47552838e+01] [-1.67346177e-02 9.99859960e-01 -1.17173037e-04 1.72200638e-01] [-5.15347702e-03 3.09343451e-05 9.99986720e-01 -6.98399448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.364203822000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.79, Y:0.17, Z:-0.70 [[ 9.99832529e-01 1.75880979e-02 5.05693086e-03 1.47855275e+01] [-1.75877522e-02 9.99845317e-01 -1.12832559e-04 1.70596275e-01] [-5.05813315e-03 2.38736166e-05 9.99987207e-01 -7.02768719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.394203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.82, Y:0.17, Z:-0.70 [[ 9.99798878e-01 1.95035622e-02 4.67057581e-03 1.48155774e+01] [-1.95032807e-02 9.99809787e-01 -1.05807552e-04 1.68167338e-01] [-4.67175103e-03 1.46947212e-05 9.99989087e-01 -7.00916671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.424203822000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.85, Y:0.17, Z:-0.70 [[ 9.99768480e-01 2.08072630e-02 5.48132507e-03 1.48452796e+01] [-2.08068914e-02 9.99783505e-01 -1.24809856e-04 1.67798762e-01] [-5.48273534e-03 1.07316248e-05 9.99984970e-01 -6.96800063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.454203822000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.87, Y:0.17, Z:-0.70 [[ 9.99706468e-01 2.36062316e-02 5.45192099e-03 1.48744848e+01] [-2.36059080e-02 9.99721334e-01 -1.23691529e-04 1.67774819e-01] [-5.45332162e-03 -5.04232404e-06 9.99985131e-01 -7.01513355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.484203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.90, Y:0.17, Z:-0.70 [[ 9.99630403e-01 2.68679061e-02 4.14415347e-03 1.49049416e+01] [-2.68677485e-02 9.99638992e-01 -9.37297639e-05 1.68610824e-01] [-4.14517573e-03 -1.76489514e-05 9.99991409e-01 -7.03498298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.514203822000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.93, Y:0.17, Z:-0.70 [[ 9.99574903e-01 2.87710618e-02 4.71591691e-03 1.49336222e+01] [-2.87708725e-02 9.99586027e-01 -1.07974664e-04 1.69581977e-01] [-4.71707119e-03 -2.77522800e-05 9.99988874e-01 -7.00028678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.544203822000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.96, Y:0.17, Z:-0.70 [[ 9.99461807e-01 3.23662486e-02 5.34056349e-03 1.49619470e+01] [-3.23660580e-02 9.99476074e-01 -1.22128740e-04 1.69814250e-01] [-5.34171828e-03 -5.07899763e-05 9.99985732e-01 -7.00632162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.574203822 meters Centerline goodness [0,1] 0.999935469993547 Centerline is valid? [True, True] Translation: X:14.99, Y:0.17, Z:-0.71 [[ 9.99405463e-01 3.42482440e-02 3.97223391e-03 1.49899929e+01] [-3.42481538e-02 9.99413356e-01 -9.07435959e-05 1.66151471e-01] [-3.97301143e-03 -4.53520323e-05 9.99992107e-01 -7.07207055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.604203822000002 meters Centerline goodness [0,1] 0.999978217778649 Centerline is valid? [True, True] Translation: X:15.02, Y:0.16, Z:-0.70 [[ 9.99381754e-01 3.48513280e-02 4.63626381e-03 1.50190039e+01] [-3.48512137e-02 9.99392506e-01 -1.05467172e-04 1.63176578e-01] [-4.63712298e-03 -5.61774539e-05 9.99989247e-01 -7.02965622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.634203822000003 meters Centerline goodness [0,1] 0.9999358480882731 Centerline is valid? [True, True] Translation: X:15.05, Y:0.17, Z:-0.71 [[ 9.99365964e-01 3.50644338e-02 6.17703521e-03 1.50467173e+01] [-3.50642382e-02 9.99385051e-01 -1.39989080e-04 1.66053981e-01] [-6.17814528e-03 -7.66927119e-05 9.99980912e-01 -7.05907107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.664203822 meters Centerline goodness [0,1] 0.9999783470108048 Centerline is valid? [True, True] Translation: X:15.08, Y:0.16, Z:-0.71 [[ 9.99367374e-01 3.52564221e-02 4.67304989e-03 1.50760983e+01] [-3.52563162e-02 9.99378297e-01 -1.05064108e-04 1.62028563e-01] [-4.67384883e-03 -5.97568822e-05 9.99989076e-01 -7.06357178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.694203822000002 meters Centerline goodness [0,1] 0.9999566902704693 Centerline is valid? [True, True] Translation: X:15.11, Y:0.16, Z:-0.71 [[ 9.99339227e-01 3.61055807e-02 4.18298585e-03 1.51051525e+01] [-3.61055007e-02 9.99347979e-01 -9.46775760e-05 1.61000620e-01] [-4.18367685e-03 -5.64137829e-05 9.99991247e-01 -7.08753896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.724203822000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.13, Y:0.16, Z:-0.71 [[ 9.99266821e-01 3.80653772e-02 4.10458592e-03 1.51326986e+01] [-3.80653160e-02 9.99275249e-01 -9.30554609e-05 1.60391490e-01] [-4.10515331e-03 -6.32551254e-05 9.99991572e-01 -7.10764449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.754203822 meters Centerline goodness [0,1] 0.9998925632265412 Centerline is valid? [True, True] Translation: X:15.16, Y:0.16, Z:-0.71 [[ 9.99197234e-01 3.99064335e-02 3.51624460e-03 1.51601404e+01] [-3.99063999e-02 9.99203419e-01 -7.97384781e-05 1.61779045e-01] [-3.51662571e-03 -6.06461964e-05 9.99993815e-01 -7.14905499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.784203822000002 meters Centerline goodness [0,1] 0.9999138617912441 Centerline is valid? [True, True] Translation: X:15.19, Y:0.16, Z:-0.71 [[ 9.99174843e-01 4.04691821e-02 3.44646422e-03 1.51893440e+01] [-4.04691548e-02 9.99180785e-01 -7.76790643e-05 1.61861600e-01] [-3.44678443e-03 -6.18605272e-05 9.99994058e-01 -7.14314766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.814203822000003 meters Centerline goodness [0,1] 0.9999572320588487 Centerline is valid? [True, True] Translation: X:15.22, Y:0.17, Z:-0.72 [[ 9.99117722e-01 4.19289193e-02 2.39650203e-03 1.52178953e+01] [-4.19289097e-02 9.99120595e-01 -5.42518200e-05 1.69109323e-01] [-2.39666925e-03 -4.62787624e-05 9.99997127e-01 -7.18020874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.844203822 meters Centerline goodness [0,1] 0.9999568155809384 Centerline is valid? [True, True] Translation: X:15.25, Y:0.17, Z:-0.72 [[ 9.99134781e-01 4.14963480e-02 2.78254345e-03 1.52468700e+01] [-4.14963340e-02 9.99138654e-01 -6.27623639e-05 1.66162080e-01] [-2.78275112e-03 -5.27572917e-05 9.99996127e-01 -7.16755556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.874203822000002 meters Centerline goodness [0,1] 0.999891544835365 Centerline is valid? [True, True] Translation: X:15.28, Y:0.16, Z:-0.72 [[ 9.99167252e-01 4.06156032e-02 3.89543493e-03 1.52762497e+01] [-4.06155704e-02 9.99174843e-01 -8.75573487e-05 1.62603038e-01] [-3.89577678e-03 -7.07308760e-05 9.99992409e-01 -7.15637890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.904203822000003 meters Centerline goodness [0,1] 0.9999354769330036 Centerline is valid? [True, True] Translation: X:15.30, Y:0.16, Z:-0.72 [[ 9.99247688e-01 3.86328636e-02 3.39995744e-03 1.53035803e+01] [-3.86328275e-02 9.99253471e-01 -7.63117386e-05 1.60799311e-01] [-3.40036741e-03 -5.50956410e-05 9.99994217e-01 -7.21069675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.934203822 meters Centerline goodness [0,1] 0.9998926416593306 Centerline is valid? [True, True] Translation: X:15.33, Y:0.15, Z:-0.72 [[ 9.99375799e-01 3.50393971e-02 4.50028349e-03 1.53335271e+01] [-3.50393045e-02 9.99385930e-01 -9.94371556e-05 1.54277559e-01] [-4.50100422e-03 -5.83117167e-05 9.99989869e-01 -7.16626244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.964203822 meters Centerline goodness [0,1] 0.9999571963616908 Centerline is valid? [True, True] Translation: X:15.36, Y:0.15, Z:-0.72 [[ 9.99431832e-01 3.33444416e-02 4.91549358e-03 1.53628320e+01] [-3.33443117e-02 9.99443918e-01 -1.08393666e-04 1.52375129e-01] [-4.91637449e-03 -5.55716701e-05 9.99987913e-01 -7.16607926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.994203822000003 meters Centerline goodness [0,1] 0.9999783657486533 Centerline is valid? [True, True] Translation: X:15.39, Y:0.15, Z:-0.72 [[ 9.99545525e-01 3.00591298e-02 2.27870857e-03 1.53910445e+01] [-3.00590921e-02 9.99548122e-01 -5.07744323e-05 1.49107395e-01] [-2.27920510e-03 -1.77445541e-05 9.99997402e-01 -7.24958510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.024203822000004 meters Centerline goodness [0,1] 0.9998918591573666 Centerline is valid? [True, True] Translation: X:15.42, Y:0.15, Z:-0.72 [[ 9.99623534e-01 2.73105034e-02 2.63177643e-03 1.54197438e+01] [-2.73104436e-02 9.99626999e-01 -5.86881271e-05 1.47888251e-01] [-2.63239758e-03 -1.32089487e-05 9.99996535e-01 -7.23715620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.054203822 meters Centerline goodness [0,1] 0.9998709954848419 Centerline is valid? [True, True] Translation: X:15.45, Y:0.15, Z:-0.72 [[ 9.99671004e-01 2.54466130e-02 3.21770280e-03 1.54481763e+01] [-2.54465154e-02 9.99676182e-01 -7.12875051e-05 1.46862283e-01] [-3.21847488e-03 -1.06152721e-05 9.99994821e-01 -7.22884421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.084203822000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.48, Y:0.14, Z:-0.73 [[ 9.99753721e-01 2.20799689e-02 2.23005578e-03 1.54766964e+01] [-2.20799136e-02 9.99756208e-01 -4.94055823e-05 1.42563376e-01] [-2.23060298e-03 1.53975885e-07 9.99997512e-01 -7.25959029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.114203822000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.51, Y:0.14, Z:-0.72 [[ 9.99800031e-01 1.99343840e-02 1.58668783e-03 1.55060090e+01] [-1.99343534e-02 9.99801290e-01 -3.50857853e-05 1.41220430e-01] [-1.58707195e-03 3.44917335e-06 9.99998741e-01 -7.24172251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.144203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.53, Y:0.14, Z:-0.73 [[ 9.99816532e-01 1.91431798e-02 6.63374816e-04 1.55340385e+01] [-1.91431735e-02 9.99816753e-01 -1.58414604e-05 1.41358439e-01] [-6.63556510e-04 3.13945480e-06 9.99999780e-01 -7.29185220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.174203822000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.56, Y:0.14, Z:-0.74 [[ 9.99847100e-01 1.73733658e-02 -1.98578985e-03 1.55625478e+01] [-1.73733173e-02 9.99849072e-01 4.16678067e-05 1.42054831e-01] [ 1.98621405e-03 -7.16167856e-06 9.99998027e-01 -7.37276452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.204203822000004 meters Centerline goodness [0,1] 0.9999783839868575 Centerline is valid? [True, True] Translation: X:15.59, Y:0.14, Z:-0.73 [[ 9.99863112e-01 1.64950518e-02 -1.29240669e-03 1.55917904e+01] [-1.64950317e-02 9.99863947e-01 2.62711530e-05 1.43750904e-01] [ 1.29266420e-03 -4.94926747e-06 9.99999164e-01 -7.32342157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.234203822 meters Centerline goodness [0,1] 0.9998713633342624 Centerline is valid? [True, True] Translation: X:15.62, Y:0.15, Z:-0.73 [[ 9.99875197e-01 1.56419593e-02 2.21778768e-03 1.56222419e+01] [-1.56418912e-02 9.99877657e-01 -4.80202177e-05 1.45695796e-01] [-2.21826748e-03 1.33238310e-05 9.99997540e-01 -7.27083174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.264203822000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.65, Y:0.15, Z:-0.73 [[ 9.99886902e-01 1.48784080e-02 2.19464736e-03 1.56503566e+01] [-1.48783381e-02 9.99889310e-01 -4.81866163e-05 1.46078535e-01] [-2.19512137e-03 1.55284611e-05 9.99997591e-01 -7.30419497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.294203822000004 meters Centerline goodness [0,1] 0.9999569864722455 Centerline is valid? [True, True] Translation: X:15.68, Y:0.15, Z:-0.73 [[ 9.99888084e-01 1.49342923e-02 8.86577526e-04 1.56802537e+01] [-1.49342807e-02 9.99888477e-01 -1.97321928e-05 1.47771917e-01] [-8.86773338e-04 6.48958688e-06 9.99999607e-01 -7.32759985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.324203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.71, Y:0.15, Z:-0.74 [[ 9.99889090e-01 1.48920599e-02 1.85387161e-04 1.57096053e+01] [-1.48920593e-02 9.99889107e-01 -4.70536468e-06 1.49990158e-01] [-1.85436676e-04 1.94404621e-06 9.99999983e-01 -7.36613970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.354203822000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.74, Y:0.16, Z:-0.73 [[ 9.99876850e-01 1.56207012e-02 1.50972230e-03 1.57387463e+01] [-1.56206680e-02 9.99877989e-01 -3.37714825e-05 1.56316637e-01] [-1.51006563e-03 1.01844528e-05 9.99998860e-01 -7.31235965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.384203822000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.77, Y:0.16, Z:-0.73 [[ 9.99867635e-01 1.61925870e-02 1.58534932e-03 1.57669813e+01] [-1.61925519e-02 9.99868891e-01 -3.49404077e-05 1.61393449e-01] [-1.58570724e-03 9.26493172e-06 9.99998743e-01 -7.33908033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.414203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.80, Y:0.16, Z:-0.73 [[ 9.99867295e-01 1.62237298e-02 1.47722167e-03 1.57962385e+01] [-1.62236999e-02 9.99868387e-01 -3.21999984e-05 1.62458916e-01] [-1.47754965e-03 8.22972420e-06 9.99998908e-01 -7.34193827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.444203822000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.83, Y:0.16, Z:-0.73 [[ 9.99866458e-01 1.61453528e-02 2.52844089e-03 1.58256565e+01] [-1.61452657e-02 9.99869655e-01 -5.48712005e-05 1.64318297e-01] [-2.52899723e-03 1.40415231e-05 9.99996802e-01 -7.33211045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.474203822000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.85, Y:0.16, Z:-0.73 [[ 9.99887389e-01 1.46738190e-02 3.14456300e-03 1.58542754e+01] [-1.46736782e-02 9.99892333e-01 -6.78473354e-05 1.60541387e-01] [-3.14522002e-03 2.16973897e-05 9.99995054e-01 -7.34219892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.504203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.88, Y:0.16, Z:-0.73 [[ 9.99895608e-01 1.37929212e-02 4.30438116e-03 1.58834534e+01] [-1.37926545e-02 9.99904873e-01 -9.16592639e-05 1.58616562e-01] [-4.30523594e-03 3.22808535e-05 9.99990732e-01 -7.34505108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.534203822000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.91, Y:0.16, Z:-0.74 [[ 9.99920789e-01 1.20141103e-02 3.75195102e-03 1.59136966e+01] [-1.20138963e-02 9.99927827e-01 -7.95714782e-05 1.58911796e-01] [-3.75263621e-03 3.44896248e-05 9.99992958e-01 -7.35896032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.564203822000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.94, Y:0.16, Z:-0.73 [[ 9.99933229e-01 1.11812760e-02 2.91831093e-03 1.59443795e+01] [-1.11811430e-02 9.99937487e-01 -6.18916168e-05 1.59163202e-01] [-2.91882053e-03 2.92574324e-05 9.99995740e-01 -7.34615830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.594203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.98, Y:0.16, Z:-0.74 [[ 9.99941352e-01 1.04699256e-02 2.77006685e-03 1.59752218e+01] [-1.04698030e-02 9.99945188e-01 -5.87476524e-05 1.56431983e-01] [-2.77053010e-03 2.97421527e-05 9.99996162e-01 -7.35538042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.624203822000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.00, Y:0.15, Z:-0.74 [[ 9.99938839e-01 1.05358746e-02 3.36362822e-03 1.60040854e+01] [-1.05356931e-02 9.99944495e-01 -7.16754977e-05 1.52521339e-01] [-3.36419669e-03 3.62329594e-05 9.99994340e-01 -7.40505210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.654203822000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.04, Y:0.15, Z:-0.74 [[ 9.99941367e-01 1.02671813e-02 3.44198460e-03 1.60351484e+01] [-1.02669910e-02 9.99947290e-01 -7.29560257e-05 1.51863430e-01] [-3.44255223e-03 3.76129230e-05 9.99994074e-01 -7.37298809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.684203822000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.07, Y:0.15, Z:-0.74 [[ 9.99940826e-01 1.01078712e-02 4.02188936e-03 1.60651124e+01] [-1.01076100e-02 9.99948913e-01 -8.52476396e-05 1.51151755e-01] [-4.02254556e-03 4.45909059e-05 9.99991909e-01 -7.39111442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.714203822 meters Centerline goodness [0,1] 0.99997860001284 Centerline is valid? [True, True] Translation: X:16.10, Y:0.15, Z:-0.74 [[ 9.99937333e-01 1.03784683e-02 4.19732857e-03 1.60961017e+01] [-1.03781889e-02 9.99946141e-01 -8.83365352e-05 1.50857387e-01] [-4.19801931e-03 4.47703306e-05 9.99991187e-01 -7.38731535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.744203822000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.13, Y:0.15, Z:-0.74 [[ 9.99915915e-01 1.16335580e-02 5.72915245e-03 1.61273433e+01] [-1.16330559e-02 9.99932326e-01 -1.20958710e-04 1.50343872e-01] [-5.73017191e-03 5.43009887e-05 9.99983581e-01 -7.35659521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.774203822000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.16, Y:0.15, Z:-0.74 [[ 9.99884355e-01 1.34780476e-02 7.04412498e-03 1.61588149e+01] [-1.34773541e-02 9.99909166e-01 -1.45919013e-04 1.48094362e-01] [-7.04545184e-03 5.09659719e-05 9.99975179e-01 -7.36166102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.804203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.19, Y:0.15, Z:-0.74 [[ 9.99882152e-01 1.36404920e-02 7.04410752e-03 1.61905137e+01] [-1.36397967e-02 9.99906963e-01 -1.46750064e-04 1.47280668e-01] [-7.04545390e-03 5.06525753e-05 9.99975179e-01 -7.37162208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.834203822000003 meters Centerline goodness [0,1] 0.9999569661108123 Centerline is valid? [True, True] Translation: X:16.22, Y:0.15, Z:-0.74 [[ 9.99866512e-01 1.48377476e-02 6.84105598e-03 1.62226510e+01] [-1.48371135e-02 9.99889914e-01 -1.43435126e-04 1.47991605e-01] [-6.84243112e-03 4.19144553e-05 9.99976589e-01 -7.36388175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.864203822000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.25, Y:0.15, Z:-0.74 [[ 9.99841813e-01 1.62229394e-02 7.29147083e-03 1.62541987e+01] [-1.62222425e-02 9.99868399e-01 -1.54706213e-04 1.53586239e-01] [-7.29302106e-03 3.63977320e-05 9.99973405e-01 -7.37710585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.894203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.29, Y:0.16, Z:-0.74 [[ 9.99811685e-01 1.77291494e-02 7.89119082e-03 1.62853029e+01] [-1.77283436e-02 9.99842826e-01 -1.72066047e-04 1.57713811e-01] [-7.89300111e-03 3.21359023e-05 9.99968849e-01 -7.36259096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.924203822000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.32, Y:0.16, Z:-0.74 [[ 9.99788807e-01 1.86990461e-02 8.52568440e-03 1.63163680e+01] [-1.86981638e-02 9.99825157e-01 -1.83196666e-04 1.56296810e-01] [-8.52761935e-03 2.37433324e-05 9.99963639e-01 -7.38631252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.954203822000004 meters Centerline goodness [0,1] 0.9999567202614096 Centerline is valid? [True, True] Translation: X:16.35, Y:0.16, Z:-0.74 [[ 9.99763032e-01 2.03474248e-02 7.73706618e-03 1.63478644e+01] [-2.03467180e-02 9.99792970e-01 -1.70059947e-04 1.56279341e-01] [-7.73892465e-03 1.25957451e-05 9.99970054e-01 -7.38515111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.984203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.38, Y:0.16, Z:-0.74 [[ 9.99763684e-01 2.04146428e-02 7.47115023e-03 1.63776682e+01] [-2.04139903e-02 9.99791599e-01 -1.63590053e-04 1.57091220e-01] [-7.47293287e-03 1.10354064e-05 9.99972077e-01 -7.44979485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.014203822000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.41, Y:0.16, Z:-0.74 [[ 9.99769627e-01 2.01016358e-02 7.52438840e-03 1.64077479e+01] [-2.01009518e-02 9.99797942e-01 -1.66523122e-04 1.56894175e-01] [-7.52621542e-03 1.52373912e-05 9.99971678e-01 -7.44679692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.044203822000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.44, Y:0.16, Z:-0.74 [[ 9.99780268e-01 1.97503358e-02 7.02423378e-03 1.64387866e+01] [-1.97497311e-02 9.99804943e-01 -1.55454142e-04 1.58788020e-01] [-7.02593393e-03 1.66932555e-05 9.99975318e-01 -7.41946748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.074203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.47, Y:0.16, Z:-0.75 [[ 9.99779687e-01 2.01150710e-02 5.99684430e-03 1.64688528e+01] [-2.01146385e-02 9.99797671e-01 -1.32415598e-04 1.57189765e-01] [-5.99829452e-03 1.17620692e-05 9.99982010e-01 -7.47507540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.104203822000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.50, Y:0.15, Z:-0.75 [[ 9.99791024e-01 1.95630442e-02 5.93265660e-03 1.64989339e+01] [-1.95626056e-02 9.99808625e-01 -1.31966809e-04 1.52570640e-01] [-5.93410291e-03 1.58810101e-05 9.99982393e-01 -7.46769722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.134203822000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.53, Y:0.15, Z:-0.74 [[ 9.99811197e-01 1.83328997e-02 6.44008514e-03 1.65295672e+01] [-1.83323624e-02 9.99831938e-01 -1.42450920e-04 1.49541949e-01] [-6.44161435e-03 2.43620500e-05 9.99979252e-01 -7.44576012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.164203822 meters Centerline goodness [0,1] 0.9998926624017861 Centerline is valid? [True, True] Translation: X:16.56, Y:0.15, Z:-0.75 [[ 9.99820522e-01 1.78895497e-02 6.23602071e-03 1.65603796e+01] [-1.78890461e-02 9.99839969e-01 -1.36530160e-04 1.50981707e-01] [-6.23746522e-03 2.49491937e-05 9.99980547e-01 -7.45334739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.194203822000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.59, Y:0.15, Z:-0.75 [[ 9.99818485e-01 1.78643432e-02 6.62282572e-03 1.65912585e+01] [-1.78637642e-02 9.99840419e-01 -1.46573821e-04 1.48202833e-01] [-6.62438730e-03 2.82386185e-05 9.99978058e-01 -7.47849637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.224203822000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.62, Y:0.15, Z:-0.75 [[ 9.99785250e-01 1.94330458e-02 7.19797514e-03 1.66216050e+01] [-1.94323997e-02 9.99811160e-01 -1.59701309e-04 1.47305084e-01] [-7.19971936e-03 1.97930834e-05 9.99974081e-01 -7.47467906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.254203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.65, Y:0.15, Z:-0.75 [[ 9.99738006e-01 2.12580666e-02 8.48609039e-03 1.66520750e+01] [-2.12572366e-02 9.99774022e-01 -1.88011572e-04 1.50621836e-01] [-8.48816948e-03 7.57148324e-06 9.99963975e-01 -7.46892091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.284203822000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.68, Y:0.15, Z:-0.75 [[ 9.99708417e-01 2.20642697e-02 9.81062159e-03 1.66835874e+01] [-2.20631998e-02 9.99756554e-01 -2.17283590e-04 1.51911377e-01] [-9.81302744e-03 7.66529875e-07 9.99951851e-01 -7.45215381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.314203822000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.71, Y:0.15, Z:-0.75 [[ 9.99700967e-01 2.26925170e-02 9.11189959e-03 1.67145436e+01] [-2.26916188e-02 9.99742492e-01 -2.01957230e-04 1.52668482e-01] [-9.11413611e-03 -4.86691394e-06 9.99958465e-01 -7.46043058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.344203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.75, Y:0.15, Z:-0.75 [[ 9.99720928e-01 2.25383360e-02 7.07739411e-03 1.67451105e+01] [-2.25377882e-02 9.99745979e-01 -1.57153600e-04 1.48408373e-01] [-7.07913829e-03 -2.39906663e-06 9.99974943e-01 -7.51740764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.374203822000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.78, Y:0.15, Z:-0.75 [[ 9.99712538e-01 2.27637457e-02 7.52679160e-03 1.67754234e+01] [-2.27631296e-02 9.99740872e-01 -1.67525180e-04 1.47424491e-01] [-7.52865470e-03 -3.85630973e-06 9.99971659e-01 -7.52583112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.404203822000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.81, Y:0.15, Z:-0.75 [[ 9.99682963e-01 2.33910971e-02 9.31824848e-03 1.68058590e+01] [-2.33901800e-02 9.99726391e-01 -2.07397964e-04 1.47383011e-01] [-9.32055019e-03 -1.06232981e-05 9.99956563e-01 -7.49908932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.434203822000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.84, Y:0.15, Z:-0.75 [[ 9.99680047e-01 2.36299444e-02 9.02385857e-03 1.68372037e+01] [-2.36290989e-02 9.99720774e-01 -2.00315243e-04 1.48392373e-01] [-9.02607231e-03 -1.29744952e-05 9.99959264e-01 -7.49343542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.464203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.87, Y:0.15, Z:-0.75 [[ 9.99690265e-01 2.32884592e-02 8.77623336e-03 1.68674887e+01] [-2.32876422e-02 9.99728787e-01 -1.95275651e-04 1.47356080e-01] [-8.77840080e-03 -9.16261513e-06 9.99961469e-01 -7.51999537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.494203822000003 meters Centerline goodness [0,1] 0.9998925101040502 Centerline is valid? [True, True] Translation: X:16.90, Y:0.14, Z:-0.76 [[ 9.99723084e-01 2.20261388e-02 8.28283747e-03 1.68981086e+01] [-2.20253672e-02 9.99757395e-01 -1.84375700e-04 1.41560333e-01] [-8.28488910e-03 1.89210613e-06 9.99965680e-01 -7.55144875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.524203822000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.93, Y:0.13, Z:-0.76 [[ 9.99765930e-01 2.03811932e-02 7.25890414e-03 1.69289948e+01] [-2.03805590e-02 9.99792282e-01 -1.61340398e-04 1.34183499e-01] [-7.26068464e-03 1.33621092e-05 9.99973641e-01 -7.58304934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.554203822 meters Centerline goodness [0,1] 0.9998712694973074 Centerline is valid? [True, True] Translation: X:16.96, Y:0.13, Z:-0.76 [[ 9.99780569e-01 1.96177512e-02 7.34553266e-03 1.69598365e+01] [-1.96170757e-02 9.99807553e-01 -1.64009102e-04 1.30479946e-01] [-7.34733653e-03 1.98752431e-05 9.99973008e-01 -7.57937285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.584203822000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.99, Y:0.13, Z:-0.76 [[ 9.99797615e-01 1.88601207e-02 7.00180603e-03 1.69913972e+01] [-1.88594924e-02 9.99822132e-01 -1.55748046e-04 1.27217522e-01] [-7.00349806e-03 2.36660169e-05 9.99975475e-01 -7.57837784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.614203822000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.02, Y:0.12, Z:-0.76 [[ 9.99786940e-01 1.93049334e-02 7.30718890e-03 1.70214926e+01] [-1.93042574e-02 9.99813642e-01 -1.63040066e-04 1.23930492e-01] [-7.30897463e-03 2.19454735e-05 9.99973289e-01 -7.60395742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.644203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.05, Y:0.12, Z:-0.76 [[ 9.99746309e-01 2.08363628e-02 8.55356951e-03 1.70519729e+01] [-2.08354910e-02 9.99782899e-01 -1.91025468e-04 1.21582643e-01] [-8.55569280e-03 1.27591857e-05 9.99963399e-01 -7.59470734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.674203822000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.08, Y:0.12, Z:-0.76 [[ 9.99717537e-01 2.20938895e-02 8.75826086e-03 1.70833785e+01] [-2.20930253e-02 9.99755900e-01 -1.95433160e-04 1.21633059e-01] [-8.76044085e-03 1.88147871e-06 9.99961627e-01 -7.57960734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.704203822000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.12, Y:0.12, Z:-0.76 [[ 9.99644591e-01 2.48630644e-02 9.61874500e-03 1.71150884e+01] [-2.48621472e-02 9.99690866e-01 -2.14937766e-04 1.21065393e-01] [-9.62111553e-03 -2.42812787e-05 9.99953716e-01 -7.58358449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.734203822 meters Centerline goodness [0,1] 0.9999783207232207 Centerline is valid? [True, True] Translation: X:17.15, Y:0.12, Z:-0.76 [[ 9.99568500e-01 2.78593176e-02 9.30983083e-03 1.71461594e+01] [-2.78585865e-02 9.99611853e-01 -2.08227430e-04 1.18509524e-01] [-9.31201832e-03 -5.12211484e-05 9.99956641e-01 -7.61434429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.764203822000002 meters Centerline goodness [0,1] 0.9999786493584132 Centerline is valid? [True, True] Translation: X:17.18, Y:0.12, Z:-0.76 [[ 9.99534364e-01 2.93110253e-02 8.48047268e-03 1.71758587e+01] [-2.93104652e-02 9.99570338e-01 -1.90352551e-04 1.17804801e-01] [-8.48240837e-03 -5.83026835e-05 9.99964022e-01 -7.64760565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.794203822000004 meters Centerline goodness [0,1] 0.9999783648125311 Centerline is valid? [True, True] Translation: X:17.21, Y:0.12, Z:-0.76 [[ 9.99478860e-01 3.11721278e-02 8.38497111e-03 1.72059704e+01] [-3.11716433e-02 9.99514028e-01 -1.88491759e-04 1.18902793e-01] [-8.38677194e-03 -7.29798002e-05 9.99964828e-01 -7.62025632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.824203822 meters Centerline goodness [0,1] 0.999957152344838 Centerline is valid? [True, True] Translation: X:17.24, Y:0.12, Z:-0.77 [[ 9.99457204e-01 3.19088425e-02 8.19286865e-03 1.72357168e+01] [-3.19084055e-02 9.99490780e-01 -1.84079780e-04 1.21309773e-01] [-8.19457045e-03 -7.74415128e-05 9.99966421e-01 -7.65039183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.854203822000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.27, Y:0.12, Z:-0.77 [[ 9.99472714e-01 3.17795862e-02 6.65979506e-03 1.72650307e+01] [-3.17792947e-02 9.99494899e-01 -1.49607848e-04 1.19434276e-01] [-6.66118567e-03 -6.21146281e-05 9.99977812e-01 -7.70188850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.884203822000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.29, Y:0.11, Z:-0.77 [[ 9.99499843e-01 3.10679600e-02 5.90305355e-03 1.72933529e+01] [-3.10677153e-02 9.99517273e-01 -1.33160564e-04 1.14092728e-01] [-5.90434102e-03 -5.03004247e-05 9.99982568e-01 -7.74023799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.914203822 meters Centerline goodness [0,1] 0.9999785935994863 Centerline is valid? [True, True] Translation: X:17.32, Y:0.11, Z:-0.77 [[ 9.99521556e-01 3.02871581e-02 6.27269866e-03 1.73233011e+01] [-3.02868700e-02 9.99541238e-01 -1.40935320e-04 1.09104376e-01] [-6.27408951e-03 -4.91125187e-05 9.99980317e-01 -7.74012403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.944203822000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.35, Y:0.10, Z:-0.77 [[ 9.99552103e-01 2.84468693e-02 9.29349110e-03 1.73525284e+01] [-2.84461650e-02 9.99595304e-01 -2.07987863e-04 1.01782282e-01] [-9.29564667e-03 -5.64694758e-05 9.99956793e-01 -7.70794811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.974203822000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.38, Y:0.10, Z:-0.77 [[ 9.99554937e-01 2.79914459e-02 1.03153903e-02 1.73838927e+01] [-2.79905630e-02 9.99608161e-01 -2.29979975e-04 9.91350505e-02] [-1.03177858e-02 -5.88559628e-05 9.99946768e-01 -7.69899778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.004203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.42, Y:0.10, Z:-0.77 [[ 9.99585285e-01 2.70870448e-02 9.77497289e-03 1.74153662e+01] [-2.70862072e-02 9.99633078e-01 -2.18090731e-04 9.54093984e-02] [-9.77729367e-03 -4.67666554e-05 9.99952200e-01 -7.68273894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.034203822000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.45, Y:0.09, Z:-0.77 [[ 9.99621432e-01 2.59011103e-02 9.28034895e-03 1.74463852e+01] [-2.59003025e-02 9.99664509e-01 -2.07237428e-04 9.17320112e-02] [-9.28260316e-03 -3.32048705e-05 9.99956915e-01 -7.70048952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.064203822000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.48, Y:0.09, Z:-0.77 [[ 9.99643246e-01 2.54501011e-02 8.10384628e-03 1.74777554e+01] [-2.54494943e-02 9.99676093e-01 -1.78005897e-04 8.87331881e-02] [-8.10575165e-03 -2.82963967e-05 9.99967147e-01 -7.73303301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.094203822000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.51, Y:0.09, Z:-0.77 [[ 9.99643138e-01 2.56753813e-02 7.37374883e-03 1.75087946e+01] [-2.56748566e-02 9.99670333e-01 -1.65826989e-04 8.80842599e-02] [-7.37557562e-03 -2.35521325e-05 9.99972800e-01 -7.74929319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.124203822000002 meters Centerline goodness [0,1] 0.9999784021943371 Centerline is valid? [True, True] Translation: X:17.54, Y:0.09, Z:-0.78 [[ 9.99587940e-01 2.78036567e-02 7.13491750e-03 1.75379845e+01] [-2.78032124e-02 9.99613403e-01 -1.61471222e-04 9.06632595e-02] [-7.13664865e-03 -3.69689408e-05 9.99974533e-01 -7.76259465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.154203822000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.57, Y:0.10, Z:-0.78 [[ 9.99511612e-01 2.99365941e-02 8.96309701e-03 1.75683424e+01] [-2.99359829e-02 9.99551798e-01 -2.02375872e-04 9.50552014e-02] [-8.96513818e-03 -6.60420854e-05 9.99959810e-01 -7.75225471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.184203822000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.60, Y:0.10, Z:-0.78 [[ 9.99492627e-01 3.04916563e-02 9.20588765e-03 1.75973945e+01] [-3.04910326e-02 9.99535019e-01 -2.08120929e-04 9.71472190e-02] [-9.20795304e-03 -7.26816864e-05 9.99957603e-01 -7.76867583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.214203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.63, Y:0.10, Z:-0.78 [[ 9.99492048e-01 3.08036473e-02 8.17197327e-03 1.76274009e+01] [-3.08031667e-02 9.99525453e-01 -1.84698094e-04 9.64062648e-02] [-8.17378466e-03 -6.71183791e-05 9.99966592e-01 -7.77730819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.244203822000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.66, Y:0.10, Z:-0.78 [[ 9.99500704e-01 3.06896129e-02 7.51598940e-03 1.76568838e+01] [-3.06892036e-02 9.99528961e-01 -1.69810860e-04 9.55573041e-02] [-7.51766050e-03 -6.09336544e-05 9.99971740e-01 -7.82209814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.274203822000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.69, Y:0.09, Z:-0.78 [[ 9.99531314e-01 2.98712706e-02 6.69771136e-03 1.76877297e+01] [-2.98709295e-02 9.99553753e-01 -1.50984638e-04 9.43838455e-02] [-6.69923263e-03 -4.91529898e-05 9.99977559e-01 -7.81609453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.304203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.72, Y:0.10, Z:-0.79 [[ 9.99552077e-01 2.92103973e-02 6.51139299e-03 1.77174990e+01] [-2.92100589e-02 9.99573284e-01 -1.47090634e-04 9.62746665e-02] [-6.51291106e-03 -4.31734244e-05 9.99978790e-01 -7.86069671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.334203822000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.75, Y:0.10, Z:-0.78 [[ 9.99582419e-01 2.78094786e-02 7.84982293e-03 1.77471132e+01] [-2.78089428e-02 9.99613241e-01 -1.77425380e-04 9.55156883e-02] [-7.85172105e-03 -4.09439863e-05 9.99969174e-01 -7.83594853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.364203822000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.78, Y:0.09, Z:-0.78 [[ 9.99644186e-01 2.48184504e-02 9.77473504e-03 1.77776169e+01] [-2.48174882e-02 9.99691975e-01 -2.19736499e-04 9.04633084e-02] [-9.77717770e-03 -2.29260575e-05 9.99952202e-01 -7.82295282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.394203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.81, Y:0.09, Z:-0.78 [[ 9.99698498e-01 2.24331942e-02 9.98321372e-03 1.78093606e+01] [-2.24320754e-02 9.99748344e-01 -2.24043016e-04 8.56838531e-02] [-9.98572739e-03 3.12647326e-08 9.99950141e-01 -7.82568135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.424203822000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.84, Y:0.07, Z:-0.79 [[ 9.99818876e-01 1.71325971e-02 8.28788298e-03 1.78399803e+01] [-1.71316530e-02 9.99853225e-01 -1.84898254e-04 7.47972271e-02] [-8.28983432e-03 4.28796284e-05 9.99965638e-01 -7.89603945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.454203822000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.87, Y:0.07, Z:-0.79 [[ 9.99901702e-01 1.20905565e-02 7.09967437e-03 1.78721578e+01] [-1.20897279e-02 9.99926904e-01 -1.59620215e-04 6.64647705e-02] [-7.10108531e-03 7.37713930e-05 9.99974784e-01 -7.91802757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.484203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.90, Y:0.06, Z:-0.79 [[ 9.99935312e-01 8.80011164e-03 7.20624198e-03 1.79039819e+01] [-8.79919127e-03 9.99961274e-01 -1.59413432e-04 5.73878659e-02] [-7.20736576e-03 9.59940185e-05 9.99974022e-01 -7.89453196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.514203822000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.94, Y:0.05, Z:-0.79 [[ 9.99943740e-01 8.00710984e-03 6.95722155e-03 1.79363290e+01] [-8.00622594e-03 9.99967938e-01 -1.54890317e-04 5.28970773e-02] [-6.95823871e-03 9.91805147e-05 9.99975786e-01 -7.90391486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.544203822000004 meters Centerline goodness [0,1] 0.9999786443428864 Centerline is valid? [True, True] Translation: X:17.97, Y:0.05, Z:-0.79 [[ 9.99937209e-01 8.14634297e-03 7.69517829e-03 1.79674938e+01] [-8.14524908e-03 9.99966812e-01 -1.73483446e-04 4.65149060e-02] [-7.69633616e-03 1.10793409e-04 9.99970377e-01 -7.93863058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.574203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.00, Y:0.05, Z:-0.79 [[ 9.99913993e-01 9.14444251e-03 9.40137474e-03 1.80002840e+01] [-9.14280951e-03 9.99958180e-01 -2.16662661e-04 4.57079781e-02] [-9.40296284e-03 1.30689048e-04 9.99955783e-01 -7.90436912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.604203822000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.03, Y:0.04, Z:-0.79 [[ 9.99910011e-01 9.77036418e-03 9.19292653e-03 1.80333485e+01] [-9.76885172e-03 9.99952262e-01 -2.09413952e-04 4.40521427e-02] [-9.19453372e-03 1.19590771e-04 9.99957722e-01 -7.90891002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.634203822000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.07, Y:0.04, Z:-0.79 [[ 9.99899339e-01 1.11482427e-02 8.77661988e-03 1.80659025e+01] [-1.11469006e-02 9.99937851e-01 -2.01813217e-04 4.10706130e-02] [-8.77832428e-03 1.03960792e-04 9.99961464e-01 -7.91629080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.664203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.10, Y:0.04, Z:-0.79 [[ 9.99862214e-01 1.36269064e-02 9.47949885e-03 1.80981605e+01] [-1.36254336e-02 9.99907145e-01 -2.19944769e-04 4.06046197e-02] [-9.48161580e-03 9.07521820e-05 9.99955044e-01 -7.91172540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.694203822000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.13, Y:0.04, Z:-0.80 [[ 9.99843030e-01 1.48066234e-02 9.73034406e-03 1.81296872e+01] [-1.48051096e-02 9.99890372e-01 -2.27592619e-04 3.70803071e-02] [-9.73264722e-03 8.34980834e-05 9.99952633e-01 -7.95329201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.724203822000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.16, Y:0.04, Z:-0.80 [[ 9.99840245e-01 1.49935286e-02 9.73031371e-03 1.81622097e+01] [-1.49920112e-02 9.99887587e-01 -2.28876189e-04 3.61206074e-02] [-9.73265156e-03 8.29626525e-05 9.99952633e-01 -7.96351547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.754203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.19, Y:0.03, Z:-0.80 [[ 9.99824247e-01 1.64243442e-02 9.03973863e-03 1.81947475e+01] [-1.64230816e-02 9.99865109e-01 -2.13887713e-04 3.35393565e-02] [-9.04203221e-03 6.53897561e-05 9.99959118e-01 -7.98381237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.784203822000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.23, Y:0.03, Z:-0.80 [[ 9.99804007e-01 1.73318573e-02 9.56845198e-03 1.82259141e+01] [-1.73304563e-02 9.99849790e-01 -2.29318129e-04 3.25561767e-02] [-9.57098921e-03 6.34475452e-05 9.99954195e-01 -7.98827871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.814203822000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.26, Y:0.03, Z:-0.80 [[ 9.99765527e-01 1.89276235e-02 1.05183334e-02 1.82582069e+01] [-1.89260002e-02 9.99820855e-01 -2.53859554e-04 3.01482248e-02] [-1.05212540e-02 5.47300513e-05 9.99944649e-01 -7.96327491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.844203822000004 meters Centerline goodness [0,1] 0.9999570012684625 Centerline is valid? [True, True] Translation: X:18.29, Y:0.03, Z:-0.80 [[ 9.99744998e-01 2.06866316e-02 9.05552179e-03 1.82904900e+01] [-2.06854937e-02 9.99786008e-01 -2.19311497e-04 2.87441598e-02] [-9.05812080e-03 3.19376333e-05 9.99958974e-01 -7.98707768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.874203822000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.32, Y:0.03, Z:-0.80 [[ 9.99716335e-01 2.21074366e-02 8.86067011e-03 1.83223658e+01] [-2.21063930e-02 9.99755601e-01 -2.15711385e-04 2.74068877e-02] [-8.86327339e-03 1.97727388e-05 9.99960720e-01 -8.02227871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.904203822000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.35, Y:0.02, Z:-0.80 [[ 9.99666326e-01 2.44402701e-02 8.36125952e-03 1.83549887e+01] [-2.44394148e-02 9.99701292e-01 -2.04460790e-04 2.42204671e-02] [-8.36375902e-03 4.82762835e-08 9.99965023e-01 -8.03288390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.934203822000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.39, Y:0.02, Z:-0.80 [[ 9.99611987e-01 2.63824432e-02 8.93540418e-03 1.83858891e+01] [-2.63815177e-02 9.99651923e-01 -2.21445945e-04 2.49543080e-02] [-8.93813625e-03 -1.43695018e-05 9.99960054e-01 -8.04371216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.964203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.42, Y:0.02, Z:-0.81 [[ 9.99588497e-01 2.70720843e-02 9.48365572e-03 1.84171029e+01] [-2.70710559e-02 9.99633484e-01 -2.36820815e-04 2.46897416e-02] [-9.48659103e-03 -2.00092115e-05 9.99955001e-01 -8.05754153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.994203822000003 meters Centerline goodness [0,1] 0.9999571367338191 Centerline is valid? [True, True] Translation: X:18.45, Y:0.02, Z:-0.81 [[ 9.99568041e-01 2.79420070e-02 9.10914527e-03 1.84489184e+01] [-2.79410857e-02 9.99609546e-01 -2.28411580e-04 2.31727247e-02] [-9.11197084e-03 -2.62064931e-05 9.99958485e-01 -8.06705620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.024203822000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.48, Y:0.02, Z:-0.81 [[ 9.99562839e-01 2.77536082e-02 1.01915755e-02 1.84796826e+01] [-2.77524193e-02 9.99614794e-01 -2.58089232e-04 2.26423718e-02] [-1.01948126e-02 -2.48644714e-05 9.99948031e-01 -8.08329082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.054203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.51, Y:0.02, Z:-0.81 [[ 9.99604027e-01 2.61258572e-02 1.04512458e-02 1.85120854e+01] [-2.61245027e-02 9.99658662e-01 -2.66122119e-04 1.84039814e-02] [-1.04546310e-02 -7.01685719e-06 9.99945349e-01 -8.05608698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.084203822000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.54, Y:0.02, Z:-0.81 [[ 9.99636476e-01 2.52669691e-02 9.40720245e-03 1.85441583e+01] [-2.52658242e-02 9.99680739e-01 -2.40544221e-04 1.50132019e-02] [-9.41027692e-03 2.77605353e-06 9.99955722e-01 -8.08474830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.114203822000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.58, Y:0.01, Z:-0.81 [[ 9.99686613e-01 2.31174856e-02 9.60507863e-03 1.85759426e+01] [-2.31161789e-02 9.99732755e-01 -2.47054742e-04 8.94503486e-03] [-9.60822300e-03 2.49446031e-05 9.99953840e-01 -8.11489061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.144203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.61, Y:0.01, Z:-0.81 [[ 9.99704730e-01 2.22455768e-02 9.77687132e-03 1.86094075e+01] [-2.22441648e-02 9.99752536e-01 -2.53159215e-04 8.15640149e-03] [-9.78008357e-03 3.56061283e-05 9.99952173e-01 -8.11817597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.174203822000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.64, Y:0.01, Z:-0.81 [[ 9.99701513e-01 2.24815983e-02 9.56357774e-03 1.86423322e+01] [-2.24802427e-02 9.99747256e-01 -2.49229003e-04 8.72142973e-03] [-9.56676367e-03 3.41630628e-05 9.99954237e-01 -8.12280889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.204203822000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.67, Y:0.01, Z:-0.81 [[ 9.99695786e-01 2.23120238e-02 1.05122974e-02 1.86736968e+01] [-2.23103422e-02 9.99751055e-01 -2.77229168e-04 8.24061045e-03] [-1.05158660e-02 4.26118783e-05 9.99944706e-01 -8.12538307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.234203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.71, Y:0.01, Z:-0.81 [[ 9.99697559e-01 2.22871964e-02 1.03957699e-02 1.87069405e+01] [-2.22855443e-02 9.99751609e-01 -2.74747922e-04 7.60613799e-03] [-1.03993111e-02 4.29894351e-05 9.99945925e-01 -8.10725925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.264203822000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.74, Y:0.01, Z:-0.81 [[ 9.99704204e-01 2.22471877e-02 9.82682587e-03 1.87384787e+01] [-2.22456862e-02 9.99752500e-01 -2.62085723e-04 6.29870929e-03] [-9.83022440e-03 4.34037146e-05 9.99951681e-01 -8.13822152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.294203822000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.77, Y:0.01, Z:-0.81 [[ 9.99696998e-01 2.21425510e-02 1.07526415e-02 1.87705378e+01] [-2.21407264e-02 9.99754822e-01 -2.88710327e-04 5.18567607e-03] [-1.07563979e-02 5.05515542e-05 9.99942147e-01 -8.12828728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.324203822 meters Centerline goodness [0,1] 0.9999785986388734 Centerline is valid? [True, True] Translation: X:18.80, Y:0.01, Z:-0.81 [[ 9.99691647e-01 2.22774457e-02 1.09693795e-02 1.88036494e+01] [-2.22755396e-02 9.99751826e-01 -2.95922444e-04 5.52840421e-03] [-1.09732496e-02 5.14823470e-05 9.99939791e-01 -8.11633723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.354203822000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.84, Y:0.01, Z:-0.81 [[ 9.99711531e-01 2.13391648e-02 1.10224241e-02 1.88360879e+01] [-2.13371564e-02 9.99772292e-01 -2.99789056e-04 5.45477966e-03] [-1.10263115e-02 6.45153882e-05 9.99939206e-01 -8.13973049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.384203822000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.87, Y:0.00, Z:-0.82 [[ 9.99737423e-01 2.05939358e-02 1.00486283e-02 1.88674481e+01] [-2.05921961e-02 9.99787920e-01 -2.76569275e-04 3.31722096e-03] [-1.00521928e-02 6.95733289e-05 9.99949473e-01 -8.17096205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.414203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.90, Y:0.00, Z:-0.82 [[ 9.99736617e-01 2.03425729e-02 1.06243010e-02 1.88998144e+01] [-2.03406190e-02 9.99793066e-01 -2.91937498e-04 9.24903281e-04] [-1.06280412e-02 7.57557486e-05 9.99943518e-01 -8.17463372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.444203822000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.93, Y:-0.00, Z:-0.82 [[ 9.99724567e-01 2.04713190e-02 1.14766996e-02 1.89304886e+01] [-2.04690046e-02 9.99790437e-01 -3.19095699e-04 -2.31502539e-03] [-1.14808268e-02 8.40911930e-05 9.99934090e-01 -8.18188777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.474203822000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.96, Y:-0.01, Z:-0.82 [[ 9.99730049e-01 2.01048304e-02 1.16458064e-02 1.89639313e+01] [-2.01024068e-02 9.99797873e-01 -3.25141070e-04 -5.73185991e-03] [-1.16499894e-02 9.09445607e-05 9.99932132e-01 -8.16895762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.504203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.00, Y:-0.01, Z:-0.82 [[ 9.99735853e-01 1.99020100e-02 1.14949756e-02 1.89969499e+01] [-1.98996498e-02 9.99801931e-01 -3.19677979e-04 -7.63688620e-03] [-1.14990610e-02 9.08475488e-05 9.99933879e-01 -8.17944987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.534203822000002 meters Centerline goodness [0,1] 0.9999570594297492 Centerline is valid? [True, True] Translation: X:19.03, Y:-0.01, Z:-0.82 [[ 9.99745298e-01 1.98221356e-02 1.07899275e-02 1.90282335e+01] [-1.98200100e-02 9.99803518e-01 -3.03902698e-04 -1.01118352e-02] [-1.07938314e-02 8.99688230e-05 9.99941741e-01 -8.19419181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.564203822000003 meters Centerline goodness [0,1] 0.9998722752043597 Centerline is valid? [True, True] Translation: X:19.06, Y:-0.01, Z:-0.82 [[ 9.99722621e-01 2.14393463e-02 9.74862224e-03 1.90597636e+01] [-2.14376821e-02 9.99770149e-01 -2.75193306e-04 -9.26655251e-03] [-9.75228147e-03 6.61291085e-05 9.99952443e-01 -8.23221518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.594203822000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.09, Y:-0.01, Z:-0.83 [[ 9.99688599e-01 2.29164272e-02 9.87631717e-03 1.90922512e+01] [-2.29147974e-02 9.99737383e-01 -2.78169105e-04 -9.14156618e-03] [-9.88009812e-03 5.17686762e-05 9.99951189e-01 -8.25535720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.624203822000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.12, Y:-0.01, Z:-0.83 [[ 9.99605856e-01 2.58674400e-02 1.09091245e-02 1.91231941e+01] [-2.58655991e-02 9.99665381e-01 -3.09832019e-04 -8.28726831e-03] [-1.09134887e-02 2.75388585e-05 9.99940446e-01 -8.26038698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.654203822000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.16, Y:-0.01, Z:-0.83 [[ 9.99581995e-01 2.69835711e-02 1.03789081e-02 1.91550149e+01] [-2.69819547e-02 9.99635877e-01 -2.95761039e-04 -7.39375363e-03] [-1.03831096e-02 1.55941797e-05 9.99946094e-01 -8.25818272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.684203822000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.19, Y:-0.01, Z:-0.83 [[ 9.99600056e-01 2.69467898e-02 8.57893533e-03 1.91854015e+01] [-2.69456632e-02 9.99636869e-01 -2.46901038e-04 -9.11882354e-03] [-8.58247325e-03 1.56371901e-05 9.99963170e-01 -8.32147574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.714203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.22, Y:-0.01, Z:-0.83 [[ 9.99651358e-01 2.52501357e-02 7.71963667e-03 1.92172659e+01] [-2.52491855e-02 9.99681164e-01 -2.20530125e-04 -1.45552809e-02] [-7.72274379e-03 2.55387009e-05 9.99970179e-01 -8.34129826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.744203822000003 meters Centerline goodness [0,1] 0.9999353016023637 Centerline is valid? [True, True] Translation: X:19.25, Y:-0.02, Z:-0.83 [[ 9.99699572e-01 2.34502022e-02 7.13115026e-03 1.92481372e+01] [-2.34493379e-02 9.99725005e-01 -2.04806957e-04 -2.01083466e-02] [-7.13399200e-03 3.75246752e-05 9.99974552e-01 -8.34714860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.774203822000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.28, Y:-0.03, Z:-0.84 [[ 9.99729358e-01 2.21716764e-02 7.04462141e-03 1.92799658e+01] [-2.21707952e-02 9.99754177e-01 -2.03169913e-04 -2.54681715e-02] [-7.04739430e-03 4.69300685e-05 9.99975166e-01 -8.38060950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.804203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.31, Y:-0.04, Z:-0.84 [[ 9.99795064e-01 1.91948174e-02 6.43336813e-03 1.93110521e+01] [-1.91940149e-02 9.99815761e-01 -1.86458777e-04 -3.60483819e-02] [-6.43576189e-03 6.29384012e-05 9.99979288e-01 -8.41536323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.834203822000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.34, Y:-0.04, Z:-0.84 [[ 9.99811176e-01 1.81004954e-02 7.06995097e-03 1.93434040e+01] [-1.80994899e-02 9.99836170e-01 -2.06184862e-04 -4.08585382e-02] [-7.07252475e-03 7.81834235e-05 9.99974986e-01 -8.40588477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.864203822000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.38, Y:-0.05, Z:-0.84 [[ 9.99830121e-01 1.59952214e-02 9.15869357e-03 1.93750461e+01] [-1.59934180e-02 9.99872061e-01 -2.70123771e-04 -5.12995062e-02] [-9.16184250e-03 1.23599068e-04 9.99958022e-01 -8.38078407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.894203822 meters Centerline goodness [0,1] 0.9998278681470006 Centerline is valid? [True, True] Translation: X:19.41, Y:-0.06, Z:-0.84 [[ 9.99839721e-01 1.51569485e-02 9.52886394e-03 1.94084433e+01] [-1.51549479e-02 9.99885117e-01 -2.82126891e-04 -5.72118039e-02] [-9.53204542e-03 1.37672236e-04 9.99954560e-01 -8.35217322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.924203822000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.44, Y:-0.06, Z:-0.84 [[ 9.99843950e-01 1.51431451e-02 9.09733949e-03 1.94396477e+01] [-1.51413002e-02 9.99885327e-01 -2.71644986e-04 -6.11992212e-02] [-9.10040983e-03 1.33857048e-04 9.99958581e-01 -8.38848371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.954203822000004 meters Centerline goodness [0,1] 0.9999346405228758 Centerline is valid? [True, True] Translation: X:19.47, Y:-0.06, Z:-0.84 [[ 9.99819472e-01 1.68027527e-02 8.87075048e-03 1.94719226e+01] [-1.68010569e-02 9.99858817e-01 -2.65660226e-04 -6.39186175e-02] [-8.87396190e-03 1.16574283e-04 9.99960619e-01 -8.35170152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.984203822 meters Centerline goodness [0,1] 0.9999787238569392 Centerline is valid? [True, True] Translation: X:19.50, Y:-0.07, Z:-0.84 [[ 9.99801207e-01 1.76454427e-02 9.28357045e-03 1.95024968e+01] [-1.76436039e-02 9.99844300e-01 -2.79941704e-04 -7.08702786e-02] [-9.28706470e-03 1.16090414e-04 9.99956868e-01 -8.42035501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.014203822000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.53, Y:-0.08, Z:-0.84 [[ 9.99753101e-01 2.03022775e-02 9.03078303e-03 1.95349345e+01] [-2.03006307e-02 9.99793883e-01 -2.73988516e-04 -7.57114539e-02] [-9.03448423e-03 9.05902767e-05 9.99959184e-01 -8.43076665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.044203822000004 meters Centerline goodness [0,1] 0.9999781826115414 Centerline is valid? [True, True] Translation: X:19.57, Y:-0.08, Z:-0.84 [[ 9.99670505e-01 2.43830292e-02 8.02179835e-03 1.95676655e+01] [-2.43818383e-02 9.99702688e-01 -2.46241271e-04 -7.64562635e-02] [-8.02541749e-03 5.05739462e-05 9.99967795e-01 -8.41171041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.074203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.60, Y:-0.08, Z:-0.84 [[ 9.99608176e-01 2.66400731e-02 8.59069257e-03 1.95986843e+01] [-2.66388006e-02 9.99645090e-01 -2.62537124e-04 -7.62506884e-02] [-8.59463765e-03 3.35885092e-05 9.99963065e-01 -8.43631815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.104203822000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.63, Y:-0.07, Z:-0.84 [[ 9.99453620e-01 3.13664853e-02 1.04213526e-02 1.96312153e+01] [-3.13648432e-02 9.99507951e-01 -3.21007937e-04 -7.30001135e-02] [-1.04262937e-02 -6.03154728e-06 9.99945645e-01 -8.41073545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.134203822000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.66, Y:-0.08, Z:-0.84 [[ 9.99355533e-01 3.46624557e-02 9.32916053e-03 1.96632127e+01] [-3.46612738e-02 9.99399076e-01 -2.88395487e-04 -7.69393875e-02] [-9.33355091e-03 -3.51509613e-05 9.99956441e-01 -8.44315358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.164203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.70, Y:-0.08, Z:-0.85 [[ 9.99311210e-01 3.64063377e-02 7.18919253e-03 1.96952900e+01] [-3.64056598e-02 9.99337069e-01 -2.25189246e-04 -7.79587324e-02] [-7.19262491e-03 -3.66931592e-05 9.99974132e-01 -8.49239002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.194203822000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.73, Y:-0.08, Z:-0.85 [[ 9.99285757e-01 3.70159229e-02 7.60250292e-03 1.97259741e+01] [-3.70151986e-02 9.99314675e-01 -2.36006725e-04 -7.97054540e-02] [-7.60602874e-03 -4.55699969e-05 9.99971073e-01 -8.52610781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.224203822000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.76, Y:-0.09, Z:-0.85 [[ 9.99239636e-01 3.81868199e-02 7.86870348e-03 1.97573885e+01] [-3.81860682e-02 9.99270616e-01 -2.45799501e-04 -8.76709129e-02] [-7.87235047e-03 -5.48622442e-05 9.99969011e-01 -8.53926766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.254203822000004 meters Centerline goodness [0,1] 0.9999356816671312 Centerline is valid? [True, True] Translation: X:19.79, Y:-0.09, Z:-0.85 [[ 9.99148598e-01 4.04137040e-02 8.29529900e-03 1.97899138e+01] [-4.04129362e-02 9.99183030e-01 -2.60222958e-04 -8.88359920e-02] [-8.29903856e-03 -7.52359856e-05 9.99965560e-01 -8.48258299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.284203822000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.82, Y:-0.09, Z:-0.85 [[ 9.99102385e-01 4.12643575e-02 9.57482162e-03 1.98209086e+01] [-4.12633474e-02 9.99148259e-01 -3.03109348e-04 -8.79688926e-02] [-9.57917397e-03 -9.22519178e-05 9.99954114e-01 -8.51431977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.314203822000003 meters Centerline goodness [0,1] 0.9999787215933271 Centerline is valid? [True, True] Translation: X:19.85, Y:-0.09, Z:-0.85 [[ 9.99014389e-01 4.32279297e-02 1.00795150e-02 1.98530235e+01] [-4.32268930e-02 9.99065230e-01 -3.20786511e-04 -8.81073295e-02] [-1.00839599e-02 -1.15235774e-04 9.99949149e-01 -8.50450157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.344203822000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.89, Y:-0.09, Z:-0.85 [[ 9.98979974e-01 4.42073814e-02 9.20424040e-03 1.98852967e+01] [-4.42065501e-02 9.99022369e-01 -2.93840481e-04 -9.07683395e-02] [-9.20823197e-03 -1.13346959e-04 9.99957597e-01 -8.51352637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.374203822000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.92, Y:-0.09, Z:-0.86 [[ 9.98984906e-01 4.41292035e-02 9.04269513e-03 1.99166741e+01] [-4.41283820e-02 9.99025826e-01 -2.90439616e-04 -8.98999401e-02] [-9.04670284e-03 -1.08894713e-04 9.99959072e-01 -8.58150296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.404203822000003 meters Centerline goodness [0,1] 0.9999784816663797 Centerline is valid? [True, True] Translation: X:19.95, Y:-0.10, Z:-0.85 [[ 9.99094872e-01 4.15768135e-02 8.98922594e-03 1.99483623e+01] [-4.15758886e-02 9.99135307e-01 -2.89818736e-04 -9.91813699e-02] [-8.99350276e-03 -8.41786439e-05 9.99959554e-01 -8.53923603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.434203822000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.98, Y:-0.11, Z:-0.86 [[ 9.99239088e-01 3.82374982e-02 7.69016766e-03 1.99802504e+01] [-3.82367202e-02 9.99268678e-01 -2.48218895e-04 -1.05694364e-01] [-7.69403494e-03 -4.60167665e-05 9.99970399e-01 -8.57229948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.464203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.01, Y:-0.11, Z:-0.86 [[ 9.99286778e-01 3.69587831e-02 7.74494988e-03 2.00114112e+01] [-3.69579393e-02 9.99316790e-01 -2.52090240e-04 -1.08602722e-01] [-7.74897540e-03 -3.43269437e-05 9.99969976e-01 -8.60070726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.494203822000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.04, Y:-0.11, Z:-0.86 [[ 9.99347379e-01 3.51001010e-02 8.53223811e-03 2.00425401e+01] [-3.50989808e-02 9.99383801e-01 -2.81046734e-04 -1.13429185e-01] [-8.53684532e-03 -1.86095445e-05 9.99963560e-01 -8.60068812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.524203822000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.07, Y:-0.12, Z:-0.86 [[ 9.99370999e-01 3.42591281e-02 9.16073573e-03 2.00747001e+01] [-3.42578076e-02 9.99412984e-01 -3.01074302e-04 -1.17811806e-01] [-9.16567277e-03 -1.29417956e-05 9.99957994e-01 -8.56603136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.554203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.11, Y:-0.13, Z:-0.86 [[ 9.99456092e-01 3.16123977e-02 9.39019712e-03 2.01064454e+01] [-3.16108792e-02 9.99500203e-01 -3.10118213e-04 -1.25767152e-01] [-9.39530751e-03 1.31171507e-05 9.99955863e-01 -8.56801157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.584203822000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.14, Y:-0.13, Z:-0.86 [[ 9.99565951e-01 2.85195942e-02 7.38528918e-03 2.01371579e+01] [-2.85185521e-02 9.99593233e-01 -2.46400369e-04 -1.34621767e-01] [-7.38931232e-03 3.56756657e-05 9.99972698e-01 -8.63583274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.614203822000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.17, Y:-0.14, Z:-0.86 [[ 9.99560516e-01 2.87094405e-02 7.38535117e-03 2.01696503e+01] [-2.87084171e-02 9.99587799e-01 -2.44575659e-04 -1.35910786e-01] [-7.38932855e-03 3.24464302e-05 9.99972698e-01 -8.64605667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.644203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.20, Y:-0.14, Z:-0.87 [[ 9.99628204e-01 2.64171508e-02 6.75181163e-03 2.02013755e+01] [-2.64162342e-02 9.99651005e-01 -2.24905019e-04 -1.44791181e-01] [-6.75539663e-03 4.64639627e-05 9.99977181e-01 -8.67041395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.674203822000003 meters Centerline goodness [0,1] 0.9998698001432198 Centerline is valid? [True, True] Translation: X:20.23, Y:-0.15, Z:-0.87 [[ 9.99641610e-01 2.60435499e-02 6.19561191e-03 2.02333772e+01] [-2.60427680e-02 9.99660808e-01 -2.06862110e-04 -1.48805014e-01] [-6.19889783e-03 4.54370891e-05 9.99980786e-01 -8.65771526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.704203822000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.27, Y:-0.15, Z:-0.87 [[ 9.99637362e-01 2.61546295e-02 6.40932963e-03 2.02654494e+01] [-2.61537885e-02 9.99657908e-01 -2.15005448e-04 -1.54267308e-01] [-6.41276044e-03 4.72992274e-05 9.99979437e-01 -8.68473169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.734203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.30, Y:-0.15, Z:-0.87 [[ 9.99495834e-01 3.09392859e-02 7.13010017e-03 2.02966126e+01] [-3.09383477e-02 9.99521265e-01 -2.41873359e-04 -1.49145040e-01] [-7.13417014e-03 2.11578961e-05 9.99974551e-01 -8.67996221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.764203822000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.33, Y:-0.15, Z:-0.87 [[ 9.99405340e-01 3.39452102e-02 6.05707404e-03 2.03276096e+01] [-3.39445869e-02 9.99423695e-01 -2.05715933e-04 -1.46220954e-01] [-6.06056639e-03 -1.12740265e-08 9.99981635e-01 -8.72040595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.794203822000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.36, Y:-0.14, Z:-0.88 [[ 9.99255875e-01 3.83184759e-02 4.40341197e-03 2.03601568e+01] [-3.83181934e-02 9.99265577e-01 -1.48538589e-04 -1.41447659e-01] [-4.40586977e-03 -2.03027332e-05 9.99990294e-01 -8.75110044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.824203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.39, Y:-0.14, Z:-0.88 [[ 9.99204897e-01 3.96252422e-02 4.40603422e-03 2.03903378e+01] [-3.96249502e-02 9.99214611e-01 -1.53576414e-04 -1.41138457e-01] [-4.40865927e-03 -2.11345809e-05 9.99990282e-01 -8.77943515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.854203822000002 meters Centerline goodness [0,1] 0.9999573969538822 Centerline is valid? [True, True] Translation: X:20.42, Y:-0.14, Z:-0.88 [[ 9.99212081e-01 3.94243373e-02 4.57597370e-03 2.04218007e+01] [-3.94240214e-02 9.99222558e-01 -1.59254515e-04 -1.42212626e-01] [-4.57869465e-03 -2.12742500e-05 9.99989517e-01 -8.78043436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.884203822000003 meters Centerline goodness [0,1] 0.9999785513587715 Centerline is valid? [True, True] Translation: X:20.45, Y:-0.14, Z:-0.87 [[ 9.99251340e-01 3.81325024e-02 6.53234748e-03 2.04535552e+01] [-3.81318279e-02 9.99272691e-01 -2.27808982e-04 -1.43133321e-01] [-6.53628337e-03 -2.14519198e-05 9.99978638e-01 -8.74876431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.914203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.49, Y:-0.15, Z:-0.87 [[ 9.99328306e-01 3.58087941e-02 7.78895854e-03 2.04858515e+01] [-3.58077893e-02 9.99358659e-01 -2.68466575e-04 -1.50802799e-01] [-7.79357663e-03 -1.06191385e-05 9.99969630e-01 -8.71552955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.944203822000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.52, Y:-0.15, Z:-0.88 [[ 9.99366838e-01 3.46690572e-02 7.99870718e-03 2.05176188e+01] [-3.46679510e-02 9.99398848e-01 -2.76952292e-04 -1.54965545e-01] [-8.00350041e-03 -5.21852558e-07 9.99967971e-01 -8.75271940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.974203822000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.55, Y:-0.16, Z:-0.87 [[ 9.99456342e-01 3.21080069e-02 7.48968708e-03 2.05491997e+01] [-3.21069531e-02 9.99484405e-01 -2.60915944e-04 -1.59724604e-01] [-7.49420292e-03 2.03030633e-05 9.99971918e-01 -8.74233031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.004203822000004 meters Centerline goodness [0,1] 0.9998921670117322 Centerline is valid? [True, True] Translation: X:20.58, Y:-0.16, Z:-0.88 [[ 9.99528006e-01 3.01426252e-02 5.93183905e-03 2.05804034e+01] [-3.01419300e-02 9.99545607e-01 -2.06584285e-04 -1.63968442e-01] [-5.93537066e-03 2.76897019e-05 9.99982385e-01 -8.80493402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.034203822000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.61, Y:-0.17, Z:-0.88 [[ 9.99560285e-01 2.91933069e-02 5.19501982e-03 2.06127957e+01] [-2.91927606e-02 9.99573784e-01 -1.80977166e-04 -1.66471450e-01] [-5.19808894e-03 2.92406178e-05 9.99986489e-01 -8.83703306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.064203822000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.64, Y:-0.17, Z:-0.88 [[ 9.99567832e-01 2.89473266e-02 5.11866652e-03 2.06445255e+01] [-2.89467898e-02 9.99580938e-01 -1.78954834e-04 -1.68913340e-01] [-5.12170175e-03 3.07085318e-05 9.99986884e-01 -8.82281462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.094203822000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.68, Y:-0.17, Z:-0.88 [[ 9.99521498e-01 3.04692217e-02 5.32933521e-03 2.06764764e+01] [-3.04686554e-02 9.99535705e-01 -1.87429852e-04 -1.68040010e-01] [-5.33257167e-03 2.49624885e-05 9.99985781e-01 -8.83194520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.124203822000002 meters Centerline goodness [0,1] 0.9999783385681793 Centerline is valid? [True, True] Translation: X:20.71, Y:-0.17, Z:-0.88 [[ 9.99489394e-01 3.15019082e-02 5.34607053e-03 2.07088064e+01] [-3.15013488e-02 9.99503692e-01 -1.88834629e-04 -1.69518110e-01] [-5.34936588e-03 2.03297764e-05 9.99985692e-01 -8.82839393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.154203822000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.74, Y:-0.17, Z:-0.88 [[ 9.99439586e-01 3.28572051e-02 6.39670303e-03 2.07402894e+01] [-3.28564160e-02 9.99460056e-01 -2.28434717e-04 -1.71855663e-01] [-6.40075490e-03 1.81339632e-05 9.99979515e-01 -8.82612212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.184203822000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.77, Y:-0.17, Z:-0.88 [[ 9.99432354e-01 3.28677303e-02 7.39477386e-03 2.07720124e+01] [-3.28666633e-02 9.99459710e-01 -2.65802988e-04 -1.69870065e-01] [-7.39951487e-03 2.26105630e-05 9.99972623e-01 -8.84237722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.214203822 meters Centerline goodness [0,1] 0.9999567062083298 Centerline is valid? [True, True] Translation: X:20.81, Y:-0.17, Z:-0.88 [[ 9.99442149e-01 3.25617003e-02 7.42469779e-03 2.08052170e+01] [-3.25606121e-02 9.99469727e-01 -2.67422940e-04 -1.69405348e-01] [-7.42946841e-03 2.55210532e-05 9.99972401e-01 -8.80535657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.244203822000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.84, Y:-0.18, Z:-0.89 [[ 9.99516927e-01 3.01118681e-02 7.69336407e-03 2.08363263e+01] [-3.01105949e-02 9.99546534e-01 -2.81297095e-04 -1.76205164e-01] [-7.69834577e-03 4.95094397e-05 9.99970366e-01 -8.85212865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.274203822000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.87, Y:-0.18, Z:-0.88 [[ 9.99545647e-01 2.87371462e-02 9.09268269e-03 2.08680767e+01] [-2.87353134e-02 9.99587000e-01 -3.32173135e-04 -1.80993579e-01] [-9.09847312e-03 7.07411246e-05 9.99958606e-01 -8.82048270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.304203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.90, Y:-0.19, Z:-0.88 [[ 9.99614407e-01 2.57123783e-02 1.04838686e-02 2.08999726e+01] [-2.57097371e-02 9.99669375e-01 -3.86648430e-04 -1.92846325e-01] [-1.04903440e-02 1.16961836e-04 9.99944968e-01 -8.82014010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.334203822000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.93, Y:-0.20, Z:-0.88 [[ 9.99649440e-01 2.46586272e-02 9.64104427e-03 2.09319529e+01] [-2.46563454e-02 9.99695923e-01 -3.55482270e-04 -1.96863264e-01] [-9.64687835e-03 1.17644734e-04 9.99953461e-01 -8.84442020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.364203822000004 meters Centerline goodness [0,1] 0.9999785665294925 Centerline is valid? [True, True] Translation: X:20.96, Y:-0.20, Z:-0.89 [[ 9.99712085e-01 2.28399633e-02 7.35411556e-03 2.09615059e+01] [-2.28385572e-02 9.99739128e-01 -2.75132197e-04 -2.01373534e-01] [-7.35848109e-03 1.07095593e-04 9.99972920e-01 -8.89170542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.394203822 meters Centerline goodness [0,1] 0.9999784987851814 Centerline is valid? [True, True] Translation: X:20.99, Y:-0.20, Z:-0.89 [[ 9.99693866e-01 2.35814396e-02 7.48928484e-03 2.09940037e+01] [-2.35800327e-02 9.99721914e-01 -2.76116493e-04 -2.00471797e-01] [-7.49371340e-03 9.94343833e-05 9.99971917e-01 -8.88820400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.424203822000003 meters Centerline goodness [0,1] 0.9999139673936422 Centerline is valid? [True, True] Translation: X:21.03, Y:-0.20, Z:-0.89 [[ 9.99657010e-01 2.55343883e-02 5.81871995e-03 2.10257248e+01] [-2.55335735e-02 9.99673942e-01 -2.14295653e-04 -2.02692575e-01] [-5.82229462e-03 6.56494387e-05 9.99983048e-01 -8.91193375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.454203822000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.06, Y:-0.21, Z:-0.90 [[ 9.99637769e-01 2.64763107e-02 4.83068416e-03 2.10565534e+01] [-2.64757588e-02 9.99649440e-01 -1.78157603e-04 -2.06891491e-01] [-4.83370767e-03 5.01970401e-05 9.99988316e-01 -8.98877913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.484203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.09, Y:-0.21, Z:-0.90 [[ 9.99560395e-01 2.91581068e-02 5.36865744e-03 2.10889131e+01] [-2.91574567e-02 9.99574811e-01 -1.99335185e-04 -2.05817634e-01] [-5.37218698e-03 4.27111596e-05 9.99985569e-01 -8.98824602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.514203822000002 meters Centerline goodness [0,1] 0.9999569781448976 Centerline is valid? [True, True] Translation: X:21.12, Y:-0.20, Z:-0.89 [[ 9.99448865e-01 3.26808846e-02 5.82456906e-03 2.11217208e+01] [-3.26801729e-02 9.99465837e-01 -2.17344057e-04 -1.99199433e-01] [-5.82856078e-03 2.68763470e-05 9.99983013e-01 -8.93081220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.544203822000004 meters Centerline goodness [0,1] 0.9999784779614325 Centerline is valid? [True, True] Translation: X:21.15, Y:-0.20, Z:-0.90 [[ 9.99374525e-01 3.48903729e-02 5.76368961e-03 2.11526328e+01] [-3.48897053e-02 9.99391145e-01 -2.16355532e-04 -1.97455703e-01] [-5.76772908e-03 1.51267755e-05 9.99983366e-01 -8.98902921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.574203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.18, Y:-0.19, Z:-0.90 [[ 9.99220285e-01 3.89845497e-02 6.24720091e-03 2.11846942e+01] [-3.89838384e-02 9.99239813e-01 -2.35635239e-04 -1.93415943e-01] [-6.25163801e-03 -8.08836014e-06 9.99980458e-01 -8.97454795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.604203822000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.22, Y:-0.19, Z:-0.90 [[ 9.99155167e-01 4.06003980e-02 6.36871031e-03 2.12178832e+01] [-4.05996883e-02 9.99175464e-01 -2.40727925e-04 -1.93527868e-01] [-6.37323273e-03 -1.80431042e-05 9.99979691e-01 -8.97763834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.634203822000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.25, Y:-0.19, Z:-0.90 [[ 9.99121499e-01 4.15290933e-02 5.61825567e-03 2.12505041e+01] [-4.15285500e-02 9.99137295e-01 -2.13383209e-04 -1.92144985e-01] [-5.62227038e-03 -2.01222598e-05 9.99984195e-01 -9.00077187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.664203822000005 meters Centerline goodness [0,1] 0.9999567604963895 Centerline is valid? [True, True] Translation: X:21.28, Y:-0.19, Z:-0.90 [[ 9.99193546e-01 3.99167799e-02 4.34828685e-03 2.12813289e+01] [-3.99164397e-02 9.99203008e-01 -1.65031552e-04 -1.91198131e-01] [-4.35140883e-03 -8.66966809e-06 9.99990533e-01 -9.03034495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.694203822000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.31, Y:-0.20, Z:-0.90 [[ 9.99265491e-01 3.80500803e-02 4.54636351e-03 2.13124164e+01] [-3.80496682e-02 9.99275833e-01 -1.77147148e-04 -1.95623811e-01] [-4.54981165e-03 4.02940912e-06 9.99989650e-01 -9.04925095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.724203822000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.34, Y:-0.21, Z:-0.91 [[ 9.99462236e-01 3.24959848e-02 4.38748140e-03 2.13429080e+01] [-3.24955630e-02 9.99471866e-01 -1.67426143e-04 -2.10044777e-01] [-4.39060490e-03 2.47624289e-05 9.99990361e-01 -9.08563908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.754203822000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.37, Y:-0.22, Z:-0.91 [[ 9.99600693e-01 2.76936215e-02 5.61408708e-03 2.13748099e+01] [-2.76928435e-02 9.99616456e-01 -2.16284585e-04 -2.22308554e-01] [-5.61792353e-03 6.07281863e-05 9.99984217e-01 -9.07628204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.784203822000002 meters Centerline goodness [0,1] 0.9999786684869558 Centerline is valid? [True, True] Translation: X:21.41, Y:-0.23, Z:-0.91 [[ 9.99631414e-01 2.62508639e-02 6.92298498e-03 2.14059541e+01] [-2.62496275e-02 9.99655383e-01 -2.69411439e-04 -2.27945273e-01] [-6.92767148e-03 8.75863611e-05 9.99976000e-01 -9.07164234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.814203822000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.44, Y:-0.23, Z:-0.90 [[ 9.99659522e-01 2.48562750e-02 7.93766276e-03 2.14383667e+01] [-2.48545971e-02 9.99691029e-01 -3.09973450e-04 -2.34462805e-01] [-7.94291503e-03 1.12580501e-04 9.99968448e-01 -9.04545724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.844203822000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.47, Y:-0.24, Z:-0.91 [[ 9.99625803e-01 2.66221265e-02 6.28617252e-03 2.14705734e+01] [-2.66211065e-02 9.99645565e-01 -2.45891130e-04 -2.35129392e-01] [-6.29049063e-03 7.84542499e-05 9.99980212e-01 -9.06125628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.874203822000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.50, Y:-0.23, Z:-0.92 [[ 9.99520665e-01 3.07996282e-02 3.13431551e-03 2.15010459e+01] [-3.07993889e-02 9.99525579e-01 -1.24598123e-04 -2.33066344e-01] [-3.13666610e-03 2.80033967e-05 9.99995080e-01 -9.16592057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.904203822000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.53, Y:-0.23, Z:-0.91 [[ 9.99420365e-01 3.38984435e-02 3.13519977e-03 2.15335664e+01] [-3.38982325e-02 9.99425283e-01 -1.20427236e-04 -2.29282995e-01] [-3.13748021e-03 1.40797012e-05 9.99995078e-01 -9.12432905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.934203822000004 meters Centerline goodness [0,1] 0.999871523093724 Centerline is valid? [True, True] Translation: X:21.56, Y:-0.22, Z:-0.91 [[ 9.99199598e-01 3.95809788e-02 5.78875475e-03 2.15641139e+01] [-3.95803069e-02 9.99216366e-01 -2.30640064e-04 -2.24551705e-01] [-5.79334744e-03 1.33476987e-06 9.99983218e-01 -9.09551381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.964203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.59, Y:-0.22, Z:-0.92 [[ 9.99099865e-01 4.19480453e-02 6.31045502e-03 2.15949880e+01] [-4.19473026e-02 9.99119793e-01 -2.50056952e-04 -2.24334500e-01] [-6.31538991e-03 -1.48746991e-05 9.99980058e-01 -9.15929347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.994203822000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.63, Y:-0.23, Z:-0.91 [[ 9.99073469e-01 4.25462721e-02 6.48210609e-03 2.16279834e+01] [-4.25455005e-02 9.99094497e-01 -2.56957479e-04 -2.25705257e-01] [-6.48716911e-03 -1.90650479e-05 9.99978958e-01 -9.09954564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.024203822000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.66, Y:-0.23, Z:-0.91 [[ 9.99086566e-01 4.20311173e-02 7.70838317e-03 2.16588996e+01] [-4.20299826e-02 9.99116302e-01 -3.09202260e-04 -2.30234438e-01] [-7.71456740e-03 -1.50633862e-05 9.99970242e-01 -9.14272476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.054203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.69, Y:-0.24, Z:-0.91 [[ 9.99118400e-01 4.11270366e-02 8.42549548e-03 2.16907264e+01] [-4.11256354e-02 9.99153925e-01 -3.39564967e-04 -2.37468282e-01] [-8.43233219e-03 -7.23824884e-06 9.99964447e-01 -9.10932489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.084203822000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.72, Y:-0.24, Z:-0.91 [[ 9.99133205e-01 4.06073502e-02 9.15872021e-03 2.17220445e+01] [-4.06056514e-02 9.99175181e-01 -3.71432814e-04 -2.41472706e-01] [-9.16624883e-03 -7.84942526e-07 9.99957989e-01 -9.13457971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.114203822000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.75, Y:-0.25, Z:-0.92 [[ 9.99195766e-01 3.92038372e-02 8.41900910e-03 2.17532252e+01] [-3.92023303e-02 9.99231234e-01 -3.43997076e-04 -2.47154685e-01] [-8.42602286e-03 1.36756460e-05 9.99964500e-01 -9.16135090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.144203822 meters Centerline goodness [0,1] 0.999870984389111 Centerline is valid? [True, True] Translation: X:21.79, Y:-0.25, Z:-0.92 [[ 9.99214381e-01 3.88767093e-02 7.69566481e-03 2.17856797e+01] [-3.88754512e-02 9.99244015e-01 -3.13062771e-04 -2.48919332e-01] [-7.70201785e-03 1.36443806e-05 9.99970339e-01 -9.15826342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.174203822000003 meters Centerline goodness [0,1] 0.9999131152526174 Centerline is valid? [True, True] Translation: X:21.82, Y:-0.25, Z:-0.92 [[ 9.99266466e-01 3.77780047e-02 6.27306573e-03 2.18178240e+01] [-3.77771478e-02 9.99286156e-01 -2.55083817e-04 -2.53533095e-01] [-6.27822430e-03 1.79181732e-05 9.99980292e-01 -9.16863175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.204203822000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.85, Y:-0.26, Z:-0.92 [[ 9.99297601e-01 3.70647174e-02 5.52374099e-03 2.18497535e+01] [-3.70640404e-02 9.99312867e-01 -2.24906300e-04 -2.59443792e-01] [-5.52828154e-03 2.00161661e-05 9.99984719e-01 -9.20369917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.234203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.88, Y:-0.27, Z:-0.92 [[ 9.99360347e-01 3.51407208e-02 6.63527929e-03 2.18817510e+01] [-3.51396867e-02 9.99382373e-01 -2.72397357e-04 -2.69399014e-01] [-6.64075341e-03 3.90614816e-05 9.99977949e-01 -9.19278316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.264203822000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.91, Y:-0.28, Z:-0.92 [[ 9.99396068e-01 3.42504746e-02 5.86553003e-03 2.19137259e+01] [-3.42496489e-02 9.99413280e-01 -2.41194373e-04 -2.75934322e-01] [-5.87034962e-03 4.01563638e-05 9.99982769e-01 -9.21578676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.294203822000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.95, Y:-0.28, Z:-0.92 [[ 9.99359565e-01 3.53158265e-02 5.76650281e-03 2.19458420e+01] [-3.53150426e-02 9.99376201e-01 -2.37736968e-04 -2.78408197e-01] [-5.77130155e-03 3.39404199e-05 9.99983345e-01 -9.24872715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.324203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.98, Y:-0.28, Z:-0.92 [[ 9.99315003e-01 3.63914711e-02 6.72200358e-03 2.19782293e+01] [-3.63904131e-02 9.99337610e-01 -2.79668562e-04 -2.76370797e-01] [-6.72772855e-03 3.48605022e-05 9.99977368e-01 -9.21944054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.354203822000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.01, Y:-0.28, Z:-0.93 [[ 9.99234055e-01 3.84469907e-02 7.28918280e-03 2.20093603e+01] [-3.84457763e-02 9.99260641e-01 -3.06708815e-04 -2.75956009e-01] [-7.29558550e-03 2.62356018e-05 9.99973387e-01 -9.25794590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.384203822000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.04, Y:-0.28, Z:-0.92 [[ 9.99191818e-01 3.97168827e-02 6.18708362e-03 2.20410838e+01] [-3.97160306e-02 9.99210973e-01 -2.60577973e-04 -2.77043924e-01] [-6.19255119e-03 1.46409757e-05 9.99980826e-01 -9.24957119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.414203822000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.07, Y:-0.27, Z:-0.93 [[ 9.99084837e-01 4.25703716e-02 4.15351063e-03 2.20719325e+01] [-4.25700221e-02 9.99093471e-01 -1.72561771e-04 -2.72681670e-01] [-4.15709137e-03 -4.41119027e-06 9.99991359e-01 -9.34101252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.444203822000002 meters Centerline goodness [0,1] 0.9999785803024461 Centerline is valid? [True, True] Translation: X:22.10, Y:-0.27, Z:-0.93 [[ 9.99024864e-01 4.39697755e-02 3.99742194e-03 2.21040891e+01] [-4.39694619e-02 9.99032862e-01 -1.66341456e-04 -2.69321153e-01] [-4.00086988e-03 -9.58524081e-06 9.99991996e-01 -9.34424883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.474203822000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.14, Y:-0.26, Z:-0.93 [[ 9.98921280e-01 4.62746779e-02 3.86390345e-03 2.21369172e+01] [-4.62744008e-02 9.98928753e-01 -1.61127174e-04 -2.64398651e-01] [-3.86722036e-03 -1.78464534e-05 9.99992522e-01 -9.34950860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.504203822000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.17, Y:-0.27, Z:-0.94 [[ 9.98890974e-01 4.70544515e-02 1.64343000e-03 2.21674177e+01] [-4.70543999e-02 9.98892326e-01 -7.00815836e-05 -2.65605347e-01] [-1.64490726e-03 -7.32675101e-06 9.99998647e-01 -9.42185224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.534203822000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.20, Y:-0.27, Z:-0.94 [[ 9.98889866e-01 4.70779572e-02 1.64342740e-03 2.21982209e+01] [-4.70779055e-02 9.98891218e-01 -7.01419299e-05 -2.66979277e-01] [-1.64490734e-03 -7.30505706e-06 9.99998647e-01 -9.43154767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.564203822000003 meters Centerline goodness [0,1] 0.9999784487403288 Centerline is valid? [True, True] Translation: X:22.23, Y:-0.27, Z:-0.94 [[ 9.98934515e-01 4.61468310e-02 5.51875645e-04 2.22292523e+01] [-4.61468253e-02 9.98934668e-01 -2.30477839e-05 -2.69884516e-01] [-5.52351296e-04 -2.44408211e-06 9.99999847e-01 -9.42444948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.594203822000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.26, Y:-0.27, Z:-0.94 [[ 9.99094758e-01 4.25362784e-02 5.74222920e-04 2.22604046e+01] [-4.25362716e-02 9.99094923e-01 -2.40224826e-05 -2.70067029e-01] [-5.74725031e-04 -4.24565640e-07 9.99999835e-01 -9.42890146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.624203822000002 meters Centerline goodness [0,1] 0.9999784756451925 Centerline is valid? [True, True] Translation: X:22.29, Y:-0.27, Z:-0.94 [[ 9.99161110e-01 4.09297718e-02 1.35242635e-03 2.22906106e+01] [-4.09297308e-02 9.99162026e-01 -5.80293520e-05 -2.69776970e-01] [-1.35366818e-03 2.62622532e-06 9.99999084e-01 -9.43200906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.654203822000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.32, Y:-0.27, Z:-0.95 [[ 9.99238752e-01 3.89633480e-02 1.94257017e-03 2.23215059e+01] [-3.89632674e-02 9.99240640e-01 -7.93074231e-05 -2.71475522e-01] [-1.94418514e-03 3.55816965e-06 9.99998110e-01 -9.46131080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.684203822000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.35, Y:-0.27, Z:-0.95 [[ 9.99259565e-01 3.84120224e-02 2.19964555e-03 2.23526951e+01] [-3.84119071e-02 9.99261986e-01 -9.46597491e-05 -2.74524027e-01] [-2.20165825e-03 1.00970792e-05 9.99997576e-01 -9.45478719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.714203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.38, Y:-0.28, Z:-0.95 [[ 9.99299964e-01 3.73384390e-02 2.32870797e-03 2.23825097e+01] [-3.73383067e-02 9.99302677e-01 -1.00316963e-04 -2.79977756e-01] [-2.33082978e-03 1.32967249e-05 9.99997284e-01 -9.48943641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.744203822000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.41, Y:-0.28, Z:-0.95 [[ 9.99302405e-01 3.72628760e-02 2.48629048e-03 2.24142117e+01] [-3.72627246e-02 9.99305498e-01 -1.07191712e-04 -2.78955793e-01] [-2.48855802e-03 1.44709786e-05 9.99996903e-01 -9.45400511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.774203822000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.45, Y:-0.27, Z:-0.95 [[ 9.99273717e-01 3.81017023e-02 5.45776336e-04 2.24454651e+01] [-3.81016965e-02 9.99273867e-01 -2.09516912e-05 -2.70904821e-01] [-5.46178324e-04 1.41470048e-07 9.99999851e-01 -9.50937879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.804203822 meters Centerline goodness [0,1] 0.9999786575605591 Centerline is valid? [True, True] Translation: X:22.48, Y:-0.27, Z:-0.96 [[ 9.99220098e-01 3.94080271e-02 -2.49079492e-03 2.24759033e+01] [-3.94078784e-02 9.99223202e-01 1.08767950e-04 -2.66687978e-01] [ 2.49314641e-03 -1.05261779e-05 9.99996892e-01 -9.59734679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.834203822000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.51, Y:-0.27, Z:-0.96 [[ 9.99180543e-01 4.03026907e-02 -3.73291621e-03 2.25058822e+01] [-4.03023683e-02 9.99187516e-01 1.61589617e-04 -2.65896756e-01] [ 3.73639578e-03 -1.10118377e-05 9.99993020e-01 -9.57553742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.864203822000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.53, Y:-0.27, Z:-0.96 [[ 9.99113055e-01 4.18981644e-02 -4.20090647e-03 2.25347419e+01] [-4.18977739e-02 9.99121886e-01 1.80959255e-04 -2.66451910e-01] [ 4.20479946e-03 -4.79012431e-06 9.99991160e-01 -9.58510828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.894203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.56, Y:-0.26, Z:-0.95 [[ 9.99040748e-01 4.37743124e-02 -1.18010691e-03 2.25641136e+01] [-4.37742833e-02 9.99041445e-01 5.04711232e-05 -2.58304198e-01] [ 1.18118505e-03 1.23562531e-06 9.99999302e-01 -9.54585834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.924203822000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.59, Y:-0.25, Z:-0.95 [[ 9.99002964e-01 4.46427165e-02 -3.25660754e-04 2.25945151e+01] [-4.46427144e-02 9.99003017e-01 1.37560155e-05 -2.52585448e-01] [ 3.25950182e-04 7.96079757e-07 9.99999947e-01 -9.54540547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.954203822000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.62, Y:-0.25, Z:-0.96 [[ 9.98952860e-01 4.57366318e-02 -1.15972343e-03 2.26229357e+01] [-4.57366061e-02 9.98953533e-01 4.87633893e-05 -2.46100529e-01] [ 1.16074009e-03 4.32948658e-06 9.99999326e-01 -9.58645865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.984203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.65, Y:-0.25, Z:-0.96 [[ 9.98965201e-01 4.54624970e-02 -1.29958439e-03 2.26511790e+01] [-4.54624637e-02 9.98966046e-01 5.51758079e-05 -2.47372434e-01] [ 1.30074911e-03 3.96359601e-06 9.99999154e-01 -9.62747576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.014203822000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.68, Y:-0.25, Z:-0.96 [[ 9.99054019e-01 4.34451070e-02 -1.89480796e-03 2.26809225e+01] [-4.34450310e-02 9.99055816e-01 8.12765871e-05 -2.50973886e-01] [ 1.89654998e-03 1.12028939e-06 9.99998202e-01 -9.59960209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.044203822000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.71, Y:-0.25, Z:-0.96 [[ 9.99100129e-01 4.23407011e-02 -2.48939265e-03 2.27097893e+01] [-4.23405671e-02 9.99103230e-01 1.06552755e-04 -2.50914560e-01] [ 2.49167176e-03 -1.05457484e-06 9.99996896e-01 -9.63930105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.074203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.74, Y:-0.25, Z:-0.96 [[ 9.99168294e-01 4.06659545e-02 -3.00020864e-03 2.27402156e+01] [-4.06657506e-02 9.99172798e-01 1.28955424e-04 -2.45621215e-01] [ 3.00297096e-03 -6.84243427e-06 9.99995491e-01 -9.62267551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.104203822000002 meters Centerline goodness [0,1] 0.99991265231253 Centerline is valid? [True, True] Translation: X:22.77, Y:-0.24, Z:-0.96 [[ 9.99168996e-01 4.07479517e-02 -9.59909008e-04 2.27691155e+01] [-4.07479318e-02 9.99169457e-01 4.03229606e-05 -2.41039428e-01] [ 9.60754841e-04 -1.17514528e-06 9.99999538e-01 -9.59532978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.134203822000003 meters Centerline goodness [0,1] 0.9999783470108048 Centerline is valid? [True, True] Translation: X:22.80, Y:-0.24, Z:-0.96 [[ 9.99190481e-01 4.02245438e-02 6.07238535e-04 2.27974982e+01] [-4.02245346e-02 9.99190666e-01 -2.73333903e-05 -2.42210971e-01] [-6.07846549e-04 2.88537600e-06 9.99999815e-01 -9.59994999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.164203822000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.83, Y:-0.24, Z:-0.96 [[ 9.99219187e-01 3.94632200e-02 1.91573246e-03 2.28268834e+01] [-3.94631327e-02 9.99221024e-01 -8.33966403e-05 -2.44984399e-01] [-1.91753125e-03 7.73071875e-06 9.99998162e-01 -9.58563004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.194203822000002 meters Centerline goodness [0,1] 0.9998482088646024 Centerline is valid? [True, True] Translation: X:22.86, Y:-0.25, Z:-0.96 [[ 9.99317330e-01 3.68172570e-02 3.05998536e-03 2.28566642e+01] [-3.68170264e-02 9.99322015e-01 -1.31682308e-04 -2.51060977e-01] [-3.06275891e-03 1.89328508e-05 9.99995310e-01 -9.56556686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.224203822000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.89, Y:-0.25, Z:-0.96 [[ 9.99369062e-01 3.54205161e-02 2.62015213e-03 2.28880164e+01] [-3.54203431e-02 9.99372496e-01 -1.12400549e-04 -2.53655223e-01] [-2.62248926e-03 1.95229441e-05 9.99996561e-01 -9.59555563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.254203822000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.92, Y:-0.25, Z:-0.96 [[ 9.99419551e-01 3.39966824e-02 2.18762478e-03 2.29181086e+01] [-3.39965603e-02 9.99421946e-01 -9.30209409e-05 -2.53907810e-01] [-2.18952262e-03 1.85952292e-05 9.99997603e-01 -9.63259402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.284203822000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.95, Y:-0.25, Z:-0.96 [[ 9.99446761e-01 3.31981457e-02 2.01391160e-03 2.29490822e+01] [-3.31980390e-02 9.99448789e-01 -8.63733475e-05 -2.53754471e-01] [-2.01566895e-03 1.94676464e-05 9.99997968e-01 -9.64057047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.314203822000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.98, Y:-0.26, Z:-0.96 [[ 9.99452454e-01 3.30685222e-02 1.12468284e-03 2.29800739e+01] [-3.30684892e-02 9.99453087e-01 -4.79236867e-05 -2.55433293e-01] [-1.12565251e-03 1.07058838e-05 9.99999366e-01 -9.64739753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.344203822000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.01, Y:-0.26, Z:-0.97 [[ 9.99453288e-01 3.30224377e-02 1.62567144e-03 2.30098024e+01] [-3.30223669e-02 9.99454610e-01 -7.03500356e-05 -2.60181253e-01] [-1.62710795e-03 1.66280556e-05 9.99998676e-01 -9.67113397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.374203822000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.04, Y:-0.26, Z:-0.96 [[ 9.99438151e-01 3.34187987e-02 2.56237544e-03 2.30402509e+01] [-3.34186242e-02 9.99441436e-01 -1.10885385e-04 -2.59497476e-01] [-2.56464984e-03 2.51920221e-05 9.99996711e-01 -9.64437333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.404203822000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.07, Y:-0.26, Z:-0.96 [[ 9.99390921e-01 3.46653405e-02 4.01274549e-03 2.30709641e+01] [-3.46649227e-02 9.99398976e-01 -1.73649350e-04 -2.56757871e-01] [-4.01635335e-03 3.44420710e-05 9.99991934e-01 -9.59977072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.434203822000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.10, Y:-0.25, Z:-0.96 [[ 9.99283046e-01 3.74515706e-02 5.54745957e-03 2.31017757e+01] [-3.74508167e-02 9.99298443e-01 -2.39760337e-04 -2.52220676e-01] [-5.55254711e-03 3.18315482e-05 9.99984584e-01 -9.59044507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.464203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.13, Y:-0.25, Z:-0.96 [[ 9.99238498e-01 3.86659673e-02 5.23135766e-03 2.31327655e+01] [-3.86653245e-02 9.99252192e-01 -2.23999403e-04 -2.52965623e-01] [-5.23610676e-03 2.15566863e-05 9.99986291e-01 -9.64359757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.494203822000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.16, Y:-0.26, Z:-0.97 [[ 9.99226676e-01 3.91593213e-02 3.54918974e-03 2.31635818e+01] [-3.91590237e-02 9.99232980e-01 -1.53339823e-04 -2.56483393e-01] [-3.55247212e-03 1.42384369e-05 9.99993690e-01 -9.69955246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.524203822000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.19, Y:-0.26, Z:-0.97 [[ 9.99282800e-01 3.76708499e-02 3.84617394e-03 2.31944216e+01] [-3.76704889e-02 9.99290201e-01 -1.66295918e-04 -2.61672450e-01] [-3.84970844e-03 2.12893976e-05 9.99992590e-01 -9.67532158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.554203822 meters Centerline goodness [0,1] 0.9998498434081257 Centerline is valid? [True, True] Translation: X:23.23, Y:-0.26, Z:-0.96 [[ 9.99316698e-01 3.66345137e-02 4.90412984e-03 2.32257105e+01] [-3.66339128e-02 9.99328730e-01 -2.12337457e-04 -2.64524000e-01] [-4.90861672e-03 3.25349010e-05 9.99987952e-01 -9.63241991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.584203822000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.26, Y:-0.27, Z:-0.96 [[ 9.99361191e-01 3.50830201e-02 6.81114497e-03 2.32570560e+01] [-3.50818219e-02 9.99384400e-01 -2.95350371e-04 -2.67908015e-01] [-6.81731381e-03 5.62143231e-05 9.99976760e-01 -9.61652256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.614203822000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.29, Y:-0.27, Z:-0.96 [[ 9.99368501e-01 3.48074967e-02 7.14397633e-03 2.32904702e+01] [-3.48061998e-02 9.99394034e-01 -3.05825575e-04 -2.70079106e-01] [-7.15029234e-03 5.69777795e-05 9.99974435e-01 -9.61076246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.644203822 meters Centerline goodness [0,1] 0.999956851915775 Centerline is valid? [True, True] Translation: X:23.32, Y:-0.28, Z:-0.96 [[ 9.99372857e-01 3.47715487e-02 6.69574771e-03 2.33214477e+01] [-3.47703961e-02 9.99395285e-01 -2.88500751e-04 -2.78514440e-01] [-6.70173031e-03 5.55060195e-05 9.99977542e-01 -9.64076300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.674203822000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.35, Y:-0.28, Z:-0.96 [[ 9.99266208e-01 3.78572279e-02 5.82031787e-03 2.33543836e+01] [-3.78564135e-02 9.99283158e-01 -2.50060471e-04 -2.76192772e-01] [-5.82561222e-03 2.95406180e-05 9.99983031e-01 -9.63744960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.704203822000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.39, Y:-0.27, Z:-0.97 [[ 9.99183459e-01 4.01647789e-02 4.38248363e-03 2.33851428e+01] [-4.01643291e-02 9.99193070e-01 -1.90615998e-04 -2.73913871e-01] [-4.38660332e-03 1.44408367e-05 9.99990379e-01 -9.67731398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.734203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.42, Y:-0.27, Z:-0.97 [[ 9.99028646e-01 4.39493964e-02 3.19599761e-03 2.34154594e+01] [-4.39491703e-02 9.99033758e-01 -1.40967488e-04 -2.69724717e-01] [-3.19910494e-03 3.69115012e-07 9.99994883e-01 -9.70707482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.764203822000002 meters Centerline goodness [0,1] 0.9999350733670952 Centerline is valid? [True, True] Translation: X:23.45, Y:-0.27, Z:-0.97 [[ 9.98921441e-01 4.62275164e-02 4.35550765e-03 2.34460712e+01] [-4.62271182e-02 9.98930937e-01 -1.92110585e-04 -2.66043195e-01] [-4.35973213e-03 -9.43918436e-06 9.99990496e-01 -9.68896472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.794203822000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.48, Y:-0.27, Z:-0.98 [[ 9.98893373e-01 4.67623269e-02 5.03129154e-03 2.34760882e+01] [-4.67618039e-02 9.98906044e-01 -2.21597599e-04 -2.67138930e-01] [-5.03614995e-03 -1.39198950e-05 9.99987318e-01 -9.76080752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.824203822000005 meters Centerline goodness [0,1] 0.9998718605843158 Centerline is valid? [True, True] Translation: X:23.51, Y:-0.27, Z:-0.97 [[ 9.98908967e-01 4.63553426e-02 5.66195091e-03 2.35074879e+01] [-4.63546746e-02 9.98925013e-01 -2.49221362e-04 -2.69285466e-01] [-5.66741713e-03 -1.35084389e-05 9.99983940e-01 -9.74530927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.854203822000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.54, Y:-0.27, Z:-0.97 [[ 9.98961724e-01 4.52785295e-02 5.03267543e-03 2.35391874e+01] [-4.52779881e-02 9.98974401e-01 -2.21508401e-04 -2.69780766e-01] [-5.03754350e-03 -6.59100441e-06 9.99987311e-01 -9.73078898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.884203822000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.57, Y:-0.27, Z:-0.98 [[ 9.98978047e-01 4.49187440e-02 5.01676360e-03 2.35701021e+01] [-4.49182186e-02 9.98990644e-01 -2.17404335e-04 -2.70959741e-01] [-5.02146543e-03 -8.16192634e-06 9.99987392e-01 -9.75283234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.914203822000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.60, Y:-0.27, Z:-0.98 [[ 9.98995623e-01 4.46467899e-02 3.79609764e-03 2.36004288e+01] [-4.46464741e-02 9.99002835e-01 -1.67928041e-04 -2.71236508e-01] [-3.79980976e-03 -1.72299758e-06 9.99992781e-01 -9.79943867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.944203822000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.63, Y:-0.27, Z:-0.98 [[ 9.98999559e-01 4.46202334e-02 2.98602896e-03 2.36312141e+01] [-4.46200380e-02 9.99004021e-01 -1.32054365e-04 -2.70825414e-01] [-2.98894724e-03 -1.31447354e-06 9.99995533e-01 -9.82969637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.974203822000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.66, Y:-0.27, Z:-0.98 [[ 9.99009709e-01 4.44219813e-02 2.50766276e-03 2.36613510e+01] [-4.44218403e-02 9.99012857e-01 -1.11923204e-04 -2.67482984e-01] [-2.51015918e-03 4.17373175e-07 9.99996850e-01 -9.82992079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.004203822000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.69, Y:-0.26, Z:-0.99 [[ 9.98985173e-01 4.50267410e-02 1.10345909e-03 2.36909960e+01] [-4.50267140e-02 9.98985782e-01 -4.92798668e-05 -2.63349050e-01] [-1.10455885e-03 -4.55280537e-07 9.99999390e-01 -9.87373919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.034203822000002 meters Centerline goodness [0,1] 0.9998702786846259 Centerline is valid? [True, True] Translation: X:23.72, Y:-0.26, Z:-0.99 [[ 9.98979875e-01 4.51575951e-02 -1.30138830e-05 2.37211433e+01] [-4.51575951e-02 9.98979875e-01 -1.93692961e-07 -2.62095064e-01] [ 1.29918605e-05 7.81171027e-07 1.00000000e+00 -9.87576867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.064203822000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.75, Y:-0.26, Z:-0.99 [[ 9.98994478e-01 4.48332521e-02 1.14950833e-04 2.37488711e+01] [-4.48332516e-02 9.98994484e-01 -6.99717371e-06 -2.58149923e-01] [-1.15148954e-04 1.83651827e-06 9.99999993e-01 -9.89636639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.094203822000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.78, Y:-0.26, Z:-0.99 [[ 9.99072770e-01 4.30511923e-02 4.41266549e-04 2.37776277e+01] [-4.30511872e-02 9.99072868e-01 -2.10317720e-05 -2.56103948e-01] [-4.41762880e-04 2.01522187e-06 9.99999902e-01 -9.89123691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.124203822000002 meters Centerline goodness [0,1] 0.9999355531686359 Centerline is valid? [True, True] Translation: X:23.81, Y:-0.26, Z:-0.99 [[ 9.99136540e-01 4.15420285e-02 6.58567161e-04 2.38060521e+01] [-4.15420176e-02 9.99136757e-01 -3.02153266e-05 -2.58412889e-01] [-6.59253864e-04 2.83102832e-06 9.99999783e-01 -9.89615187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.154203822000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.83, Y:-0.27, Z:-0.99 [[ 9.99293914e-01 3.74755232e-02 2.69407993e-03 2.38346868e+01] [-3.74753369e-02 9.99297546e-01 -1.19609243e-04 -2.66934821e-01] [-2.69666988e-03 1.85632357e-05 9.99996364e-01 -9.93778679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.184203822000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.86, Y:-0.27, Z:-0.99 [[ 9.99380529e-01 3.50202170e-02 3.48477058e-03 2.38648945e+01] [-3.50198900e-02 9.99386604e-01 -1.54813296e-04 -2.70803882e-01] [-3.48805462e-03 3.26811115e-05 9.99993916e-01 -9.88474238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.214203822 meters Centerline goodness [0,1] 0.9999573287817367 Centerline is valid? [True, True] Translation: X:23.89, Y:-0.28, Z:-1.00 [[ 9.99517746e-01 3.08727015e-02 3.33927852e-03 2.38942612e+01] [-3.08723820e-02 9.99523324e-01 -1.47190054e-04 -2.80679506e-01] [-3.34223091e-03 4.40275887e-05 9.99994414e-01 -9.95350172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.244203822000003 meters Centerline goodness [0,1] 0.9999144568006844 Centerline is valid? [True, True] Translation: X:23.93, Y:-0.28, Z:-0.99 [[ 9.99561091e-01 2.94831544e-02 2.89297329e-03 2.39258763e+01] [-2.94829107e-02 9.99565276e-01 -1.26857379e-04 -2.83252082e-01] [-2.89545580e-03 4.15084265e-05 9.99995807e-01 -9.93599172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.274203822000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.96, Y:-0.29, Z:-0.99 [[ 9.99602495e-01 2.80991041e-02 2.30038305e-03 2.39567644e+01] [-2.80989467e-02 9.99605142e-01 -1.00756259e-04 -2.85953060e-01] [-2.30230588e-03 3.60778677e-05 9.99997349e-01 -9.94533170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.304203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.99, Y:-0.29, Z:-0.99 [[ 9.99590910e-01 2.85018937e-02 2.37816467e-03 2.39874089e+01] [-2.85017247e-02 9.99593738e-01 -1.04937571e-04 -2.85494194e-01] [-2.38018943e-03 3.71128474e-05 9.99997167e-01 -9.93450639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.334203822000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.02, Y:-0.29, Z:-0.99 [[ 9.99536293e-01 3.01737725e-02 4.09180576e-03 2.40184032e+01] [-3.01732875e-02 9.99544666e-01 -1.80220774e-04 -2.85488744e-01] [-4.09538057e-03 5.66739730e-05 9.99991612e-01 -9.91590151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.364203822000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.05, Y:-0.29, Z:-0.99 [[ 9.99489361e-01 3.17667006e-02 3.44885057e-03 2.40488488e+01] [-3.17663656e-02 9.99495310e-01 -1.51885182e-04 -2.86598368e-01] [-3.45193486e-03 4.22501755e-05 9.99994041e-01 -9.94883328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.394203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.08, Y:-0.29, Z:-1.00 [[ 9.99484880e-01 3.20129351e-02 2.26881846e-03 2.40790365e+01] [-3.20127902e-02 9.99487454e-01 -1.00167733e-04 -2.85556020e-01] [-2.27086225e-03 2.74849253e-05 9.99997421e-01 -9.95440192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.424203822000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.11, Y:-0.29, Z:-1.00 [[ 9.99484880e-01 3.20129351e-02 2.26881846e-03 2.41090074e+01] [-3.20127902e-02 9.99487454e-01 -1.00167733e-04 -2.86879229e-01] [-2.27086225e-03 2.74849253e-05 9.99997421e-01 -9.96383512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.454203822000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.14, Y:-0.29, Z:-1.00 [[ 9.99486817e-01 3.19863742e-02 1.72484592e-03 2.41382410e+01] [-3.19862898e-02 9.99488305e-01 -7.65119161e-05 -2.88256068e-01] [-1.72641066e-03 2.13012301e-05 9.99998510e-01 -9.98018572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.484203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.17, Y:-0.30, Z:-1.00 [[ 9.99490670e-01 3.17264942e-02 3.43951025e-03 2.41679868e+01] [-3.17261608e-02 9.99496587e-01 -1.51475604e-04 -2.95119018e-01] [-3.44258455e-03 4.22759980e-05 9.99994073e-01 -9.99866336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.514203822000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.20, Y:-0.30, Z:-1.00 [[ 9.99484420e-01 3.17254293e-02 4.93872988e-03 2.41982396e+01] [-3.17247478e-02 9.99496620e-01 -2.16306776e-04 -2.98688116e-01] [-4.94310624e-03 5.95152931e-05 9.99987781e-01 -9.98697552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.544203822000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.23, Y:-0.30, Z:-0.99 [[ 9.99495929e-01 3.12062470e-02 5.83593577e-03 2.42297648e+01] [-3.12052758e-02 9.99512964e-01 -2.57421286e-04 -2.97747516e-01] [-5.84112661e-03 7.51795423e-05 9.99982938e-01 -9.94473882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.574203822000005 meters Centerline goodness [0,1] 0.9999785880992655 Centerline is valid? [True, True] Translation: X:24.26, Y:-0.30, Z:-1.00 [[ 9.99513166e-01 3.06963588e-02 5.58255404e-03 2.42603892e+01] [-3.06954806e-02 9.99528753e-01 -2.42939872e-04 -3.00553610e-01] [-5.58738065e-03 7.14624214e-05 9.99984388e-01 -9.98585576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.604203822000002 meters Centerline goodness [0,1] 0.9999785218754699 Centerline is valid? [True, True] Translation: X:24.29, Y:-0.31, Z:-1.00 [[ 9.99553391e-01 2.93617783e-02 5.55909371e-03 2.42925627e+01] [-2.93608832e-02 9.99568847e-01 -2.42587954e-04 -3.08007390e-01] [-5.56381970e-03 7.92597116e-05 9.99984519e-01 -1.00016067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.634203822000003 meters Centerline goodness [0,1] 0.9999357436600411 Centerline is valid? [True, True] Translation: X:24.32, Y:-0.31, Z:-1.00 [[ 9.99596769e-01 2.79721537e-02 4.88447674e-03 2.43249714e+01] [-2.79714461e-02 9.99608700e-01 -2.13141200e-04 -3.13633985e-01] [-4.88852746e-03 7.64293770e-05 9.99988048e-01 -9.98082787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.664203822000005 meters Centerline goodness [0,1] 0.9999355531686359 Centerline is valid? [True, True] Translation: X:24.36, Y:-0.32, Z:-1.00 [[ 9.99610223e-01 2.75363413e-02 4.59905460e-03 2.43560792e+01] [-2.75357056e-02 9.99620800e-01 -2.01494350e-04 -3.17745001e-01] [-4.60285906e-03 7.47775983e-05 9.99989404e-01 -1.00300482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.694203822000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.39, Y:-0.32, Z:-1.00 [[ 9.99606827e-01 2.77377884e-02 4.09962858e-03 2.43885923e+01] [-2.77372855e-02 9.99615231e-01 -1.79499745e-04 -3.17395085e-01] [-4.10303009e-03 6.57166028e-05 9.99991580e-01 -1.00353667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.724203822000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.42, Y:-0.32, Z:-1.00 [[ 9.99568296e-01 2.91378206e-02 3.76945474e-03 2.44200872e+01] [-2.91373898e-02 9.99575402e-01 -1.69161573e-04 -3.17451052e-01] [-3.77278323e-03 5.92564735e-05 9.99992881e-01 -1.00455431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.754203822000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.45, Y:-0.32, Z:-1.00 [[ 9.99541166e-01 3.00265433e-02 3.98291064e-03 2.44516676e+01] [-3.00260688e-02 9.99549100e-01 -1.78871704e-04 -3.18902631e-01] [-3.98648565e-03 5.91984823e-05 9.99992052e-01 -1.00461030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.784203822000002 meters Centerline goodness [0,1] 0.9998494947323157 Centerline is valid? [True, True] Translation: X:24.48, Y:-0.32, Z:-1.01 [[ 9.99484344e-01 3.19324702e-02 3.37109281e-03 2.44829420e+01] [-3.19321413e-02 9.99490028e-01 -1.51354095e-04 -3.21108134e-01] [-3.37420676e-03 4.36298363e-05 9.99994306e-01 -1.00514622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.814203822000003 meters Centerline goodness [0,1] 0.9999786734911496 Centerline is valid? [True, True] Translation: X:24.51, Y:-0.32, Z:-1.02 [[ 9.99441658e-01 3.33695427e-02 1.68722820e-03 2.45131936e+01] [-3.33694624e-02 9.99443082e-01 -7.57757584e-05 -3.22582003e-01] [-1.68881715e-03 1.94315516e-05 9.99998574e-01 -1.01665753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.844203822000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.54, Y:-0.32, Z:-1.02 [[ 9.99441892e-01 3.33810978e-02 1.26765956e-03 2.45436820e+01] [-3.33810521e-02 9.99442696e-01 -5.72163246e-05 -3.21757643e-01] [-1.26886303e-03 1.48685819e-05 9.99999195e-01 -1.01666938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.874203822000002 meters Centerline goodness [0,1] 0.9999565245744843 Centerline is valid? [True, True] Translation: X:24.57, Y:-0.32, Z:-1.01 [[ 9.99473917e-01 3.23522495e-02 2.28496510e-03 2.45739521e+01] [-3.23520983e-02 9.99476529e-01 -1.03132820e-04 -3.22874477e-01] [-2.28710557e-03 2.91551477e-05 9.99997384e-01 -1.01147895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.904203822000003 meters Centerline goodness [0,1] 0.9999563032554075 Centerline is valid? [True, True] Translation: X:24.60, Y:-0.33, Z:-1.01 [[ 9.99537303e-01 3.01777525e-02 3.80561300e-03 2.46045644e+01] [-3.01773172e-02 9.99544546e-01 -1.71767874e-04 -3.25908293e-01] [-3.80906328e-03 5.68452076e-05 9.99992744e-01 -1.00569394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.934203822000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.64, Y:-0.33, Z:-1.01 [[ 9.99567835e-01 2.92602781e-02 2.82480649e-03 2.46351399e+01] [-2.92600480e-02 9.99571826e-01 -1.22769955e-04 -3.33029266e-01] [-2.82718926e-03 4.00629245e-05 9.99996003e-01 -1.01413574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.964203822 meters Centerline goodness [0,1] 0.999978555958227 Centerline is valid? [True, True] Translation: X:24.67, Y:-0.34, Z:-1.02 [[ 9.99587193e-01 2.86752864e-02 1.78105517e-03 2.46654322e+01] [-2.86751887e-02 9.99588779e-01 -8.03339944e-05 -3.39457632e-01] [-1.78262636e-03 2.92287387e-05 9.99998411e-01 -1.01692621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.994203822000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.70, Y:-0.34, Z:-1.01 [[ 9.99574232e-01 2.91435849e-02 1.41670765e-03 2.46963980e+01] [-2.91435232e-02 9.99575235e-01 -6.41949819e-05 -3.36526430e-01] [-1.41797675e-03 2.28797975e-05 9.99998994e-01 -1.01356288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.024203822000004 meters Centerline goodness [0,1] 0.9999781978328646 Centerline is valid? [True, True] Translation: X:24.73, Y:-0.33, Z:-1.01 [[ 9.99505941e-01 3.13973385e-02 1.44244398e-03 2.47274789e+01] [-3.13972769e-02 9.99506982e-01 -6.53611669e-05 -3.31531426e-01] [-1.44378500e-03 2.00400616e-05 9.99998958e-01 -1.01403958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.054203822 meters Centerline goodness [0,1] 0.9999567155780634 Centerline is valid? [True, True] Translation: X:24.76, Y:-0.33, Z:-1.01 [[ 9.99385457e-01 3.49960691e-02 1.99586968e-03 2.47585873e+01] [-3.49959582e-02 9.99387450e-01 -9.04384318e-05 -3.26480264e-01] [-1.99781210e-03 2.05354814e-05 9.99998004e-01 -1.01318553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.084203822000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.79, Y:-0.32, Z:-1.01 [[ 9.99297127e-01 3.73658345e-02 3.00765919e-03 2.47886418e+01] [-3.73655935e-02 9.99301653e-01 -1.36285441e-04 -3.23467099e-01] [-3.01065122e-03 2.38066793e-05 9.99995468e-01 -1.01464539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.114203822000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.82, Y:-0.32, Z:-1.01 [[ 9.99059549e-01 4.31566838e-02 4.18559361e-03 2.48197499e+01] [-4.31562679e-02 9.99068316e-01 -1.89660941e-04 -3.17161530e-01] [-4.18987910e-03 8.84797475e-06 9.99991222e-01 -1.01441855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.144203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.85, Y:-0.31, Z:-1.02 [[ 9.98840519e-01 4.79190933e-02 4.62362060e-03 2.48498972e+01] [-4.79186388e-02 9.98851220e-01 -2.09089254e-04 -3.08658996e-01] [-4.62832844e-03 -1.27107861e-05 9.99989289e-01 -1.01568125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.174203822000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.88, Y:-0.30, Z:-1.01 [[ 9.98680841e-01 5.10174192e-02 5.81377401e-03 2.48806288e+01] [-5.10167477e-02 9.98697763e-01 -2.63839910e-04 -2.97928457e-01] [-5.81966353e-03 -3.31079791e-05 9.99983065e-01 -1.01457074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.204203822000004 meters Centerline goodness [0,1] 0.9998929106875134 Centerline is valid? [True, True] Translation: X:24.91, Y:-0.30, Z:-1.02 [[ 9.98639218e-01 5.19008573e-02 5.10033471e-03 2.49114443e+01] [-5.19003538e-02 9.98652242e-01 -2.31128548e-04 -2.97425005e-01] [-5.10545646e-03 -3.38951429e-05 9.99986966e-01 -1.01555239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.234203822000005 meters Centerline goodness [0,1] 0.999848386398094 Centerline is valid? [True, True] Translation: X:24.94, Y:-0.30, Z:-1.02 [[ 9.98605959e-01 5.25299546e-02 5.17138968e-03 2.49415433e+01] [-5.25294420e-02 9.98619348e-01 -2.34996216e-04 -2.98749465e-01] [-5.17659413e-03 -3.69815929e-05 9.99986601e-01 -1.01575284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.264203822000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.97, Y:-0.30, Z:-1.02 [[ 9.98589178e-01 5.28000863e-02 5.63956619e-03 2.49713873e+01] [-5.27994840e-02 9.98605102e-01 -2.55741514e-04 -2.98163701e-01] [-5.64520274e-03 -4.23854762e-05 9.99984065e-01 -1.01704847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.294203822000004 meters Centerline goodness [0,1] 0.9998706227358979 Centerline is valid? [True, True] Translation: X:25.00, Y:-0.29, Z:-1.02 [[ 9.98529834e-01 5.39568638e-02 5.17958587e-03 2.50012822e+01] [-5.39563714e-02 9.98543266e-01 -2.34846798e-04 -2.91969871e-01] [-5.18471219e-03 -4.49701248e-05 9.99986558e-01 -1.01828909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.324203822000005 meters Centerline goodness [0,1] 0.9999785522788204 Centerline is valid? [True, True] Translation: X:25.03, Y:-0.29, Z:-1.02 [[ 9.98570466e-01 5.32731082e-02 4.35885596e-03 2.50296215e+01] [-5.32727502e-02 9.98579979e-01 -1.98280663e-04 -2.89745881e-01] [-4.36322932e-03 -3.42110301e-05 9.99990480e-01 -1.02241754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.354203822000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.06, Y:-0.29, Z:-1.03 [[ 9.98614442e-01 5.23715033e-02 5.14024481e-03 2.50586838e+01] [-5.23709971e-02 9.98627671e-01 -2.33121878e-04 -2.88790266e-01] [-5.14539964e-03 -3.64008721e-05 9.99986762e-01 -1.02611434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.384203822000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.09, Y:-0.29, Z:-1.02 [[ 9.98685374e-01 5.07476528e-02 7.22491922e-03 2.50890898e+01] [-5.07466157e-02 9.98711507e-01 -3.26915676e-04 -2.88309783e-01] [-7.23220016e-03 -4.01542953e-05 9.99973846e-01 -1.01612447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.414203822000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.12, Y:-0.29, Z:-1.02 [[ 9.98700614e-01 5.00505146e-02 9.59322547e-03 2.51188321e+01] [-5.00486563e-02 9.98746686e-01 -4.33834333e-04 -2.86739522e-01] [-9.60291578e-03 -4.68574291e-05 9.99953890e-01 -1.01523788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.444203822000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.15, Y:-0.29, Z:-1.01 [[ 9.98704635e-01 4.98891576e-02 1.00062043e-02 2.51499121e+01] [-4.98871368e-02 9.98754760e-01 -4.51605202e-04 -2.88282610e-01] [-1.00162744e-02 -4.81606758e-05 9.99949835e-01 -1.01426821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.474203822000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.18, Y:-0.29, Z:-1.02 [[ 9.98781207e-01 4.85454267e-02 8.91300010e-03 2.51806229e+01] [-4.85437901e-02 9.98820975e-01 -3.99995875e-04 -2.85919069e-01] [-8.92190943e-03 -3.31624437e-05 9.99960198e-01 -1.01834952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.504203822000004 meters Centerline goodness [0,1] 0.9999139710942877 Centerline is valid? [True, True] Translation: X:25.21, Y:-0.28, Z:-1.02 [[ 9.98916660e-01 4.56483377e-02 9.04082828e-03 2.52117831e+01] [-4.56464975e-02 9.98957571e-01 -4.09893796e-04 -2.81599550e-01] [-9.05011483e-03 -3.23240384e-06 9.99959047e-01 -1.01599816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.534203822000002 meters Centerline goodness [0,1] 0.9999785931412425 Centerline is valid? [True, True] Translation: X:25.24, Y:-0.28, Z:-1.02 [[ 9.99034577e-01 4.30683705e-02 8.66190191e-03 2.52423252e+01] [-4.30665956e-02 9.99072127e-01 -3.91411093e-04 -2.82401622e-01] [-8.67072220e-03 1.79945891e-05 9.99962408e-01 -1.02102262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.564203822000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.27, Y:-0.29, Z:-1.03 [[ 9.99103214e-01 4.16807478e-02 7.44875760e-03 2.52727283e+01] [-4.16793894e-02 9.99130980e-01 -3.37580271e-04 -2.85944327e-01] [-7.45635508e-03 2.68178649e-05 9.99972201e-01 -1.02551476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.594203822000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.30, Y:-0.29, Z:-1.02 [[ 9.99211021e-01 3.90918283e-02 7.01176881e-03 2.53036115e+01] [-3.90905652e-02 9.99235621e-01 -3.17160165e-04 -2.85961194e-01] [-7.01880753e-03 4.28159265e-05 9.99975367e-01 -1.02407073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.624203822000002 meters Centerline goodness [0,1] 0.9999141870293695 Centerline is valid? [True, True] Translation: X:25.33, Y:-0.28, Z:-1.03 [[ 9.99256383e-01 3.79096778e-02 7.03823437e-03 2.53338837e+01] [-3.79083639e-02 9.99281168e-01 -3.20044974e-04 -2.84466238e-01] [-7.04530787e-03 5.29990335e-05 9.99975180e-01 -1.02501478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.654203822000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.37, Y:-0.28, Z:-1.03 [[ 9.99391917e-01 3.44584741e-02 5.33014575e-03 2.53651382e+01] [-3.44576749e-02 9.99406129e-01 -2.41736322e-04 -2.84362891e-01] [-5.33531019e-03 5.79248972e-05 9.99985765e-01 -1.02815035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.684203822000004 meters Centerline goodness [0,1] 0.9999784557049294 Centerline is valid? [True, True] Translation: X:25.40, Y:-0.29, Z:-1.03 [[ 9.99503587e-01 3.13209528e-02 3.40269378e-03 2.53961076e+01] [-3.13206084e-02 9.99509377e-01 -1.54473065e-04 -2.85750365e-01] [-3.40586259e-03 4.78219428e-05 9.99994199e-01 -1.03231424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.714203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.43, Y:-0.29, Z:-1.03 [[ 9.99547810e-01 2.99056885e-02 3.13440990e-03 2.54254551e+01] [-2.99053872e-02 9.99552724e-01 -1.42984524e-04 -2.87180266e-01] [-3.13728401e-03 4.91841266e-05 9.99995078e-01 -1.03379204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.744203822000003 meters Centerline goodness [0,1] 0.9998692411628819 Centerline is valid? [True, True] Translation: X:25.45, Y:-0.29, Z:-1.03 [[ 9.99591286e-01 2.82168038e-02 4.59051853e-03 2.54548120e+01] [-2.82161391e-02 9.99601824e-01 -2.09503015e-04 -2.90019164e-01] [-4.59460220e-03 7.98906790e-05 9.99989442e-01 -1.03103587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.774203822000004 meters Centerline goodness [0,1] 0.9998501519886972 Centerline is valid? [True, True] Translation: X:25.48, Y:-0.29, Z:-1.03 [[ 9.99591837e-01 2.79377990e-02 5.96979088e-03 2.54838619e+01] [-2.79366788e-02 9.99609658e-01 -2.70970074e-04 -2.92543343e-01] [-5.97503093e-03 1.04083344e-04 9.99982144e-01 -1.03107056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.804203822 meters Centerline goodness [0,1] 0.9999570179020438 Centerline is valid? [True, True] Translation: X:25.51, Y:-0.29, Z:-1.03 [[ 9.99562474e-01 2.87550995e-02 6.92853461e-03 2.55147247e+01] [-2.87536073e-02 9.99586480e-01 -3.14903192e-04 -2.88851922e-01] [-6.93472460e-03 1.15545050e-04 9.99975948e-01 -1.03110203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.834203822000003 meters Centerline goodness [0,1] 0.999914368898784 Centerline is valid? [True, True] Translation: X:25.54, Y:-0.28, Z:-1.04 [[ 9.99499596e-01 3.09278446e-02 6.63521228e-03 2.55448877e+01] [-3.09265254e-02 9.99521615e-01 -3.01345981e-04 -2.83019149e-01] [-6.64135807e-03 9.59911251e-05 9.99977941e-01 -1.03510597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.864203822000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.58, Y:-0.28, Z:-1.03 [[ 9.99460181e-01 3.20508662e-02 7.21727188e-03 2.55753803e+01] [-3.20493289e-02 9.99486234e-01 -3.28583245e-04 -2.81334538e-01] [-7.22409527e-03 9.70971492e-05 9.99973901e-01 -1.03312346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.894203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.61, Y:-0.28, Z:-1.03 [[ 9.99406541e-01 3.35913505e-02 7.62809974e-03 2.56056536e+01] [-3.35896803e-02 9.99435647e-01 -3.47003415e-04 -2.81337307e-01] [-7.63545112e-03 9.05720505e-05 9.99970845e-01 -1.03435582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.924203822000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.64, Y:-0.28, Z:-1.04 [[ 9.99406840e-01 3.39556481e-02 5.74305566e-03 2.56354072e+01] [-3.39547143e-02 9.99423339e-01 -2.60047654e-04 -2.79744733e-01] [-5.74857395e-03 6.48895896e-05 9.99983475e-01 -1.03952432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.954203822000004 meters Centerline goodness [0,1] 0.9997822252226747 Centerline is valid? [True, True] Translation: X:25.67, Y:-0.28, Z:-1.04 [[ 9.99416812e-01 3.36947945e-02 5.54042983e-03 2.56656766e+01] [-3.36939099e-02 9.99432167e-01 -2.52946661e-04 -2.78148546e-01] [-5.54580678e-03 6.61204016e-05 9.99984620e-01 -1.03529461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.984203822000005 meters Centerline goodness [0,1] 0.9999786132854271 Centerline is valid? [True, True] Translation: X:25.69, Y:-0.28, Z:-1.04 [[ 9.99432033e-01 3.30278893e-02 6.69106740e-03 2.56949524e+01] [-3.30265853e-02 9.99454427e-01 -3.05314780e-04 -2.80787707e-01] [-6.69750083e-03 8.41582632e-05 9.99977568e-01 -1.03694760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.014203822000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.73, Y:-0.29, Z:-1.04 [[ 9.99455939e-01 3.23149342e-02 6.60078415e-03 2.57265274e+01] [-3.23136560e-02 9.99477732e-01 -3.00231746e-04 -2.85444341e-01] [-6.60703875e-03 8.67729335e-05 9.99978170e-01 -1.03779724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.044203822000004 meters Centerline goodness [0,1] 0.9998497209102619 Centerline is valid? [True, True] Translation: X:25.76, Y:-0.29, Z:-1.04 [[ 9.99471165e-01 3.19606519e-02 5.99218408e-03 2.57554220e+01] [-3.19595864e-02 9.99489125e-01 -2.73518790e-04 -2.90416691e-01] [-5.99786466e-03 8.18664189e-05 9.99982009e-01 -1.04185755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.074203822000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.79, Y:-0.29, Z:-1.04 [[ 9.99451150e-01 3.27331578e-02 5.09306849e-03 2.57858154e+01] [-3.27323996e-02 9.99464124e-01 -2.32165275e-04 -2.91173708e-01] [-5.09793875e-03 6.53294975e-05 9.99987003e-01 -1.04343179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.104203822000002 meters Centerline goodness [0,1] 0.9998710259882634 Centerline is valid? [True, True] Translation: X:25.82, Y:-0.29, Z:-1.04 [[ 9.99413570e-01 3.39126073e-02 4.73831287e-03 2.58161127e+01] [-3.39119643e-02 9.99424801e-01 -2.15993897e-04 -2.89283271e-01] [-4.74291232e-03 5.51817343e-05 9.99988751e-01 -1.04273951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.134203822000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.85, Y:-0.29, Z:-1.04 [[ 9.99299090e-01 3.69724034e-02 5.86266379e-03 2.58453799e+01] [-3.69714682e-02 9.99316286e-01 -2.67859360e-04 -2.85359243e-01] [-5.86855880e-03 5.09203273e-05 9.99982779e-01 -1.04326073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.164203822000005 meters Centerline goodness [0,1] 0.9999782660668101 Centerline is valid? [True, True] Translation: X:25.88, Y:-0.28, Z:-1.04 [[ 9.99162835e-01 4.02631692e-02 7.24612252e-03 2.58760484e+01] [-4.02618316e-02 9.99189109e-01 -3.30429581e-04 -2.80029575e-01] [-7.25355085e-03 3.84107925e-05 9.99973692e-01 -1.04003139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.194203822000002 meters Centerline goodness [0,1] 0.9999783108489134 Centerline is valid? [True, True] Translation: X:25.91, Y:-0.28, Z:-1.04 [[ 9.99113053e-01 4.14723607e-02 7.29049611e-03 2.59058946e+01] [-4.14710443e-02 9.99139651e-01 -3.31712287e-04 -2.79582975e-01] [-7.29798063e-03 2.90735886e-05 9.99973369e-01 -1.04185973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.224203822000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.93, Y:-0.28, Z:-1.05 [[ 9.99063812e-01 4.27652154e-02 6.52966616e-03 2.59345627e+01] [-4.27641785e-02 9.99085150e-01 -2.98402915e-04 -2.79792830e-01] [-6.53645375e-03 1.88877449e-05 9.99978637e-01 -1.04631312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.254203822000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.96, Y:-0.28, Z:-1.04 [[ 9.99035397e-01 4.33107652e-02 7.24245968e-03 2.59640629e+01] [-4.33095087e-02 9.99061648e-01 -3.30308876e-04 -2.78608692e-01] [-7.24996964e-03 1.63228885e-05 9.99973718e-01 -1.04413836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.284203822000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.99, Y:-0.28, Z:-1.05 [[ 9.99027899e-01 4.35235328e-02 6.99708781e-03 2.59925609e+01] [-4.35223658e-02 9.99052402e-01 -3.19039112e-04 -2.76805895e-01] [-7.00434309e-03 1.41991581e-05 9.99975469e-01 -1.04647280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.314203822000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.02, Y:-0.27, Z:-1.05 [[ 9.99004609e-01 4.42670208e-02 5.49749141e-03 2.60221754e+01] [-4.42663120e-02 9.99019735e-01 -2.50615365e-04 -2.72845589e-01] [-5.50319641e-03 7.01223482e-06 9.99984857e-01 -1.04961027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.344203822000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.05, Y:-0.27, Z:-1.05 [[ 9.99006671e-01 4.42204599e-02 5.49746985e-03 2.60504680e+01] [-4.42197477e-02 9.99021797e-01 -2.51090380e-04 -2.74042896e-01] [-5.50319554e-03 7.74423473e-06 9.99984857e-01 -1.05050080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.374203822000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.08, Y:-0.27, Z:-1.05 [[ 9.99002187e-01 4.43844495e-02 4.96504823e-03 2.60795635e+01] [-4.43838707e-02 9.99014525e-01 -2.26745755e-04 -2.74057752e-01] [-4.97021928e-03 6.15144656e-06 9.99987648e-01 -1.04957137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.404203822000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.11, Y:-0.27, Z:-1.05 [[ 9.99014351e-01 4.41576974e-02 4.51923683e-03 2.61074284e+01] [-4.41572145e-02 9.99024573e-01 -2.06625435e-04 -2.74503103e-01] [-4.52395275e-03 6.86486467e-06 9.99989767e-01 -1.05266589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.434203822000004 meters Centerline goodness [0,1] 0.9999566235794223 Centerline is valid? [True, True] Translation: X:26.14, Y:-0.27, Z:-1.06 [[ 9.99023806e-01 4.40389228e-02 3.46531706e-03 2.61350152e+01] [-4.40386374e-02 9.99029816e-01 -1.58646681e-04 -2.73702585e-01] [-3.46894169e-03 5.88396921e-06 9.99993983e-01 -1.05625691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.464203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.16, Y:-0.27, Z:-1.06 [[ 9.99026109e-01 4.38838607e-02 4.58690815e-03 2.61629417e+01] [-4.38833630e-02 9.99036639e-01 -2.09139065e-04 -2.66579743e-01] [-4.59166713e-03 7.64643034e-06 9.99989458e-01 -1.05610837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.494203822000003 meters Centerline goodness [0,1] 0.9998495238504697 Centerline is valid? [True, True] Translation: X:26.19, Y:-0.26, Z:-1.06 [[ 9.99113679e-01 4.18657140e-02 4.37235129e-03 2.61923913e+01] [-4.18652449e-02 9.99123247e-01 -1.98805316e-04 -2.62776907e-01] [-4.37684094e-03 1.55795537e-05 9.99990421e-01 -1.05631327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.524203822000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.22, Y:-0.27, Z:-1.06 [[ 9.99182620e-01 4.01854473e-02 4.38417656e-03 2.62211811e+01] [-4.01849604e-02 9.99192238e-01 -1.99124921e-04 -2.66182325e-01] [-4.38863711e-03 2.27841988e-05 9.99990370e-01 -1.05885455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.554203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.25, Y:-0.27, Z:-1.06 [[ 9.99349512e-01 3.56221958e-02 5.62243440e-03 2.62492330e+01] [-3.56213249e-02 9.99365327e-01 -2.54982005e-04 -2.69232602e-01] [-5.62794901e-03 5.45375798e-05 9.99984161e-01 -1.05810812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.584203822000003 meters Centerline goodness [0,1] 0.9999144531417083 Centerline is valid? [True, True] Translation: X:26.28, Y:-0.27, Z:-1.06 [[ 9.99513256e-01 3.07066763e-02 5.50922989e-03 2.62792703e+01] [-3.07057739e-02 9.99528436e-01 -2.48337454e-04 -2.71309621e-01] [-5.51425755e-03 7.90514095e-05 9.99984793e-01 -1.05902018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.614203822000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.31, Y:-0.27, Z:-1.06 [[ 9.99585480e-01 2.85403836e-02 3.78352533e-03 2.63093376e+01] [-2.85399434e-02 9.99592638e-01 -1.70296307e-04 -2.74357688e-01] [-3.78684439e-03 6.22441168e-05 9.99992828e-01 -1.06251560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.644203822 meters Centerline goodness [0,1] 0.9999147757537019 Centerline is valid? [True, True] Translation: X:26.34, Y:-0.28, Z:-1.07 [[ 9.99681749e-01 2.51139068e-02 2.38596892e-03 2.63376772e+01] [-2.51137204e-02 9.99684595e-01 -1.08067775e-04 -2.80881049e-01] [-2.38793038e-03 4.81128263e-05 9.99997148e-01 -1.07041558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.674203822000003 meters Centerline goodness [0,1] 0.9999357629223588 Centerline is valid? [True, True] Translation: X:26.37, Y:-0.28, Z:-1.07 [[ 9.99757285e-01 2.17222066e-02 3.67650990e-03 2.63670226e+01] [-2.17217417e-02 9.99764041e-01 -1.66345108e-04 -2.82140849e-01] [-3.67925578e-03 8.64445353e-05 9.99993228e-01 -1.06646097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.704203822000004 meters Centerline goodness [0,1] 0.999507884545435 Centerline is valid? [True, True] Translation: X:26.40, Y:-0.29, Z:-1.07 [[ 9.99795061e-01 1.99197145e-02 3.61112086e-03 2.63959346e+01] [-1.99192583e-02 9.99801579e-01 -1.62267024e-04 -2.87280168e-01] [-3.61363665e-03 9.03029202e-05 9.99993467e-01 -1.06968410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.734203822000005 meters Centerline goodness [0,1] 0.9999567352413092 Centerline is valid? [True, True] Translation: X:26.43, Y:-0.29, Z:-1.06 [[ 9.99873283e-01 1.56235515e-02 3.05327131e-03 2.64261281e+01] [-1.56232043e-02 9.99877941e-01 -1.37520932e-04 -2.85345410e-01] [-3.05504720e-03 8.98016240e-05 9.99995329e-01 -1.06274860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.764203822000002 meters Centerline goodness [0,1] 0.989809053851105 Centerline is valid? [True, True] Translation: X:26.46, Y:-0.30, Z:-1.07 [[ 9.99929272e-01 1.12058028e-02 3.98515182e-03 2.64558245e+01] [-1.12051792e-02 9.99937204e-01 -1.78783142e-04 -3.01363738e-01] [-3.98690498e-03 1.34116156e-04 9.99992043e-01 -1.06886964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.794203822000004 meters Centerline goodness [0,1] 0.9750926044194661 Centerline is valid? [True, True] Translation: X:26.49, Y:-0.31, Z:-1.07 [[ 9.99956866e-01 8.45364901e-03 3.84736643e-03 2.64867844e+01] [-8.45304836e-03 9.99964257e-01 -1.72353694e-04 -3.09844515e-01] [-3.84868594e-03 1.39824285e-04 9.99992584e-01 -1.07030921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.824203822000005 meters Centerline goodness [0,1] 0.9953336044694651 Centerline is valid? [True, True] Translation: X:26.52, Y:-0.31, Z:-1.07 [[ 9.99960855e-01 8.28566716e-03 3.10423215e-03 2.65181990e+01] [-8.28527564e-03 9.99965667e-01 -1.38963972e-04 -3.05825157e-01] [-3.10527698e-03 1.13239113e-04 9.99995172e-01 -1.06798969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.854203822000002 meters Centerline goodness [0,1] 0.9963481046449546 Centerline is valid? [True, True] Translation: X:26.55, Y:-0.31, Z:-1.07 [[ 9.99945120e-01 9.94550583e-03 3.29303892e-03 2.65495752e+01] [-9.94507383e-03 9.99950536e-01 -1.47537754e-04 -3.05066113e-01] [-3.29434337e-03 1.14780141e-04 9.99994567e-01 -1.06812096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.884203822000003 meters Centerline goodness [0,1] 0.9973962256030643 Centerline is valid? [True, True] Translation: X:26.58, Y:-0.31, Z:-1.07 [[ 9.99889231e-01 1.39630220e-02 5.15370046e-03 2.65790189e+01] [-1.39620098e-02 9.99902499e-01 -2.32325796e-04 -3.05255243e-01] [-5.15644194e-03 1.60344045e-04 9.99986693e-01 -1.06920966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.914203822000005 meters Centerline goodness [0,1] 0.9998277977484555 Centerline is valid? [True, True] Translation: X:26.61, Y:-0.30, Z:-1.07 [[ 9.99844777e-01 1.69709591e-02 4.73377795e-03 2.66113100e+01] [-1.69701447e-02 9.99855974e-01 -2.12163441e-04 -2.98883204e-01] [-4.73669678e-03 1.31797612e-04 9.99988773e-01 -1.06677682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.944203822000002 meters Centerline goodness [0,1] 0.9999784584895093 Centerline is valid? [True, True] Translation: X:26.64, Y:-0.29, Z:-1.07 [[ 9.99718408e-01 2.34914148e-02 3.35519565e-03 2.66428691e+01] [-2.34910414e-02 9.99724036e-01 -1.50687913e-04 -2.90529366e-01] [-3.35780961e-03 7.18284404e-05 9.99994360e-01 -1.07058160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.974203822000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.67, Y:-0.28, Z:-1.07 [[ 9.99519589e-01 3.08285242e-02 3.19281550e-03 2.66730073e+01] [-3.08282197e-02 9.99524687e-01 -1.44551850e-04 -2.78133375e-01] [-3.19575423e-03 4.60535878e-05 9.99994893e-01 -1.07256389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.004203822000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.70, Y:-0.27, Z:-1.07 [[ 9.99409740e-01 3.42056087e-02 3.18563442e-03 2.67023357e+01] [-3.42053209e-02 9.99414816e-01 -1.44811539e-04 -2.73262670e-01] [-3.18872361e-03 3.57604145e-05 9.99994915e-01 -1.07377857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.034203822000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.73, Y:-0.27, Z:-1.07 [[ 9.99266424e-01 3.80243540e-02 4.55648528e-03 2.67316942e+01] [-3.80238088e-02 9.99276812e-01 -2.06267888e-04 -2.67120038e-01] [-4.56103329e-03 3.28616503e-05 9.99989598e-01 -1.07236243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.064203822000003 meters Centerline goodness [0,1] 0.9999147775694562 Centerline is valid? [True, True] Translation: X:26.76, Y:-0.26, Z:-1.07 [[ 9.99210825e-01 3.90915829e-02 7.04095251e-03 2.67605184e+01] [-3.90903171e-02 9.99235631e-01 -3.17353863e-04 -2.64236245e-01] [-7.04797649e-03 4.18703492e-05 9.99975162e-01 -1.07035556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.094203822000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.79, Y:-0.26, Z:-1.07 [[ 9.99237424e-01 3.83204846e-02 7.49071803e-03 2.67898297e+01] [-3.83190305e-02 9.99265499e-01 -3.37609624e-04 -2.64422402e-01] [-7.49815345e-03 5.03151193e-05 9.99971887e-01 -1.06681214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.124203822000002 meters Centerline goodness [0,1] 0.9999129924085877 Centerline is valid? [True, True] Translation: X:26.82, Y:-0.27, Z:-1.07 [[ 9.99370244e-01 3.48758281e-02 6.54157624e-03 2.68179408e+01] [-3.48746481e-02 9.99391651e-01 -2.94402315e-04 -2.70391869e-01] [-6.54786420e-03 6.60817436e-05 9.99978560e-01 -1.07003103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.154203822000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.85, Y:-0.28, Z:-1.07 [[ 9.99451857e-01 3.26866970e-02 5.25029429e-03 2.68475940e+01] [-3.26859098e-02 9.99465645e-01 -2.35695084e-04 -2.76283124e-01] [-5.25519287e-03 6.39552440e-05 9.99986189e-01 -1.07446802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.184203822000004 meters Centerline goodness [0,1] 0.9998701776402622 Centerline is valid? [True, True] Translation: X:26.88, Y:-0.28, Z:-1.08 [[ 9.99546459e-01 2.98477884e-02 3.99825702e-03 2.68767917e+01] [-2.98473090e-02 9.99554454e-01 -1.79527480e-04 -2.83873705e-01] [-4.00183411e-03 6.01088439e-05 9.99991991e-01 -1.07827950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.214203822 meters Centerline goodness [0,1] 0.9998485569642162 Centerline is valid? [True, True] Translation: X:26.91, Y:-0.28, Z:-1.07 [[ 9.99555539e-01 2.93680162e-02 5.12283438e-03 2.69063459e+01] [-2.93672221e-02 9.99568664e-01 -2.30181273e-04 -2.84552343e-01] [-5.12738468e-03 7.96355512e-05 9.99986852e-01 -1.07418843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.244203822000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.93, Y:-0.29, Z:-1.07 [[ 9.99533348e-01 2.97696467e-02 6.84500139e-03 2.69347803e+01] [-2.97682392e-02 9.99556780e-01 -3.07431730e-04 -2.86941000e-01] [-6.85111969e-03 1.03524627e-04 9.99976525e-01 -1.07282287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.274203822000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.97, Y:-0.29, Z:-1.07 [[ 9.99486452e-01 3.12343669e-02 7.15871006e-03 2.69654566e+01] [-3.12328734e-02 9.99512083e-01 -3.20347872e-04 -2.87699840e-01] [-7.16522307e-03 9.65962728e-05 9.99974325e-01 -1.07007373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.304203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.99, Y:-0.29, Z:-1.07 [[ 9.99423594e-01 3.27117416e-02 9.07866879e-03 2.69946708e+01] [-3.27094071e-02 9.99464822e-01 -4.05542520e-04 -2.91927382e-01] [-9.08707609e-03 1.08350890e-04 9.99958706e-01 -1.07295756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.334203822000003 meters Centerline goodness [0,1] 0.9999140099318529 Centerline is valid? [True, True] Translation: X:27.03, Y:-0.29, Z:-1.07 [[ 9.99409038e-01 3.33228994e-02 8.43562451e-03 2.70253512e+01] [-3.33208977e-02 9.99444633e-01 -3.77762122e-04 -2.93115364e-01] [-8.44352778e-03 9.64562971e-05 9.99964348e-01 -1.07335321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.364203822000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.05, Y:-0.29, Z:-1.07 [[ 9.99336416e-01 3.53869988e-02 8.63069267e-03 2.70548250e+01] [-3.53849781e-02 9.99373681e-01 -3.86766961e-04 -2.91996819e-01] [-8.63897362e-03 8.11134378e-05 9.99962680e-01 -1.07443737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.394203822000005 meters Centerline goodness [0,1] 0.9999785052554651 Centerline is valid? [True, True] Translation: X:27.08, Y:-0.29, Z:-1.07 [[ 9.99282601e-01 3.70865816e-02 7.67262929e-03 2.70843455e+01] [-3.70850329e-02 9.99312054e-01 -3.44076943e-04 -2.87988710e-01] [-7.68011157e-03 5.92903927e-05 9.99970506e-01 -1.07379488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.424203822000003 meters Centerline goodness [0,1] 0.9999356858037131 Centerline is valid? [True, True] Translation: X:27.11, Y:-0.28, Z:-1.08 [[ 9.99142338e-01 4.10880149e-02 5.13450191e-03 2.71126256e+01] [-4.10873719e-02 9.99155531e-01 -2.30695605e-04 -2.84797861e-01] [-5.13964481e-03 1.95345560e-05 9.99986792e-01 -1.08253513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.454203822000004 meters Centerline goodness [0,1] 0.999893025246042 Centerline is valid? [True, True] Translation: X:27.14, Y:-0.28, Z:-1.08 [[ 9.99053820e-01 4.31306963e-02 5.58630779e-03 2.71414668e+01] [-4.31299673e-02 9.99069438e-01 -2.50968323e-04 -2.84105282e-01] [-5.59193383e-03 9.79358978e-06 9.99984365e-01 -1.08098046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.484203822000005 meters Centerline goodness [0,1] 0.9999782773976322 Centerline is valid? [True, True] Translation: X:27.17, Y:-0.28, Z:-1.07 [[ 9.98862232e-01 4.70883347e-02 7.54515621e-03 2.71705772e+01] [-4.70871237e-02 9.98890729e-01 -3.38162506e-04 -2.78635379e-01] [-7.55271010e-03 -1.75019482e-05 9.99971478e-01 -1.07398188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.514203822000002 meters Centerline goodness [0,1] 0.9999355946758265 Centerline is valid? [True, True] Translation: X:27.20, Y:-0.27, Z:-1.08 [[ 9.98738579e-01 4.95552789e-02 8.09472994e-03 2.71992103e+01] [-4.95539702e-02 9.98771382e-01 -3.62279302e-04 -2.71274217e-01] [-8.10273746e-03 -3.93036906e-05 9.99967172e-01 -1.07561184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.544203822000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.23, Y:-0.27, Z:-1.08 [[ 9.98720271e-01 4.97907183e-02 8.87154086e-03 2.72268380e+01] [-4.97891588e-02 9.98759672e-01 -3.96695629e-04 -2.69481821e-01] [-8.88028900e-03 -4.55185899e-05 9.99960568e-01 -1.07997932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.574203822000005 meters Centerline goodness [0,1] 0.9999786598378148 Centerline is valid? [True, True] Translation: X:27.26, Y:-0.27, Z:-1.08 [[ 9.98791288e-01 4.83688617e-02 8.74166772e-03 2.72560227e+01] [-4.83673022e-02 9.98829541e-01 -3.89841077e-04 -2.72746586e-01] [-8.75029212e-03 -3.34410132e-05 9.99961715e-01 -1.08109929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.604203822000002 meters Centerline goodness [0,1] 0.9999785047934311 Centerline is valid? [True, True] Translation: X:27.29, Y:-0.28, Z:-1.08 [[ 9.98989060e-01 4.43052780e-02 7.60920182e-03 2.72850873e+01] [-4.43039815e-02 9.99018039e-01 -3.38952742e-04 -2.82814967e-01] [-7.61674728e-03 1.49214472e-06 9.99970992e-01 -1.08251235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.634203822000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.31, Y:-0.29, Z:-1.08 [[ 9.99082663e-01 4.20693123e-02 8.00030790e-03 2.73132522e+01] [-4.20678048e-02 9.99114694e-01 -3.56695343e-04 -2.86965148e-01] [-8.00823111e-03 1.98127426e-05 9.99967933e-01 -1.08329675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.664203822000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.34, Y:-0.29, Z:-1.08 [[ 9.99208310e-01 3.89532364e-02 8.08692870e-03 2.73412696e+01] [-3.89516072e-02 9.99241034e-01 -3.58916848e-04 -2.91053828e-01] [-8.09477197e-03 4.36338267e-05 9.99967236e-01 -1.08312404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.694203822000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.37, Y:-0.29, Z:-1.08 [[ 9.99255914e-01 3.77680018e-02 7.82280253e-03 2.73708798e+01] [-3.77664353e-02 9.99286533e-01 -3.47918341e-04 -2.93703125e-01] [-7.83036140e-03 5.22200940e-05 9.99969341e-01 -1.08302464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.724203822000003 meters Centerline goodness [0,1] 0.9999134873258932 Centerline is valid? [True, True] Translation: X:27.40, Y:-0.30, Z:-1.08 [[ 9.99276701e-01 3.69319750e-02 9.06107676e-03 2.74005723e+01] [-3.69298420e-02 9.99317780e-01 -4.02665484e-04 -2.95974868e-01] [-9.06976634e-03 6.77501038e-05 9.99958867e-01 -1.08023155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.754203822000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.43, Y:-0.30, Z:-1.08 [[ 9.99262395e-01 3.69141176e-02 1.05836837e-02 2.74305881e+01] [-3.69112104e-02 9.99318439e-01 -4.69951771e-04 -2.96696709e-01] [-1.05938181e-02 7.89485558e-05 9.99943881e-01 -1.07798737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.784203822000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.46, Y:-0.30, Z:-1.08 [[ 9.99230941e-01 3.78676469e-02 1.01768152e-02 2.74601206e+01] [-3.78650133e-02 9.99282761e-01 -4.51408162e-04 -2.98772697e-01] [-1.01866097e-02 6.57157613e-05 9.99948113e-01 -1.08232839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.814203822000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.49, Y:-0.30, Z:-1.08 [[ 9.99121560e-01 4.05582696e-02 1.05420672e-02 2.74897384e+01] [-4.05555924e-02 9.99177174e-01 -4.67701499e-04 -2.98270746e-01] [-1.05523620e-02 3.97508739e-05 9.99944321e-01 -1.08293144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.844203822000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.52, Y:-0.30, Z:-1.08 [[ 9.99057456e-01 4.20769547e-02 1.06644311e-02 2.75190410e+01] [-4.20743041e-02 9.99114372e-01 -4.72883464e-04 -2.97500000e-01] [-1.06748839e-02 2.37392335e-05 9.99943022e-01 -1.08295383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.874203822000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.55, Y:-0.29, Z:-1.08 [[ 9.98902554e-01 4.57124780e-02 1.02008132e-02 2.75487714e+01] [-4.57102442e-02 9.98954638e-01 -4.52139856e-04 -2.94316535e-01] [-1.02108181e-02 -1.46380054e-05 9.99947868e-01 -1.08167554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.904203822000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.58, Y:-0.29, Z:-1.09 [[ 9.98766809e-01 4.87239132e-02 9.53104638e-03 2.75775338e+01] [-4.87221003e-02 9.98812284e-01 -4.22448140e-04 -2.90988207e-01] [-9.54030953e-03 -4.24454167e-05 9.99954489e-01 -1.08898327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.934203822000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.61, Y:-0.29, Z:-1.09 [[ 9.98745232e-01 4.92992915e-02 8.80578598e-03 2.76068779e+01] [-4.92977701e-02 9.98784050e-01 -3.89877939e-04 -2.91959432e-01] [-8.81429929e-03 -4.47168796e-05 9.99961152e-01 -1.08860180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.964203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.64, Y:-0.29, Z:-1.09 [[ 9.98753962e-01 4.92067949e-02 8.31956910e-03 2.76360455e+01] [-4.92054303e-02 9.98788611e-01 -3.68754260e-04 -2.93888106e-01] [-8.32763608e-03 -4.10731994e-05 9.99965324e-01 -1.08978628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.994203822000003 meters Centerline goodness [0,1] 0.9998717236071322 Centerline is valid? [True, True] Translation: X:27.66, Y:-0.30, Z:-1.09 [[ 9.98795746e-01 4.82419150e-02 8.93169461e-03 2.76642608e+01] [-4.82403085e-02 9.98835680e-01 -3.95337957e-04 -2.97402054e-01] [-8.94036712e-03 -3.60058339e-05 9.99960033e-01 -1.09032476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.024203822000004 meters Centerline goodness [0,1] 0.999978624257193 Centerline is valid? [True, True] Translation: X:27.69, Y:-0.30, Z:-1.09 [[ 9.98835302e-01 4.71405928e-02 1.02860801e-02 2.76917849e+01] [-4.71384087e-02 9.98888264e-01 -4.54810682e-04 -3.00874704e-01] [-1.02960847e-02 -3.05884818e-05 9.99946993e-01 -1.09090976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.054203822 meters Centerline goodness [0,1] 0.9999571192727429 Centerline is valid? [True, True] Translation: X:27.72, Y:-0.31, Z:-1.09 [[ 9.98928279e-01 4.49362274e-02 1.10918210e-02 2.77208773e+01] [-4.49335658e-02 9.98989857e-01 -4.89173601e-04 -3.08318412e-01] [-1.11025983e-02 -9.74572571e-06 9.99938364e-01 -1.08840867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.084203822000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.75, Y:-0.31, Z:-1.09 [[ 9.98982356e-01 4.37525835e-02 1.09528360e-02 2.77487578e+01] [-4.37499213e-02 9.99042397e-01 -4.82658160e-04 -3.13594444e-01] [-1.09634651e-02 2.98127122e-06 9.99939899e-01 -1.09224587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.114203822000004 meters Centerline goodness [0,1] 0.9998280974687352 Centerline is valid? [True, True] Translation: X:27.78, Y:-0.32, Z:-1.09 [[ 9.99012108e-01 4.31890066e-02 1.04650586e-02 2.77787737e+01] [-4.31865513e-02 9.99066920e-01 -4.60589571e-04 -3.17579613e-01] [-1.04751863e-02 8.18476842e-06 9.99945134e-01 -1.09165133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.144203822000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.81, Y:-0.32, Z:-1.09 [[ 9.99069365e-01 4.17777237e-02 1.07250304e-02 2.78085079e+01] [-4.17750664e-02 9.99126930e-01 -4.71775387e-04 -3.20008376e-01] [-1.07353764e-02 2.32974809e-05 9.99942374e-01 -1.08954059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.174203822000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.84, Y:-0.32, Z:-1.09 [[ 9.99086657e-01 4.11248278e-02 1.16017702e-02 2.78378232e+01] [-4.11216877e-02 9.99154016e-01 -5.09175282e-04 -3.22075149e-01] [-1.16128951e-02 3.16258569e-05 9.99932568e-01 -1.09195052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.204203822000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.87, Y:-0.33, Z:-1.09 [[ 9.99077479e-01 4.14840976e-02 1.11023114e-02 2.78686391e+01] [-4.14812386e-02 9.99139164e-01 -4.87766403e-04 -3.26061923e-01] [-1.11129887e-02 2.67787976e-05 9.99938248e-01 -1.09221589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.234203822000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.90, Y:-0.33, Z:-1.09 [[ 9.99077479e-01 4.14840976e-02 1.11023114e-02 2.78986017e+01] [-4.14812386e-02 9.99139164e-01 -4.87766403e-04 -3.27378291e-01] [-1.11129887e-02 2.67787976e-05 9.99938248e-01 -1.09315894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.264203822000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.93, Y:-0.33, Z:-1.10 [[ 9.99049027e-01 4.24539399e-02 9.93501356e-03 2.79276039e+01] [-4.24516959e-02 9.99098425e-01 -4.36734179e-04 -3.29738017e-01] [-9.94459748e-03 1.45606821e-05 9.99950551e-01 -1.09768326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.294203822000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.96, Y:-0.33, Z:-1.10 [[ 9.99002581e-01 4.37767892e-02 8.79977149e-03 2.79576199e+01] [-4.37750783e-02 9.99041337e-01 -3.87037164e-04 -3.30766549e-01] [-8.80827872e-03 1.44043946e-06 9.99961206e-01 -1.09954330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.324203822000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.99, Y:-0.33, Z:-1.10 [[ 9.98815893e-01 4.79726719e-02 8.08920813e-03 2.79862262e+01] [-4.79713603e-02 9.98848648e-01 -3.56211175e-04 -3.26697256e-01] [-8.09698301e-03 -3.22609349e-05 9.99967218e-01 -1.10128236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.354203822000002 meters Centerline goodness [0,1] 0.9999786511816571 Centerline is valid? [True, True] Translation: X:28.02, Y:-0.32, Z:-1.11 [[ 9.98556523e-01 5.33220201e-02 6.45240035e-03 2.80154535e+01] [-5.33212987e-02 9.98577367e-01 -2.83894831e-04 -3.16806051e-01] [-6.45835880e-03 -6.05653312e-05 9.99979143e-01 -1.10847371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.384203822000003 meters Centerline goodness [0,1] 0.9999785066414478 Centerline is valid? [True, True] Translation: X:28.04, Y:-0.32, Z:-1.11 [[ 9.98436663e-01 5.55321262e-02 6.35710692e-03 2.80445335e+01] [-5.55314708e-02 9.98456898e-01 -2.79696029e-04 -3.15458314e-01] [-6.36282937e-03 -7.37607269e-05 9.99979754e-01 -1.10696581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.414203822000005 meters Centerline goodness [0,1] 0.9999570594297492 Centerline is valid? [True, True] Translation: X:28.07, Y:-0.31, Z:-1.11 [[ 9.98327397e-01 5.73546420e-02 7.27009942e-03 2.80736920e+01] [-5.73538372e-02 9.98353863e-01 -3.19312415e-04 -3.13068934e-01] [-7.27644589e-03 -9.81897669e-05 9.99973521e-01 -1.10662381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.444203822000002 meters Centerline goodness [0,1] 0.9999785793848 Centerline is valid? [True, True] Translation: X:28.10, Y:-0.31, Z:-1.10 [[ 9.98143279e-01 6.01951049e-02 9.30288710e-03 2.81028191e+01] [-6.01939182e-02 9.98186619e-01 -4.07757318e-04 -3.05457625e-01] [-9.31056241e-03 -1.52976999e-04 9.99956644e-01 -1.10328269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.474203822000003 meters Centerline goodness [0,1] 0.9999571981937638 Centerline is valid? [True, True] Translation: X:28.13, Y:-0.31, Z:-1.10 [[ 9.98080166e-01 6.11397893e-02 9.89490510e-03 2.81313147e+01] [-6.11384984e-02 9.98129198e-01 -4.33182066e-04 -3.05626161e-01] [-9.90287836e-03 -1.72609211e-04 9.99950950e-01 -1.10082814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.504203822000004 meters Centerline goodness [0,1] 0.9999785876407863 Centerline is valid? [True, True] Translation: X:28.16, Y:-0.31, Z:-1.10 [[ 9.98049665e-01 6.13094642e-02 1.17480203e-02 2.81592424e+01] [-6.13076636e-02 9.98118784e-01 -5.13679834e-04 -3.05589715e-01] [-1.17574131e-02 -2.07565689e-04 9.99930858e-01 -1.10075881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.534203822000002 meters Centerline goodness [0,1] 0.9999357532926437 Centerline is valid? [True, True] Translation: X:28.19, Y:-0.31, Z:-1.10 [[ 9.98087867e-01 6.04891652e-02 1.27149468e-02 2.81884629e+01] [-6.04870044e-02 9.98168831e-01 -5.54784771e-04 -3.06835676e-01] [-1.27252220e-02 -2.15365094e-04 9.99919008e-01 -1.09924647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.564203822000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.22, Y:-0.31, Z:-1.10 [[ 9.98165603e-01 5.91420948e-02 1.29476358e-02 2.82165582e+01] [-5.91397465e-02 9.98249554e-01 -5.64501765e-04 -3.06273014e-01] [-1.29583575e-02 -2.02253657e-04 9.99916017e-01 -1.10080471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.594203822000004 meters Centerline goodness [0,1] 0.9999137056932669 Centerline is valid? [True, True] Translation: X:28.25, Y:-0.31, Z:-1.10 [[ 9.98361290e-01 5.59752806e-02 1.18954823e-02 2.82457849e+01] [-5.59730859e-02 9.98432144e-01 -5.17601734e-04 -3.09139360e-01] [-1.19058048e-02 -1.49073317e-04 9.99929112e-01 -1.10165020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.624203822000002 meters Centerline goodness [0,1] 0.9999783629400437 Centerline is valid? [True, True] Translation: X:28.27, Y:-0.31, Z:-1.10 [[ 9.98485916e-01 5.37479633e-02 1.17060975e-02 2.82746336e+01] [-5.37456869e-02 9.98554526e-01 -5.09190485e-04 -3.12964305e-01] [-1.17165446e-02 -1.20732724e-04 9.99931352e-01 -1.10314301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.654203822000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.30, Y:-0.32, Z:-1.10 [[ 9.98691187e-01 4.95014399e-02 1.28654704e-02 2.83031722e+01] [-4.94983506e-02 9.98774049e-01 -5.58630333e-04 -3.20898651e-01] [-1.28773510e-02 -7.89203748e-05 9.99917080e-01 -1.10314619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.684203822000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.33, Y:-0.32, Z:-1.11 [[ 9.98782575e-01 4.76805969e-02 1.26462619e-02 2.83320187e+01] [-4.76774716e-02 9.98862632e-01 -5.48672889e-04 -3.24077169e-01] [-1.26580395e-02 -5.49368723e-05 9.99919882e-01 -1.10714749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.714203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.36, Y:-0.33, Z:-1.11 [[ 9.98880899e-01 4.57788273e-02 1.18847744e-02 2.83614172e+01] [-4.57759422e-02 9.98951599e-01 -5.14816650e-04 -3.27649083e-01] [-1.18958821e-02 -2.97962281e-05 9.99929241e-01 -1.11035054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.744203822000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.39, Y:-0.33, Z:-1.11 [[ 9.98973026e-01 4.39965993e-02 1.08255697e-02 2.83913430e+01] [-4.39941043e-02 9.99031681e-01 -4.68611704e-04 -3.31946478e-01] [-1.08357044e-02 -8.13079172e-06 9.99941292e-01 -1.11007985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.774203822000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.42, Y:-0.34, Z:-1.11 [[ 9.99123303e-01 4.01030662e-02 1.20153726e-02 2.84214675e+01] [-4.00997111e-02 9.99195548e-01 -5.20115280e-04 -3.38367930e-01] [-1.20265650e-02 3.78463272e-05 9.99927678e-01 -1.10905940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.804203822000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.45, Y:-0.34, Z:-1.11 [[ 9.99177745e-01 3.84623101e-02 1.28251279e-02 2.84517709e+01] [-3.84583524e-02 9.99260050e-01 -5.55167551e-04 -3.41827261e-01] [-1.28369909e-02 6.14777747e-05 9.99917601e-01 -1.10835524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.834203822000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.48, Y:-0.35, Z:-1.11 [[ 9.99332738e-01 3.49543637e-02 1.05958547e-02 2.84826158e+01] [-3.49514702e-02 9.99388906e-01 -4.58181743e-04 -3.50842191e-01] [-1.06053951e-02 8.75353137e-05 9.99943757e-01 -1.11277282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.864203822000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.51, Y:-0.36, Z:-1.12 [[ 9.99388245e-01 3.37657593e-02 9.11092696e-03 2.85132776e+01] [-3.37635673e-02 9.99429770e-01 -3.94340010e-04 -3.55497237e-01] [-9.11904683e-03 8.64813750e-05 9.99958417e-01 -1.11583712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.894203822000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.54, Y:-0.36, Z:-1.12 [[ 9.99393657e-01 3.34798632e-02 9.56120357e-03 2.85434832e+01] [-3.34774324e-02 9.99439388e-01 -4.14216477e-04 -3.61022653e-01] [-9.56971136e-03 9.38807739e-05 9.99954205e-01 -1.11526709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.924203822000003 meters Centerline goodness [0,1] 0.9999566047561187 Centerline is valid? [True, True] Translation: X:28.57, Y:-0.36, Z:-1.12 [[ 9.99363343e-01 3.43371090e-02 9.68873679e-03 2.85741849e+01] [-3.43346532e-02 9.99410304e-01 -4.19741551e-04 -3.64071394e-01] [-9.69743609e-03 8.68149025e-05 9.99952975e-01 -1.11528201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.954203822000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.60, Y:-0.37, Z:-1.12 [[ 9.99346126e-01 3.48400601e-02 9.66903153e-03 2.86037763e+01] [-3.48376353e-02 9.99392897e-01 -4.19147972e-04 -3.67617319e-01] [-9.67776458e-03 8.20277087e-05 9.99953166e-01 -1.11736157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.984203822000005 meters Centerline goodness [0,1] 0.9999146138410964 Centerline is valid? [True, True] Translation: X:28.63, Y:-0.37, Z:-1.12 [[ 9.99325474e-01 3.54392408e-02 9.62585441e-03 2.86336832e+01] [-3.54368690e-02 9.99371830e-01 -4.16902061e-04 -3.69988403e-01] [-9.63458243e-03 7.55107086e-05 9.99953583e-01 -1.11749433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.014203822000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.66, Y:-0.38, Z:-1.12 [[ 9.99290656e-01 3.59543978e-02 1.12011325e-02 2.86641250e+01] [-3.59512212e-02 9.99353428e-01 -4.84890765e-04 -3.76622587e-01] [-1.12113241e-02 8.18524192e-05 9.99937148e-01 -1.11687434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.044203822 meters Centerline goodness [0,1] 0.9999572676965152 Centerline is valid? [True, True] Translation: X:28.69, Y:-0.38, Z:-1.12 [[ 9.99237623e-01 3.74684825e-02 1.09675069e-02 2.86945631e+01] [-3.74655320e-02 9.99297808e-01 -4.74428511e-04 -3.84207736e-01] [-1.09775817e-02 6.31633386e-05 9.99939743e-01 -1.12015004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.074203822 meters Centerline goodness [0,1] 0.9999784575613959 Centerline is valid? [True, True] Translation: X:28.73, Y:-0.39, Z:-1.12 [[ 9.99203645e-01 3.85140859e-02 1.04278630e-02 2.87261122e+01] [-3.85114699e-02 9.99258056e-01 -4.51623720e-04 -3.86589345e-01] [-1.04375200e-02 4.96717366e-05 9.99945526e-01 -1.11916809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.104203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.76, Y:-0.39, Z:-1.13 [[ 9.99174659e-01 3.94965766e-02 9.48798858e-03 2.87557202e+01] [-3.94944513e-02 9.99219705e-01 -4.11339977e-04 -3.91401094e-01] [-9.49683167e-03 3.62775785e-05 9.99954903e-01 -1.12626518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.134203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.79, Y:-0.40, Z:-1.13 [[ 9.99038355e-01 4.32737783e-02 7.05304972e-03 2.87858094e+01] [-4.32726960e-02 9.99063251e-01 -3.06051835e-04 -3.95339440e-01] [-7.05968681e-03 5.53044651e-07 9.99975080e-01 -1.12890730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.164203822000005 meters Centerline goodness [0,1] 0.999892890040916 Centerline is valid? [True, True] Translation: X:28.81, Y:-0.39, Z:-1.13 [[ 9.98911182e-01 4.61168504e-02 7.04881614e-03 2.88144636e+01] [-4.61158342e-02 9.98936052e-01 -3.06716931e-04 -3.93945919e-01] [-7.05546138e-03 -1.86790641e-05 9.99975110e-01 -1.13108464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.194203822000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.84, Y:-0.39, Z:-1.12 [[ 9.98709956e-01 5.02518265e-02 7.29226514e-03 2.88436256e+01] [-5.02508486e-02 9.98736578e-01 -3.17374073e-04 -3.92908183e-01] [-7.29900056e-03 -4.94778653e-05 9.99973361e-01 -1.12483157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.22420382200001 meters Centerline goodness [0,1] 0.9999133092043953 Centerline is valid? [True, True] Translation: X:28.87, Y:-0.39, Z:-1.12 [[ 9.98629199e-01 5.17798341e-02 7.65316616e-03 2.88726855e+01] [-5.17788055e-02 9.98658523e-01 -3.32622023e-04 -3.94002695e-01] [-7.66012272e-03 -6.41057375e-05 9.99970659e-01 -1.12497037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.254203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.90, Y:-0.40, Z:-1.13 [[ 9.98609535e-01 5.20927915e-02 8.08323290e-03 2.89004936e+01] [-5.20916559e-02 9.98642246e-01 -3.51110275e-04 -3.97774164e-01] [-8.09054817e-03 -7.04469184e-05 9.99967268e-01 -1.12807432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.284203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.93, Y:-0.40, Z:-1.13 [[ 9.98548001e-01 5.31543705e-02 8.74657825e-03 2.89283914e+01] [-5.31530904e-02 9.98586303e-01 -3.78907213e-04 -4.01582498e-01] [-8.75435382e-03 -8.65506244e-05 9.99961676e-01 -1.13367719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.314203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.96, Y:-0.40, Z:-1.13 [[ 9.98479253e-01 5.44747116e-02 8.46683530e-03 2.89581113e+01] [-5.44735672e-02 9.98515146e-01 -3.65882567e-04 -4.02243452e-01] [-8.47419463e-03 -9.58925697e-05 9.99964089e-01 -1.13131973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.344203822000004 meters Centerline goodness [0,1] 0.999828421910522 Centerline is valid? [True, True] Translation: X:28.99, Y:-0.40, Z:-1.13 [[ 9.98356218e-01 5.67004419e-02 8.36196255e-03 2.89880350e+01] [-5.66994054e-02 9.98391229e-01 -3.61159607e-04 -3.99013740e-01] [-8.36898798e-03 -1.13552365e-04 9.99964973e-01 -1.13129444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.374203822000005 meters Centerline goodness [0,1] 0.9998711533918869 Centerline is valid? [True, True] Translation: X:29.02, Y:-0.40, Z:-1.13 [[ 9.98128070e-01 6.03522898e-02 9.89728565e-03 2.90169260e+01] [-6.03510157e-02 9.98177125e-01 -4.27624412e-04 -3.95711414e-01] [-9.90505224e-03 -1.70487312e-04 9.99950929e-01 -1.12812312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.40420382200001 meters Centerline goodness [0,1] 0.999957115594914 Centerline is valid? [True, True] Translation: X:29.05, Y:-0.40, Z:-1.13 [[ 9.98047053e-01 6.15488010e-02 1.06688919e-02 2.90455698e+01] [-6.15473954e-02 9.98104056e-01 -4.60331681e-04 -3.97695779e-01] [-1.06769971e-02 -1.97209831e-04 9.99942980e-01 -1.12833392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.434203822 meters Centerline goodness [0,1] 0.999873131330218 Centerline is valid? [True, True] Translation: X:29.07, Y:-0.40, Z:-1.13 [[ 9.98095378e-01 6.07836096e-02 1.05341745e-02 2.90743510e+01] [-6.07822045e-02 9.98150949e-01 -4.53777898e-04 -3.99302189e-01] [-1.05422785e-02 -1.87376724e-04 9.99944411e-01 -1.13328068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.464203822 meters Centerline goodness [0,1] 0.9999569540699926 Centerline is valid? [True, True] Translation: X:29.10, Y:-0.41, Z:-1.13 [[ 9.98210182e-01 5.87541294e-02 1.11527985e-02 2.91040615e+01] [-5.87524357e-02 9.98272468e-01 -4.79718106e-04 -4.08408348e-01] [-1.11617171e-02 -1.76394579e-04 9.99937691e-01 -1.13055110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.494203822 meters Centerline goodness [0,1] 0.9999571505088377 Centerline is valid? [True, True] Translation: X:29.13, Y:-0.42, Z:-1.13 [[ 9.98462093e-01 5.38829431e-02 1.30413752e-02 2.91332388e+01] [-5.38802175e-02 9.98547249e-01 -5.60511822e-04 -4.19806506e-01] [-1.30526314e-02 -1.43022326e-04 9.99914801e-01 -1.12655981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.524203822000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.16, Y:-0.42, Z:-1.13 [[ 9.98587978e-01 5.14888752e-02 1.30746100e-02 2.91635032e+01] [-5.14859433e-02 9.98673562e-01 -5.60962862e-04 -4.24885664e-01] [-1.30861507e-02 -1.12987860e-04 9.99914366e-01 -1.12816007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.554203822000005 meters Centerline goodness [0,1] 0.9999139340735003 Centerline is valid? [True, True] Translation: X:29.19, Y:-0.43, Z:-1.13 [[ 9.98747804e-01 4.88140079e-02 1.09552024e-02 2.91940358e+01] [-4.88118195e-02 9.98807883e-01 -4.67202808e-04 -4.31863079e-01] [-1.09649486e-02 -6.81255864e-05 9.99939881e-01 -1.13256276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.584203822000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.22, Y:-0.44, Z:-1.13 [[ 9.98763428e-01 4.86935256e-02 1.00277129e-02 2.92241360e+01] [-4.86916417e-02 9.98813765e-01 -4.32066154e-04 -4.35201163e-01] [-1.00368565e-02 -5.67339307e-05 9.99949628e-01 -1.13393562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.614203822 meters Centerline goodness [0,1] 0.9999137336093857 Centerline is valid? [True, True] Translation: X:29.25, Y:-0.44, Z:-1.13 [[ 9.98709129e-01 4.98939983e-02 9.52180488e-03 2.92545662e+01] [-4.98923542e-02 9.98754517e-01 -4.10267989e-04 -4.35566926e-01] [-9.53041554e-03 -6.53268757e-05 9.99954582e-01 -1.13489717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.644203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.28, Y:-0.43, Z:-1.14 [[ 9.98489510e-01 5.42999604e-02 8.37932640e-03 2.92841612e+01] [-5.42988400e-02 9.98524664e-01 -3.61319245e-04 -4.31604532e-01] [-8.38658370e-03 -9.42142274e-05 9.99964828e-01 -1.13966772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.674203822 meters Centerline goodness [0,1] 0.9998508226067684 Centerline is valid? [True, True] Translation: X:29.31, Y:-0.42, Z:-1.15 [[ 9.98159417e-01 6.03329896e-02 6.14066296e-03 2.93134430e+01] [-6.03325027e-02 9.98178300e-01 -2.64660218e-04 -4.22185022e-01] [-6.14544426e-03 -1.06308475e-04 9.99981111e-01 -1.14714754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.704203822000004 meters Centerline goodness [0,1] 0.9998721935841179 Centerline is valid? [True, True] Translation: X:29.34, Y:-0.42, Z:-1.15 [[ 9.97980902e-01 6.31976320e-02 6.33863817e-03 2.93421381e+01] [-6.31971647e-02 9.98001024e-01 -2.74185365e-04 -4.19228347e-01] [-6.34329525e-03 -1.26952203e-04 9.99979873e-01 -1.14658049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.734203822000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.37, Y:-0.42, Z:-1.15 [[ 9.97838533e-01 6.54162901e-02 6.24271278e-03 2.93708566e+01] [-6.54158818e-02 9.97858051e-01 -2.69784679e-04 -4.16399354e-01] [-6.24698952e-03 -1.39171014e-04 9.99980478e-01 -1.14613143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.764203822000006 meters Centerline goodness [0,1] 0.9998074948665298 Centerline is valid? [True, True] Translation: X:29.40, Y:-0.41, Z:-1.15 [[ 9.97669752e-01 6.80565678e-02 4.83414702e-03 2.93996676e+01] [-6.80563550e-02 9.97681457e-01 -2.08698577e-04 -4.08450876e-01] [-4.83714215e-03 -1.20782168e-04 9.99988294e-01 -1.15035485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.794203822 meters Centerline goodness [0,1] 0.9997218537378578 Centerline is valid? [True, True] Translation: X:29.43, Y:-0.41, Z:-1.15 [[ 9.97683082e-01 6.79050475e-02 4.16805981e-03 2.94283300e+01] [-6.79048866e-02 9.97691783e-01 -1.80268436e-04 -4.07986347e-01] [-4.17068016e-03 -1.03180860e-04 9.99991297e-01 -1.15279528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.824203822 meters Centerline goodness [0,1] 0.9998288989648387 Centerline is valid? [True, True] Translation: X:29.46, Y:-0.41, Z:-1.15 [[ 9.97822067e-01 6.57982554e-02 4.65957372e-03 2.94574012e+01] [-6.57980345e-02 9.97832941e-01 -2.00834730e-04 -4.12539924e-01] [-4.66269072e-03 -1.06193467e-04 9.99989124e-01 -1.15085555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.854203822 meters Centerline goodness [0,1] 0.9997405293201869 Centerline is valid? [True, True] Translation: X:29.49, Y:-0.41, Z:-1.15 [[ 9.97912361e-01 6.44134629e-02 4.67182451e-03 2.94859083e+01] [-6.44132251e-02 9.97923292e-01 -2.01511999e-04 -4.14726619e-01] [-4.67510258e-03 -9.98359696e-05 9.99989067e-01 -1.15142241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.884203822 meters Centerline goodness [0,1] 0.9998707815562208 Centerline is valid? [True, True] Translation: X:29.51, Y:-0.42, Z:-1.15 [[ 9.97984868e-01 6.32836172e-02 4.62466213e-03 2.95135673e+01] [-6.32833715e-02 9.97995579e-01 -1.99588594e-04 -4.15775196e-01] [-4.62802305e-03 -9.34778148e-05 9.99989286e-01 -1.15324292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.914203822000005 meters Centerline goodness [0,1] 0.9998271391529818 Centerline is valid? [True, True] Translation: X:29.54, Y:-0.42, Z:-1.15 [[ 9.98052587e-01 6.21930506e-02 4.80184012e-03 2.95419844e+01] [-6.21927765e-02 9.98064134e-01 -2.06531025e-04 -4.17410893e-01] [-4.80538919e-03 -9.25109458e-05 9.99988450e-01 -1.15370708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.944203822000006 meters Centerline goodness [0,1] 0.9999570649607145 Centerline is valid? [True, True] Translation: X:29.57, Y:-0.42, Z:-1.15 [[ 9.98138846e-01 6.05803221e-02 6.99065749e-03 2.95713992e+01] [-6.05797129e-02 9.98163318e-01 -2.99047966e-04 -4.16030491e-01] [-6.99593429e-03 -1.25000632e-04 9.99975520e-01 -1.15184692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.97420382200001 meters Centerline goodness [0,1] 0.9998709760660602 Centerline is valid? [True, True] Translation: X:29.60, Y:-0.41, Z:-1.15 [[ 9.98206106e-01 5.94366212e-02 7.20120366e-03 2.95991242e+01] [-5.94359404e-02 9.98232074e-01 -3.08701331e-04 -4.13359033e-01] [-7.20682063e-03 -1.19862758e-04 9.99974023e-01 -1.15184813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.004203822 meters Centerline goodness [0,1] 0.9997864479894079 Centerline is valid? [True, True] Translation: X:29.63, Y:-0.42, Z:-1.15 [[ 9.98273391e-01 5.84158468e-02 6.15032004e-03 2.96280434e+01] [-5.84153331e-02 9.98292332e-01 -2.63287199e-04 -4.16022479e-01] [-6.15519748e-03 -9.64403891e-05 9.99981052e-01 -1.15278825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.034203822 meters Centerline goodness [0,1] 0.9999356747716455 Centerline is valid? [True, True] Translation: X:29.66, Y:-0.42, Z:-1.16 [[ 9.98401035e-01 5.62868898e-02 5.21153252e-03 2.96565037e+01] [-5.62864921e-02 9.98414634e-01 -2.23075605e-04 -4.19424748e-01] [-5.21582657e-03 -7.06199697e-05 9.99986395e-01 -1.15658532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.064203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.68, Y:-0.43, Z:-1.16 [[ 9.98644065e-01 5.18351441e-02 4.81143982e-03 2.96836581e+01] [-5.18347525e-02 9.98655654e-01 -2.06147583e-04 -4.25051905e-01] [-4.81565727e-03 -4.35317315e-05 9.99988404e-01 -1.16097405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.094203822000004 meters Centerline goodness [0,1] 0.9999785218754699 Centerline is valid? [True, True] Translation: X:29.71, Y:-0.43, Z:-1.16 [[ 9.98767803e-01 4.93143971e-02 5.56471425e-03 2.97121157e+01] [-4.93138392e-02 9.98783304e-01 -2.37505700e-04 -4.32081182e-01] [-5.56965614e-03 -3.72043777e-05 9.99984489e-01 -1.15698232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.124203822000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.74, Y:-0.44, Z:-1.15 [[ 9.98961817e-01 4.49137282e-02 7.61880057e-03 2.97418938e+01] [-4.49125658e-02 9.98990869e-01 -3.23680287e-04 -4.38983849e-01] [-7.62564989e-03 -1.88356350e-05 9.99970924e-01 -1.15126210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.15420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.77, Y:-0.44, Z:-1.15 [[ 9.98962920e-01 4.48891871e-02 7.61880863e-03 2.97710245e+01] [-4.48880255e-02 9.98991972e-01 -3.23490392e-04 -4.40175817e-01] [-7.62564988e-03 -1.88383697e-05 9.99970924e-01 -1.15217896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.184203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.80, Y:-0.44, Z:-1.15 [[ 9.99012328e-01 4.37288968e-02 7.88370683e-03 2.98006209e+01] [-4.37276186e-02 9.99043434e-01 -3.34515907e-04 -4.39785499e-01] [-7.89079355e-03 -1.05502107e-05 9.99968867e-01 -1.15219401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.214203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.83, Y:-0.44, Z:-1.16 [[ 9.99054802e-01 4.28221655e-02 7.46763952e-03 2.98295355e+01] [-4.28209922e-02 9.99082710e-01 -3.17009169e-04 -4.40592194e-01] [-7.47436455e-03 -3.06220131e-06 9.99972067e-01 -1.15567595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.244203822 meters Centerline goodness [0,1] 0.9998921390974199 Centerline is valid? [True, True] Translation: X:29.86, Y:-0.45, Z:-1.16 [[ 9.99111425e-01 4.15458673e-02 7.09230338e-03 2.98590288e+01] [-4.15447804e-02 9.99136598e-01 -3.00568458e-04 -4.45927508e-01] [-7.09866725e-03 5.65319345e-06 9.99974804e-01 -1.15621093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.274203822000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.89, Y:-0.45, Z:-1.16 [[ 9.99127084e-01 4.09864777e-02 8.07338036e-03 2.98888976e+01] [-4.09850534e-02 9.99159701e-01 -3.41849449e-04 -4.47484019e-01] [-8.08060751e-03 1.06631175e-05 9.99967351e-01 -1.15582300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.304203822000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.92, Y:-0.45, Z:-1.16 [[ 9.99108409e-01 4.11941906e-02 9.24259682e-03 2.99184938e+01] [-4.11923385e-02 9.99151159e-01 -3.90752345e-04 -4.47803775e-01] [-9.25084805e-03 9.67977709e-06 9.99957210e-01 -1.15881427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.334203822000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.95, Y:-0.45, Z:-1.16 [[ 9.99078362e-01 4.21499629e-02 8.11213563e-03 2.99491012e+01] [-4.21485703e-02 9.99111295e-01 -3.42626131e-04 -4.47126100e-01] [-8.11936802e-03 3.95435171e-07 9.99967037e-01 -1.16089849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.364203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.98, Y:-0.45, Z:-1.16 [[ 9.99069075e-01 4.24982624e-02 7.40811454e-03 2.99792158e+01] [-4.24971064e-02 9.99096541e-01 -3.13472287e-04 -4.47940220e-01] [-7.41474363e-03 -1.64296379e-06 9.99972510e-01 -1.16023604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.394203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.01, Y:-0.45, Z:-1.16 [[ 9.99070844e-01 4.24103730e-02 7.66872329e-03 3.00075596e+01] [-4.24091310e-02 9.99100275e-01 -3.24570219e-04 -4.50306297e-01] [-7.67558870e-03 -9.55247825e-07 9.99970542e-01 -1.16161700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.424203822 meters Centerline goodness [0,1] 0.9998494623655914 Centerline is valid? [True, True] Translation: X:30.04, Y:-0.45, Z:-1.16 [[ 9.99090794e-01 4.19231662e-02 7.74816443e-03 3.00364080e+01] [-4.19218861e-02 9.99120838e-01 -3.27625554e-04 -4.54237556e-01] [-7.75508763e-03 2.51000881e-06 9.99969929e-01 -1.16252228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.454203822000004 meters Centerline goodness [0,1] 0.9998925170360498 Centerline is valid? [True, True] Translation: X:30.07, Y:-0.46, Z:-1.16 [[ 9.99091770e-01 4.20566182e-02 6.84657116e-03 3.00665099e+01] [-4.20556245e-02 9.99115229e-01 -2.89107280e-04 -4.55112127e-01] [-6.85267239e-03 9.07878587e-07 9.99976520e-01 -1.16257026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.484203822000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.10, Y:-0.46, Z:-1.16 [[ 9.99089334e-01 4.22117546e-02 6.21860632e-03 3.00964434e+01] [-4.22109383e-02 9.99108687e-01 -2.62518537e-04 -4.55531211e-01] [-6.22414497e-03 -2.13737535e-07 9.99980630e-01 -1.16398571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.514203822000006 meters Centerline goodness [0,1] 0.9999136106431687 Centerline is valid? [True, True] Translation: X:30.13, Y:-0.46, Z:-1.16 [[ 9.99054835e-01 4.29484610e-02 6.69824834e-03 3.01264612e+01] [-4.29475319e-02 9.99077289e-01 -2.82544988e-04 -4.55437486e-01] [-6.70420266e-03 -5.39529783e-06 9.99977527e-01 -1.16288031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.544203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.16, Y:-0.45, Z:-1.16 [[ 9.98917801e-01 4.54815544e-02 9.72904039e-03 3.01551113e+01] [-4.54797225e-02 9.98965178e-01 -4.09561522e-04 -4.53638165e-01] [-9.73760006e-03 -3.33557615e-05 9.99952588e-01 -1.16256876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.574203822 meters Centerline goodness [0,1] 0.9999786169439336 Centerline is valid? [True, True] Translation: X:30.18, Y:-0.45, Z:-1.17 [[ 9.98836700e-01 4.74294102e-02 8.70040341e-03 3.01841078e+01] [-4.74280177e-02 9.98874591e-01 -3.66415944e-04 -4.53608135e-01] [-8.70799079e-03 -4.66531953e-05 9.99962084e-01 -1.16698856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.604203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.21, Y:-0.46, Z:-1.17 [[ 9.98757705e-01 4.93448982e-02 6.93744204e-03 3.02139697e+01] [-4.93440612e-02 9.98781797e-01 -2.91870751e-04 -4.55436612e-01] [-6.94339316e-03 -5.08134034e-05 9.99975893e-01 -1.17078727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.634203822 meters Centerline goodness [0,1] 0.9999138951673663 Centerline is valid? [True, True] Translation: X:30.24, Y:-0.45, Z:-1.17 [[ 9.98532845e-01 5.39026029e-02 5.16409035e-03 3.02439669e+01] [-5.39021982e-02 9.98546196e-01 -2.17616723e-04 -4.49366587e-01] [-5.16831288e-03 -6.10583760e-05 9.99986642e-01 -1.17117003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.664203822000005 meters Centerline goodness [0,1] 0.9999786411499605 Centerline is valid? [True, True] Translation: X:30.27, Y:-0.44, Z:-1.17 [[ 9.98396615e-01 5.62913892e-02 5.95647291e-03 3.02732157e+01] [-5.62908912e-02 9.98414379e-01 -2.51351458e-04 -4.43166032e-01] [-5.96117713e-03 -8.43467242e-05 9.99982228e-01 -1.17129135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.694203822000006 meters Centerline goodness [0,1] 0.9999784180425164 Centerline is valid? [True, True] Translation: X:30.30, Y:-0.44, Z:-1.17 [[ 9.98237426e-01 5.89438775e-02 6.90368430e-03 3.03026367e+01] [-5.89432778e-02 9.98261291e-01 -2.90486976e-04 -4.38080375e-01] [-6.90880323e-03 -1.16950810e-04 9.99976127e-01 -1.16868476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.72420382200001 meters Centerline goodness [0,1] 0.9997249666786553 Centerline is valid? [True, True] Translation: X:30.33, Y:-0.43, Z:-1.17 [[ 9.98012468e-01 6.22917474e-02 9.53159388e-03 3.03311499e+01] [-6.22907591e-02 9.98057965e-01 -4.00811077e-04 -4.30055964e-01] [-9.53805041e-03 -1.93715766e-04 9.99954493e-01 -1.16864539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.754203822 meters Centerline goodness [0,1] 0.9998719972692751 Centerline is valid? [True, True] Translation: X:30.36, Y:-0.43, Z:-1.17 [[ 9.97955559e-01 6.31596399e-02 9.77561830e-03 3.03602724e+01] [-6.31586514e-02 9.98003415e-01 -4.10106614e-04 -4.30798730e-01] [-9.78200263e-03 -2.08146693e-04 9.99952133e-01 -1.16862920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.784203822 meters Centerline goodness [0,1] 0.9998928119707591 Centerline is valid? [True, True] Translation: X:30.39, Y:-0.43, Z:-1.17 [[ 9.97908661e-01 6.39204178e-02 9.61689818e-03 3.03886081e+01] [-6.39195002e-02 9.97954976e-01 -4.03057359e-04 -4.33093690e-01] [-9.62299499e-03 -2.12492896e-04 9.99953675e-01 -1.16930871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.814203822 meters Centerline goodness [0,1] 0.9998718824735224 Centerline is valid? [True, True] Translation: X:30.42, Y:-0.44, Z:-1.17 [[ 9.97865102e-01 6.47053382e-02 8.85758884e-03 3.04172439e+01] [-6.47045931e-02 9.97904393e-01 -3.70961185e-04 -4.35597208e-01] [-8.86302999e-03 -2.02957461e-04 9.99960702e-01 -1.17116976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.844203822000004 meters Centerline goodness [0,1] 0.9998504816626439 Centerline is valid? [True, True] Translation: X:30.45, Y:-0.43, Z:-1.17 [[ 9.97837297e-01 6.51093593e-02 9.02774032e-03 3.04456025e+01] [-6.51086037e-02 9.97878112e-01 -3.77882662e-04 -4.33642820e-01] [-9.03318817e-03 -2.10718153e-04 9.99959178e-01 -1.17313781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.874203822000005 meters Centerline goodness [0,1] 0.9996371320625841 Centerline is valid? [True, True] Translation: X:30.47, Y:-0.43, Z:-1.18 [[ 9.97821342e-01 6.52915221e-02 9.46506083e-03 3.04738363e+01] [-6.52907062e-02 9.97866207e-01 -3.95507516e-04 -4.27840761e-01] [-9.47068764e-03 -2.23334665e-04 9.99955127e-01 -1.17711675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.90420382200001 meters Centerline goodness [0,1] 0.999808016382602 Centerline is valid? [True, True] Translation: X:30.50, Y:-0.43, Z:-1.17 [[ 9.97880118e-01 6.43848683e-02 9.47933924e-03 3.05025657e+01] [-6.43840167e-02 9.97925119e-01 -3.95303305e-04 -4.33046083e-01] [-9.48512229e-03 -2.15852627e-04 9.99954992e-01 -1.17383969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.934203822 meters Centerline goodness [0,1] 0.9999783061437001 Centerline is valid? [True, True] Translation: X:30.53, Y:-0.44, Z:-1.17 [[ 9.98008002e-01 6.24576344e-02 8.89224773e-03 3.05312233e+01] [-6.24568111e-02 9.98047599e-01 -3.70522408e-04 -4.39378592e-01] [-8.89802845e-03 -1.85597109e-04 9.99960395e-01 -1.17303415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.964203822 meters Centerline goodness [0,1] 0.9998284550230514 Centerline is valid? [True, True] Translation: X:30.56, Y:-0.44, Z:-1.17 [[ 9.98140626e-01 6.02415048e-02 9.28715459e-03 3.05591560e+01] [-6.02405132e-02 9.98183816e-01 -3.86719798e-04 -4.42271388e-01] [-9.29358399e-03 -1.73462218e-04 9.99956799e-01 -1.17414406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.994203822 meters Centerline goodness [0,1] 0.9999143890589217 Centerline is valid? [True, True] Translation: X:30.59, Y:-0.45, Z:-1.17 [[ 9.98306739e-01 5.73412479e-02 9.77939577e-03 3.05881024e+01] [-5.73400213e-02 9.98354625e-01 -4.05991272e-04 -4.48332149e-01] [-9.78658505e-03 -1.55446939e-04 9.99952098e-01 -1.17484800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.024203822000004 meters Centerline goodness [0,1] 0.9999787116277089 Centerline is valid? [True, True] Translation: X:30.62, Y:-0.46, Z:-1.18 [[ 9.98632265e-01 5.12956888e-02 1.01168644e-02 3.06165927e+01] [-5.12940725e-02 9.98683505e-01 -4.19345803e-04 -4.59632614e-01] [-1.01250563e-02 -1.00162929e-04 9.99948735e-01 -1.17539053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.054203822000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.65, Y:-0.47, Z:-1.17 [[ 9.98766238e-01 4.86565734e-02 9.92672104e-03 3.06459463e+01] [-4.86548889e-02 9.98815565e-01 -4.11262351e-04 -4.66731598e-01] [-9.93497410e-03 -7.22285580e-05 9.99950644e-01 -1.17468195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.084203822000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.67, Y:-0.47, Z:-1.18 [[ 9.98862271e-01 4.67453473e-02 9.43585863e-03 3.06740492e+01] [-4.67437415e-02 9.98906837e-01 -3.90761563e-04 -4.70827927e-01] [-9.44380998e-03 -5.07503539e-05 9.99955405e-01 -1.17863968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.114203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.70, Y:-0.48, Z:-1.18 [[ 9.98920243e-01 4.58241896e-02 7.64795659e-03 3.07044216e+01] [-4.58231127e-02 9.98949519e-01 -3.16067688e-04 -4.76356393e-01] [-7.65440610e-03 -3.47267649e-05 9.99970704e-01 -1.18049432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.144203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.73, Y:-0.48, Z:-1.18 [[ 9.98906680e-01 4.62339261e-02 6.91866511e-03 3.07325265e+01] [-4.62330486e-02 9.98930640e-01 -2.86809352e-04 -4.78586314e-01] [-6.92452688e-03 -3.33752026e-05 9.99976025e-01 -1.18463012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.174203822 meters Centerline goodness [0,1] 0.9999785757134287 Centerline is valid? [True, True] Translation: X:30.76, Y:-0.48, Z:-1.19 [[ 9.98865558e-01 4.71870003e-02 6.40192292e-03 3.07610054e+01] [-4.71862676e-02 9.98886072e-01 -2.65531335e-04 -4.79525271e-01] [-6.40732127e-03 -3.68527433e-05 9.99979472e-01 -1.18618726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.204203822000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.79, Y:-0.48, Z:-1.19 [[ 9.98807369e-01 4.84472258e-02 6.05860800e-03 3.07901802e+01] [-4.84465940e-02 9.98825743e-01 -2.51087920e-04 -4.78825587e-01] [-6.06365815e-03 -4.27304571e-05 9.99981615e-01 -1.18735364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.234203822000005 meters Centerline goodness [0,1] 0.9999785393909479 Centerline is valid? [True, True] Translation: X:30.82, Y:-0.48, Z:-1.19 [[ 9.98666767e-01 5.12933317e-02 5.80369419e-03 3.08187416e+01] [-5.12928013e-02 9.98683629e-01 -2.40301654e-04 -4.75805385e-01] [-5.80838024e-03 -5.77064570e-05 9.99983130e-01 -1.18854160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.264203822000006 meters Centerline goodness [0,1] 0.9998278718505927 Centerline is valid? [True, True] Translation: X:30.85, Y:-0.48, Z:-1.19 [[ 9.98574432e-01 5.30216072e-02 6.14923254e-03 3.08474381e+01] [-5.30210467e-02 9.98593363e-01 -2.54243111e-04 -4.76378741e-01] [-6.15406317e-03 -7.21580752e-05 9.99981061e-01 -1.18777002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.294203822 meters Centerline goodness [0,1] 0.9999787811916483 Centerline is valid? [True, True] Translation: X:30.88, Y:-0.48, Z:-1.19 [[ 9.98508042e-01 5.41937025e-02 6.68819927e-03 3.08753143e+01] [-5.41930669e-02 9.98530438e-01 -2.76358641e-04 -4.75720983e-01] [-6.69334745e-03 -8.65077049e-05 9.99977596e-01 -1.19226967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.324203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.90, Y:-0.48, Z:-1.19 [[ 9.98450761e-01 5.52786860e-02 6.35172435e-03 3.09037736e+01] [-5.52781383e-02 9.98470960e-01 -2.61884898e-04 -4.77498415e-01] [-6.35648897e-03 -8.96323219e-05 9.99979793e-01 -1.19025252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.354203822 meters Centerline goodness [0,1] 0.9999787654216126 Centerline is valid? [True, True] Translation: X:30.93, Y:-0.47, Z:-1.19 [[ 9.98331058e-01 5.74343932e-02 6.03240947e-03 3.09317916e+01] [-5.74339399e-02 9.98349278e-01 -2.48497462e-04 -4.73522508e-01] [-6.03672394e-03 -9.83823086e-05 9.99981774e-01 -1.19299271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.384203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.96, Y:-0.47, Z:-1.19 [[ 9.98295912e-01 5.80066193e-02 6.36436235e-03 3.09597628e+01] [-5.80061270e-02 9.98316193e-01 -2.62065199e-04 -4.73542534e-01] [-6.36884751e-03 -1.07553395e-04 9.99979713e-01 -1.19497565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.414203822000005 meters Centerline goodness [0,1] 0.9999574350352225 Centerline is valid? [True, True] Translation: X:30.99, Y:-0.48, Z:-1.19 [[ 9.98266213e-01 5.84289005e-02 7.11564721e-03 3.09882455e+01] [-5.84283025e-02 9.98291565e-01 -2.92055817e-04 -4.75604603e-01] [-7.12055508e-03 -1.24205734e-04 9.99974641e-01 -1.19412929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.444203822000006 meters Centerline goodness [0,1] 0.9999568416736799 Centerline is valid? [True, True] Translation: X:31.02, Y:-0.48, Z:-1.19 [[ 9.98276011e-01 5.82224461e-02 7.42644474e-03 3.10172714e+01] [-5.82217918e-02 9.98303626e-01 -3.04451617e-04 -4.79820573e-01] [-7.43157263e-03 -1.28454173e-04 9.99972377e-01 -1.18992228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.47420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.05, Y:-0.48, Z:-1.19 [[ 9.98305517e-01 5.76959059e-02 7.56811588e-03 3.10458002e+01] [-5.76952143e-02 9.98334196e-01 -3.09868638e-04 -4.81693664e-01] [-7.57338703e-03 -1.27300496e-04 9.99971313e-01 -1.19090197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.504203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.07, Y:-0.48, Z:-1.19 [[ 9.98372112e-01 5.65257968e-02 7.61313399e-03 3.10734712e+01] [-5.65250632e-02 9.98401132e-01 -3.11665668e-04 -4.84222263e-01] [-7.61857874e-03 -1.19174568e-04 9.99970971e-01 -1.19361124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.534203822 meters Centerline goodness [0,1] 0.9999787527886965 Centerline is valid? [True, True] Translation: X:31.10, Y:-0.50, Z:-1.19 [[ 9.98552778e-01 5.31574026e-02 8.16335487e-03 3.11026997e+01] [-5.31564593e-02 9.98586141e-01 -3.32628400e-04 -4.96029749e-01] [-8.16949470e-03 -1.01788028e-04 9.99966624e-01 -1.19328525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.564203822 meters Centerline goodness [0,1] 0.9999571220307006 Centerline is valid? [True, True] Translation: X:31.13, Y:-0.50, Z:-1.19 [[ 9.98643934e-01 5.14267695e-02 8.09818939e-03 3.11324043e+01] [-5.14257858e-02 9.98676764e-01 -3.29794969e-04 -5.01606484e-01] [-8.10443387e-03 -8.71080080e-05 9.99967155e-01 -1.19331835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.594203822000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.16, Y:-0.51, Z:-1.20 [[ 9.98723122e-01 4.98541286e-02 8.16650118e-03 3.11612406e+01] [-4.98530751e-02 9.98756507e-01 -3.32651861e-04 -5.05840211e-01] [-8.17293027e-03 -7.48980915e-05 9.99966598e-01 -1.19569939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.624203822000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.19, Y:-0.52, Z:-1.19 [[ 9.98915763e-01 4.56481509e-02 9.14022890e-03 3.11916252e+01] [-4.56466666e-02 9.98957579e-01 -3.71048508e-04 -5.17862406e-01] [-9.14763861e-03 -4.65747770e-05 9.99958158e-01 -1.19439412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.65420382200001 meters Centerline goodness [0,1] 0.9998926001503597 Centerline is valid? [True, True] Translation: X:31.22, Y:-0.52, Z:-1.19 [[ 9.98985090e-01 4.40344008e-02 9.47420476e-03 3.12216048e+01] [-4.40327335e-02 9.99030015e-01 -3.84606292e-04 -5.22975056e-01] [-9.48195082e-03 -3.29591822e-05 9.99955045e-01 -1.19119857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.684203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.25, Y:-0.53, Z:-1.19 [[ 9.99054254e-01 4.22346153e-02 1.03360603e-02 3.12521780e+01] [-4.22325398e-02 9.99107720e-01 -4.19082668e-04 -5.27650505e-01] [-1.03445374e-02 -1.78317537e-05 9.99946494e-01 -1.19298063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.714203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.28, Y:-0.54, Z:-1.19 [[ 9.99144533e-01 3.99457085e-02 1.07024605e-02 3.12832109e+01] [-3.99433644e-02 9.99201852e-01 -4.32767534e-04 -5.36997442e-01] [-1.07112056e-02 4.90503504e-06 9.99942633e-01 -1.19373926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.744203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.31, Y:-0.54, Z:-1.19 [[ 9.99165496e-01 3.96177167e-02 9.93719241e-03 3.13148768e+01] [-3.96156884e-02 9.99214910e-01 -4.00939480e-04 -5.42835421e-01] [-9.94527513e-03 6.93617581e-06 9.99950545e-01 -1.19462395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.774203822000004 meters Centerline goodness [0,1] 0.9999139673936422 Centerline is valid? [True, True] Translation: X:31.35, Y:-0.55, Z:-1.20 [[ 9.99162524e-01 3.99162458e-02 8.99687358e-03 3.13457389e+01] [-3.99145836e-02 9.99203029e-01 -3.64307527e-04 -5.48027123e-01] [-9.00424513e-03 4.89596468e-06 9.99959461e-01 -1.19646531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.804203822000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.38, Y:-0.55, Z:-1.20 [[ 9.99075617e-01 4.17434433e-02 1.02662883e-02 3.13757522e+01] [-4.17413201e-02 9.99128363e-01 -4.21084793e-04 -5.51500684e-01] [-1.02749174e-02 -7.83287786e-06 9.99947212e-01 -1.19671572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.834203822000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.41, Y:-0.55, Z:-1.19 [[ 9.98993714e-01 4.35380461e-02 1.07702084e-02 3.14069880e+01] [-4.35358149e-02 9.99051769e-01 -4.41639439e-04 -5.51269700e-01] [-1.07792239e-02 -2.76947775e-05 9.99941902e-01 -1.19276535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.864203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.44, Y:-0.55, Z:-1.20 [[ 9.98866129e-01 4.63464535e-02 1.08840246e-02 3.14381051e+01] [-4.63443688e-02 9.98925424e-01 -4.43810550e-04 -5.50293570e-01] [-1.08928980e-02 -6.11059253e-05 9.99940669e-01 -1.19516503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.894203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.47, Y:-0.55, Z:-1.20 [[ 9.98714397e-01 4.96151529e-02 1.03869648e-02 3.14687371e+01] [-4.96133865e-02 9.98768406e-01 -4.27822912e-04 -5.48668807e-01] [-1.03953988e-02 -8.80595979e-05 9.99945963e-01 -1.19979371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.924203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.50, Y:-0.54, Z:-1.20 [[ 9.98381477e-01 5.60879021e-02 9.41133061e-03 3.14994139e+01] [-5.60867353e-02 9.98425825e-01 -3.88072591e-04 -5.43223708e-01] [-9.41828171e-03 -1.40406323e-04 9.99955637e-01 -1.20266157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.954203822000004 meters Centerline goodness [0,1] 0.9999571569341502 Centerline is valid? [True, True] Translation: X:31.53, Y:-0.54, Z:-1.20 [[ 9.98198060e-01 5.92585581e-02 9.43691540e-03 3.15295190e+01] [-5.92575181e-02 9.98242653e-01 -3.90028026e-04 -5.41032831e-01] [-9.44344396e-03 -1.69882965e-04 9.99955395e-01 -1.20256538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.984203822000005 meters Centerline goodness [0,1] 0.9999570308303792 Centerline is valid? [True, True] Translation: X:31.56, Y:-0.54, Z:-1.20 [[ 9.98021171e-01 6.21615771e-02 9.47001316e-03 3.15590775e+01] [-6.21606625e-02 9.98066079e-01 -3.91166587e-04 -5.37961161e-01] [-9.47601444e-03 -1.98269757e-04 9.99955082e-01 -1.20368829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.014203822000006 meters Centerline goodness [0,1] 0.9997668898872595 Centerline is valid? [True, True] Translation: X:31.59, Y:-0.53, Z:-1.21 [[ 9.97769098e-01 6.61616572e-02 8.91411828e-03 3.15887761e+01] [-6.61610103e-02 9.97808892e-01 -3.67758328e-04 -5.29876511e-01] [-8.91891799e-03 -2.22829176e-04 9.99960201e-01 -1.20784585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.04420382200001 meters Centerline goodness [0,1] 0.9997668898872595 Centerline is valid? [True, True] Translation: X:31.62, Y:-0.53, Z:-1.21 [[ 9.97772184e-01 6.61151096e-02 8.91409068e-03 3.16170813e+01] [-6.61144549e-02 9.97811978e-01 -3.68428756e-04 -5.30950044e-01] [-8.91894516e-03 -2.21742281e-04 9.99960201e-01 -1.20873656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.074203822 meters Centerline goodness [0,1] 0.9998501519886972 Centerline is valid? [True, True] Translation: X:31.65, Y:-0.53, Z:-1.21 [[ 9.97707553e-01 6.71311812e-02 8.54654291e-03 3.16466628e+01] [-6.71306240e-02 9.97744133e-01 -3.52370188e-04 -5.31046735e-01] [-8.55091808e-03 -2.22172361e-04 9.99963416e-01 -1.20934477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.104203822 meters Centerline goodness [0,1] 0.9998923086863813 Centerline is valid? [True, True] Translation: X:31.68, Y:-0.53, Z:-1.21 [[ 9.97672059e-01 6.76437164e-02 8.64809160e-03 3.16752003e+01] [-6.76431620e-02 9.97709514e-01 -3.56922407e-04 -5.34142153e-01] [-8.65242683e-03 -2.28892748e-04 9.99962541e-01 -1.20802002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.134203822 meters Centerline goodness [0,1] 0.9998296821443018 Centerline is valid? [True, True] Translation: X:31.70, Y:-0.53, Z:-1.21 [[ 9.97663926e-01 6.77078358e-02 9.07416875e-03 3.17032593e+01] [-6.77072304e-02 9.97705162e-01 -3.74257007e-04 -5.32014022e-01] [-9.07868514e-03 -2.41004120e-04 9.99958759e-01 -1.21108226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.164203822000005 meters Centerline goodness [0,1] 0.9998286717779586 Centerline is valid? [True, True] Translation: X:31.73, Y:-0.54, Z:-1.21 [[ 9.97781823e-01 6.59491045e-02 9.06361132e-03 3.17328580e+01] [-6.59484405e-02 9.97822962e-01 -3.72441643e-04 -5.37372805e-01] [-9.06844169e-03 -2.26115530e-04 9.99958855e-01 -1.21024106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.194203822000006 meters Centerline goodness [0,1] 0.9998705026654868 Centerline is valid? [True, True] Translation: X:31.76, Y:-0.54, Z:-1.21 [[ 9.97870079e-01 6.46439179e-02 8.74465536e-03 3.17612827e+01] [-6.46432489e-02 9.97908373e-01 -3.59421949e-04 -5.39284430e-01] [-8.74959925e-03 -2.06626525e-04 9.99961700e-01 -1.21181518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.22420382200001 meters Centerline goodness [0,1] 0.999870611575951 Centerline is valid? [True, True] Translation: X:31.79, Y:-0.54, Z:-1.21 [[ 9.97953004e-01 6.33534204e-02 8.72612574e-03 3.17898123e+01] [-6.33527112e-02 9.97991135e-01 -3.57950686e-04 -5.41380568e-01] [-8.73127354e-03 -1.95605761e-04 9.99961863e-01 -1.21303987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.254203822 meters Centerline goodness [0,1] 0.9999569132664052 Centerline is valid? [True, True] Translation: X:31.82, Y:-0.55, Z:-1.21 [[ 9.98131428e-01 6.06182376e-02 7.68648066e-03 3.18196016e+01] [-6.06176058e-02 9.98161012e-01 -3.15361985e-04 -5.46620719e-01] [-7.69146201e-03 -1.51163347e-04 9.99970409e-01 -1.21441282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.284203822 meters Centerline goodness [0,1] 0.999914870070445 Centerline is valid? [True, True] Translation: X:31.85, Y:-0.55, Z:-1.22 [[ 9.98232009e-01 5.89943789e-02 7.24700087e-03 3.18488038e+01] [-5.89937754e-02 9.98258306e-01 -2.97201806e-04 -5.49835521e-01] [-7.25191205e-03 -1.30851585e-04 9.99973696e-01 -1.21647541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.314203822 meters Centerline goodness [0,1] 0.9999786893979755 Centerline is valid? [True, True] Translation: X:31.88, Y:-0.55, Z:-1.22 [[ 9.98329079e-01 5.73004540e-02 7.46375217e-03 3.18774071e+01] [-5.72997659e-02 9.98356972e-01 -3.06173261e-04 -5.50931268e-01] [-7.46903288e-03 -1.22009582e-04 9.99972099e-01 -1.21982211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.344203822000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.91, Y:-0.56, Z:-1.22 [[ 9.98512669e-01 5.38014092e-02 8.82373471e-03 3.19073990e+01] [-5.38003204e-02 9.98551649e-01 -3.60877126e-04 -5.57037407e-01] [-8.83037054e-03 -1.14379372e-04 9.99961005e-01 -1.21816594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.374203822000005 meters Centerline goodness [0,1] 0.9999785637727759 Centerline is valid? [True, True] Translation: X:31.94, Y:-0.56, Z:-1.22 [[ 9.98601794e-01 5.20829402e-02 9.04565827e-03 3.19375471e+01] [-5.20817289e-02 9.98642757e-01 -3.69577059e-04 -5.61980032e-01] [-9.05262977e-03 -1.02053208e-04 9.99959019e-01 -1.21689665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.40420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.97, Y:-0.57, Z:-1.22 [[ 9.98698865e-01 5.02137620e-02 8.89693563e-03 3.19681245e+01] [-5.02125160e-02 9.98738490e-01 -3.63500721e-04 -5.65772929e-01] [-8.90396479e-03 -8.37097655e-05 9.99960355e-01 -1.21736803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.434203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.00, Y:-0.57, Z:-1.22 [[ 9.98845008e-01 4.74141253e-02 7.78137597e-03 3.19988282e+01] [-4.74130873e-02 9.98875317e-01 -3.17922473e-04 -5.67971155e-01] [-7.78769840e-03 -5.13837831e-05 9.99969674e-01 -1.21957020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.464203822 meters Centerline goodness [0,1] 0.9999785568778814 Centerline is valid? [True, True] Translation: X:32.03, Y:-0.57, Z:-1.22 [[ 9.98887449e-01 4.65474821e-02 7.56285160e-03 3.20281772e+01] [-4.65464792e-02 9.98916078e-01 -3.08670095e-04 -5.70919180e-01] [-7.56902187e-03 -4.36974307e-05 9.99971354e-01 -1.22311632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.494203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.06, Y:-0.57, Z:-1.23 [[ 9.98928275e-01 4.58051329e-02 6.64768563e-03 3.20587047e+01] [-4.58043390e-02 9.98950394e-01 -2.71693890e-04 -5.74941628e-01] [-6.65315315e-03 -3.30901377e-05 9.99977867e-01 -1.22535288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.524203822000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.09, Y:-0.58, Z:-1.23 [[ 9.98938904e-01 4.57305793e-02 5.45712988e-03 3.20891194e+01] [-4.57300432e-02 9.98953809e-01 -2.23035343e-04 -5.77803306e-01] [-5.46162022e-03 -2.67561042e-05 9.99985085e-01 -1.22840083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.554203822000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.12, Y:-0.58, Z:-1.23 [[ 9.98895012e-01 4.65707899e-02 6.31793175e-03 3.21180131e+01] [-4.65700826e-02 9.98914992e-01 -2.59095334e-04 -5.76370215e-01] [-6.32314302e-03 -3.54175673e-05 9.99980008e-01 -1.22826550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.584203822000006 meters Centerline goodness [0,1] 0.9999356954536686 Centerline is valid? [True, True] Translation: X:32.15, Y:-0.57, Z:-1.23 [[ 9.98827063e-01 4.78633511e-02 7.32108372e-03 3.21475456e+01] [-4.78624413e-02 9.98853892e-01 -2.99522240e-04 -5.74963718e-01] [-7.32702911e-03 -5.12340209e-05 9.99973156e-01 -1.22652835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.614203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.18, Y:-0.57, Z:-1.22 [[ 9.98723463e-01 4.98234282e-02 8.31081947e-03 3.21778180e+01] [-4.98223259e-02 9.98758039e-01 -3.39740146e-04 -5.74031880e-01] [-8.31742478e-03 -7.47579014e-05 9.99965407e-01 -1.22388963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.644203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.21, Y:-0.57, Z:-1.23 [[ 9.98682937e-01 5.05276096e-02 8.90802889e-03 3.22077048e+01] [-5.05263761e-02 9.98722661e-01 -3.63610905e-04 -5.70979438e-01] [-8.91502271e-03 -8.69584109e-05 9.99960257e-01 -1.22694416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.674203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.24, Y:-0.57, Z:-1.22 [[ 9.98670670e-01 5.07146442e-02 9.21511791e-03 3.22387889e+01] [-5.07133358e-02 9.98713180e-01 -3.75753172e-04 -5.70734489e-01] [-9.22231590e-03 -9.20756966e-05 9.99957469e-01 -1.22493476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.704203822000004 meters Centerline goodness [0,1] 0.9998924037013127 Centerline is valid? [True, True] Translation: X:32.27, Y:-0.57, Z:-1.23 [[ 9.98676952e-01 5.06572180e-02 8.84257086e-03 3.22688169e+01] [-5.06560110e-02 9.98716095e-01 -3.60562294e-04 -5.71261532e-01] [-8.84948292e-03 -8.78441140e-05 9.99960839e-01 -1.22686254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.734203822000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.30, Y:-0.58, Z:-1.23 [[ 9.98752416e-01 4.92836201e-02 8.04585734e-03 3.22994362e+01] [-4.92825763e-02 9.98784822e-01 -3.28075717e-04 -5.78314205e-01] [-8.05224895e-03 -6.88541626e-05 9.99967578e-01 -1.23000694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.764203822000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.33, Y:-0.58, Z:-1.23 [[ 9.98800167e-01 4.82663498e-02 8.28160474e-03 3.23298180e+01] [-4.82652088e-02 9.98834499e-01 -3.37688490e-04 -5.83765652e-01] [-8.28825151e-03 -6.24300621e-05 9.99965650e-01 -1.22880141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.79420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.36, Y:-0.59, Z:-1.23 [[ 9.98857112e-01 4.69900458e-02 8.74100768e-03 3.23597134e+01] [-4.69887283e-02 9.98895356e-01 -3.56144444e-04 -5.87178352e-01] [-8.74808722e-03 -5.49914237e-05 9.99961733e-01 -1.23178226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.824203822 meters Centerline goodness [0,1] 0.9998492419021364 Centerline is valid? [True, True] Translation: X:32.39, Y:-0.59, Z:-1.23 [[ 9.98899424e-01 4.60747531e-02 8.77820529e-03 3.23906583e+01] [-4.60733905e-02 9.98937994e-01 -3.57498273e-04 -5.90554698e-01] [-8.78535442e-03 -4.73368611e-05 9.99961407e-01 -1.22920484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.854203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.42, Y:-0.59, Z:-1.23 [[ 9.98988170e-01 4.40042150e-02 9.28790227e-03 3.24215012e+01] [-4.40025976e-02 9.99031345e-01 -3.78522241e-04 -5.94556169e-01] [-9.29556207e-03 -3.05525846e-05 9.99956795e-01 -1.22887885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.884203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.45, Y:-0.60, Z:-1.23 [[ 9.99014371e-01 4.32802914e-02 9.85406930e-03 3.24526575e+01] [-4.32784608e-02 9.99062969e-01 -3.99033664e-04 -5.96183666e-01] [-9.86210602e-03 -2.78285875e-05 9.99951368e-01 -1.22981833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.914203822000005 meters Centerline goodness [0,1] 0.999849552957359 Centerline is valid? [True, True] Translation: X:32.48, Y:-0.60, Z:-1.23 [[ 9.99031614e-01 4.30590286e-02 9.04186263e-03 3.24844165e+01] [-4.30574424e-02 9.99072530e-01 -3.70109625e-04 -5.97580236e-01] [-9.04941313e-03 -1.95682632e-05 9.99959053e-01 -1.23056085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.944203822000006 meters Centerline goodness [0,1] 0.9999142072752231 Centerline is valid? [True, True] Translation: X:32.52, Y:-0.60, Z:-1.23 [[ 9.99003804e-01 4.37591886e-02 8.74829618e-03 3.25160265e+01] [-4.37577290e-02 9.99042108e-01 -3.58279604e-04 -5.99257338e-01] [-8.75559428e-03 -2.48828863e-05 9.99961669e-01 -1.23215414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.97420382200001 meters Centerline goodness [0,1] 0.9998929359114366 Centerline is valid? [True, True] Translation: X:32.55, Y:-0.60, Z:-1.23 [[ 9.98973587e-01 4.43732957e-02 9.09854018e-03 3.25475278e+01] [-4.43717399e-02 9.99015020e-01 -3.72876771e-04 -6.01213922e-01] [-9.10612407e-03 -3.12240139e-05 9.99958538e-01 -1.23306094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.004203822 meters Centerline goodness [0,1] 0.9999355434759255 Centerline is valid? [True, True] Translation: X:32.58, Y:-0.60, Z:-1.24 [[ 9.98967587e-01 4.44624132e-02 9.31956819e-03 3.25775475e+01] [-4.44607900e-02 9.99011057e-01 -3.81385057e-04 -6.04170789e-01] [-9.32730897e-03 -3.33640543e-05 9.99956499e-01 -1.23536704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.034203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.61, Y:-0.61, Z:-1.24 [[ 9.98994030e-01 4.41400596e-02 7.91100447e-03 3.26090076e+01] [-4.41388718e-02 9.99025352e-01 -3.24767274e-04 -6.08305926e-01] [-7.91762928e-03 -2.47422447e-05 9.99968655e-01 -1.23603354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.064203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.64, Y:-0.61, Z:-1.24 [[ 9.98995106e-01 4.41905563e-02 7.48153142e-03 3.26392406e+01] [-4.41894921e-02 9.99023120e-01 -3.07576649e-04 -6.07843716e-01] [-7.48781484e-03 -2.33375067e-05 9.99971966e-01 -1.23865472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.094203822000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.67, Y:-0.61, Z:-1.24 [[ 9.98966594e-01 4.48050104e-02 7.63255411e-03 3.26699298e+01] [-4.48039177e-02 9.98995751e-01 -3.14177618e-04 -6.06416282e-01] [-7.63896586e-03 -2.81153818e-05 9.99970822e-01 -1.23788669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.124203822000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.70, Y:-0.60, Z:-1.24 [[ 9.98831879e-01 4.77470790e-02 7.42248851e-03 3.27007462e+01] [-4.77461269e-02 9.98859457e-01 -3.05530721e-04 -6.04144549e-01] [-7.42861104e-03 -4.92212541e-05 9.99972406e-01 -1.24011662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.15420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.73, Y:-0.60, Z:-1.25 [[ 9.98714424e-01 5.02704741e-02 6.50991219e-03 3.27303093e+01] [-5.02697933e-02 9.98735639e-01 -2.68270953e-04 -6.02938823e-01] [-6.51516742e-03 -5.93258699e-05 9.99978774e-01 -1.24516311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.184203822 meters Centerline goodness [0,1] 0.9999785495184367 Centerline is valid? [True, True] Translation: X:32.76, Y:-0.60, Z:-1.25 [[ 9.98575658e-01 5.30202207e-02 5.95911868e-03 3.27602563e+01] [-5.30196976e-02 9.98593436e-01 -2.45831150e-04 -6.01034010e-01] [-5.96377083e-03 -7.04696679e-05 9.99982214e-01 -1.24641863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.214203822 meters Centerline goodness [0,1] 0.999935367114788 Centerline is valid? [True, True] Translation: X:32.79, Y:-0.59, Z:-1.24 [[ 9.98273691e-01 5.82055996e-02 7.85784207e-03 3.27892897e+01] [-5.82048496e-02 9.98304608e-01 -3.24293151e-04 -5.91286832e-01] [-7.86339562e-03 -1.33631194e-04 9.99969074e-01 -1.24368908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.244203822 meters Centerline goodness [0,1] 0.9998931030059435 Centerline is valid? [True, True] Translation: X:32.82, Y:-0.59, Z:-1.25 [[ 9.98154112e-01 6.01698132e-02 8.24391663e-03 3.28179428e+01] [-6.01690608e-02 9.98188143e-01 -3.39478257e-04 -5.87271588e-01] [-8.24940617e-03 -1.57177103e-04 9.99965961e-01 -1.24501382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.274203822000004 meters Centerline goodness [0,1] 0.999893426549578 Centerline is valid? [True, True] Translation: X:32.85, Y:-0.58, Z:-1.25 [[ 9.98082827e-01 6.13822122e-02 7.93062026e-03 3.28470268e+01] [-6.13815561e-02 9.98114321e-01 -3.26326777e-04 -5.84901684e-01] [-7.93569632e-03 -1.61092661e-04 9.99968499e-01 -1.24790243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.304203822000005 meters Centerline goodness [0,1] 0.9998502161167458 Centerline is valid? [True, True] Translation: X:32.88, Y:-0.58, Z:-1.24 [[ 9.97994038e-01 6.28113488e-02 7.91415636e-03 3.28769279e+01] [-6.28107446e-02 9.98025403e-01 -3.25115962e-04 -5.82776298e-01] [-7.91895007e-03 -1.72630263e-04 9.99968630e-01 -1.24445914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.334203822000006 meters Centerline goodness [0,1] 0.9998291109497159 Centerline is valid? [True, True] Translation: X:32.91, Y:-0.58, Z:-1.25 [[ 9.97984628e-01 6.27964038e-02 9.12657565e-03 3.29052298e+01] [-6.27955954e-02 9.98026338e-01 -3.75388458e-04 -5.77865290e-01] [-9.13213592e-03 -1.98476841e-04 9.99958281e-01 -1.24531995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.364203822 meters Centerline goodness [0,1] 0.9999142826529519 Centerline is valid? [True, True] Translation: X:32.93, Y:-0.58, Z:-1.24 [[ 9.98004491e-01 6.23126874e-02 1.02060741e-02 3.29345649e+01] [-6.23116652e-02 9.98056652e-01 -4.18425643e-04 -5.78295245e-01] [-1.02123134e-02 -2.18366804e-04 9.99947829e-01 -1.24326297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.394203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.96, Y:-0.59, Z:-1.24 [[ 9.98219491e-01 5.84105866e-02 1.20851286e-02 3.29632343e+01] [-5.84088781e-02 9.98292622e-01 -4.94578250e-04 -5.85839593e-01] [-1.20933833e-02 -2.12181153e-04 9.99926850e-01 -1.24256811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.424203822 meters Centerline goodness [0,1] 0.9999786470789204 Centerline is valid? [True, True] Translation: X:32.99, Y:-0.59, Z:-1.24 [[ 9.98345168e-01 5.60982112e-02 1.26457785e-02 3.29939059e+01] [-5.60961679e-02 9.98425237e-01 -5.16505857e-04 -5.91544222e-01] [-1.26548394e-02 -1.93728586e-04 9.99919906e-01 -1.24243013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.454203822000004 meters Centerline goodness [0,1] 0.9999570695687638 Centerline is valid? [True, True] Translation: X:33.02, Y:-0.60, Z:-1.24 [[ 9.98471239e-01 5.37127129e-02 1.30433535e-02 3.30241376e+01] [-5.37103306e-02 9.98556416e-01 -5.33130356e-04 -5.97275228e-01] [-1.30531602e-02 -1.68247501e-04 9.99914790e-01 -1.24056204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.484203822000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.05, Y:-0.60, Z:-1.24 [[ 9.98602843e-01 5.10261476e-02 1.37366351e-02 3.30548106e+01] [-5.10232896e-02 9.98697307e-01 -5.58667293e-04 -6.00253376e-01] [-1.37472471e-02 -1.43001564e-04 9.99905492e-01 -1.24218750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.514203822000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.09, Y:-0.61, Z:-1.24 [[ 9.98755296e-01 4.78455837e-02 1.40946388e-02 3.30866295e+01] [-4.78422266e-02 9.98854739e-01 -5.75458774e-04 -6.05276335e-01] [-1.41060299e-02 -9.95764039e-05 9.99900500e-01 -1.24237194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.54420382200001 meters Centerline goodness [0,1] 0.9999140247178936 Centerline is valid? [True, True] Translation: X:33.12, Y:-0.62, Z:-1.24 [[ 9.99056703e-01 4.13803314e-02 1.31670608e-02 3.31177443e+01] [-4.13768128e-02 9.99143467e-01 -5.39654163e-04 -6.16254796e-01] [-1.31781138e-02 -5.66590030e-06 9.99913165e-01 -1.24356396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.574203822 meters Centerline goodness [0,1] 0.9998501551964037 Centerline is valid? [True, True] Translation: X:33.15, Y:-0.62, Z:-1.25 [[ 9.99171691e-01 3.86408356e-02 1.27600010e-02 3.31489366e+01] [-3.86372840e-02 9.99253164e-01 -5.24830066e-04 -6.23540462e-01] [-1.27707512e-02 3.13835617e-05 9.99918450e-01 -1.24568662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.604203822 meters Centerline goodness [0,1] 0.9998699835312473 Centerline is valid? [True, True] Translation: X:33.18, Y:-0.64, Z:-1.25 [[ 9.99313921e-01 3.48500646e-02 1.25363280e-02 3.31792087e+01] [-3.48463151e-02 9.99392549e-01 -5.17459870e-04 -6.36371627e-01] [-1.25467463e-02 8.02600144e-05 9.99921283e-01 -1.24727886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.634203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.21, Y:-0.64, Z:-1.25 [[ 9.99337306e-01 3.43488075e-02 1.20460535e-02 3.32113892e+01] [-3.43452919e-02 9.99409902e-01 -4.98654244e-04 -6.42333127e-01] [-1.20560733e-02 8.45985656e-05 9.99927319e-01 -1.24943158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.664203822000005 meters Centerline goodness [0,1] 0.9998715340969918 Centerline is valid? [True, True] Translation: X:33.24, Y:-0.64, Z:-1.25 [[ 9.99317950e-01 3.52281048e-02 1.10732174e-02 3.32438196e+01] [-3.52251729e-02 9.99379295e-01 -4.59754949e-04 -6.44588152e-01] [-1.10825405e-02 6.93853756e-05 9.99938584e-01 -1.25106276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.694203822000006 meters Centerline goodness [0,1] 0.9999140875018794 Centerline is valid? [True, True] Translation: X:33.28, Y:-0.65, Z:-1.25 [[ 9.99270258e-01 3.67532084e-02 1.03996301e-02 3.32770142e+01] [-3.67506968e-02 9.99324371e-01 -4.32572959e-04 -6.45018649e-01] [-1.04085022e-02 5.00636415e-05 9.99945829e-01 -1.25149329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.72420382200001 meters Centerline goodness [0,1] 0.9999352820623449 Centerline is valid? [True, True] Translation: X:33.31, Y:-0.64, Z:-1.26 [[ 9.99085820e-01 4.17985361e-02 8.96700761e-03 3.33078044e+01] [-4.17968567e-02 9.99126059e-01 -3.74681467e-04 -6.41800989e-01] [-8.97483211e-03 -4.53791233e-07 9.99959725e-01 -1.25651801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.754203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.34, Y:-0.64, Z:-1.26 [[ 9.98955459e-01 4.49560693e-02 8.18190943e-03 3.33382337e+01] [-4.49547431e-02 9.98988965e-01 -3.46027163e-04 -6.39737760e-01] [-8.18919325e-03 -2.21499129e-05 9.99966468e-01 -1.26169247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.784203822 meters Centerline goodness [0,1] 0.9998707119462161 Centerline is valid? [True, True] Translation: X:33.37, Y:-0.63, Z:-1.26 [[ 9.98610627e-01 5.21079172e-02 7.84737922e-03 3.33689485e+01] [-5.21069152e-02 9.98641457e-01 -3.32231485e-04 -6.33593935e-01] [-7.85403010e-03 -7.71328315e-05 9.99969154e-01 -1.25723409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.814203822 meters Centerline goodness [0,1] 0.9999140727374277 Centerline is valid? [True, True] Translation: X:33.40, Y:-0.63, Z:-1.26 [[ 9.98446404e-01 5.50617664e-02 8.54286950e-03 3.33980933e+01] [-5.50606798e-02 9.98482944e-01 -3.62518915e-04 -6.31607211e-01] [-8.54987042e-03 -1.08420495e-04 9.99963443e-01 -1.25882107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.844203822000004 meters Centerline goodness [0,1] 0.999935745036304 Centerline is valid? [True, True] Translation: X:33.43, Y:-0.63, Z:-1.26 [[ 9.98310992e-01 5.74439198e-02 8.68102828e-03 3.34289031e+01] [-5.74428979e-02 9.98348726e-01 -3.67205191e-04 -6.32250120e-01] [-8.68778722e-03 -1.32078443e-04 9.99962252e-01 -1.26098625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.874203822000005 meters Centerline goodness [0,1] 0.9999145755472504 Centerline is valid? [True, True] Translation: X:33.46, Y:-0.63, Z:-1.27 [[ 9.98099959e-01 6.12642041e-02 6.57031565e-03 3.34589684e+01] [-6.12636996e-02 9.98121577e-01 -2.78220868e-04 -6.29123898e-01] [-6.57501879e-03 -1.24829607e-04 9.99978377e-01 -1.26565671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.90420382200001 meters Centerline goodness [0,1] 0.999913520992779 Centerline is valid? [True, True] Translation: X:33.49, Y:-0.63, Z:-1.27 [[ 9.97996035e-01 6.29367233e-02 6.54850496e-03 3.34886846e+01] [-6.29362565e-02 9.98017510e-01 -2.77535384e-04 -6.27113912e-01] [-6.55298979e-03 -1.35159175e-04 9.99978520e-01 -1.26502492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.934203822 meters Centerline goodness [0,1] 0.9998719398971251 Centerline is valid? [True, True] Translation: X:33.52, Y:-0.62, Z:-1.27 [[ 9.97888487e-01 6.45270358e-02 7.40465803e-03 3.35174242e+01] [-6.45264826e-02 9.97915946e-01 -3.13828619e-04 -6.21499349e-01] [-7.40947675e-03 -1.64630572e-04 9.99972536e-01 -1.26807603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.964203822 meters Centerline goodness [0,1] 0.9998719398971251 Centerline is valid? [True, True] Translation: X:33.55, Y:-0.62, Z:-1.27 [[ 9.97891518e-01 6.44801536e-02 7.40465931e-03 3.35457280e+01] [-6.44795994e-02 9.97918976e-01 -3.13798877e-04 -6.22601818e-01] [-7.40948383e-03 -1.64312228e-04 9.99972536e-01 -1.26896681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.994203822 meters Centerline goodness [0,1] 0.9997647964420117 Centerline is valid? [True, True] Translation: X:33.57, Y:-0.62, Z:-1.27 [[ 9.97805474e-01 6.57050346e-02 8.19048790e-03 3.35748788e+01] [-6.57044021e-02 9.97839071e-01 -3.46560475e-04 -6.21793911e-01] [-8.19555960e-03 -1.92351172e-04 9.99966397e-01 -1.26886430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.024203822000004 meters Centerline goodness [0,1] 0.9999349537087228 Centerline is valid? [True, True] Translation: X:33.60, Y:-0.63, Z:-1.27 [[ 9.97728788e-01 6.69809276e-02 7.12881661e-03 3.36038694e+01] [-6.69804838e-02 9.97754240e-01 -3.01242637e-04 -6.26319830e-01] [-7.13298452e-03 -1.76933134e-04 9.99974544e-01 -1.26932720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.054203822000005 meters Centerline goodness [0,1] 0.999655706662076 Centerline is valid? [True, True] Translation: X:33.63, Y:-0.62, Z:-1.27 [[ 9.97739868e-01 6.68670436e-02 6.62977737e-03 3.36312499e+01] [-6.68666544e-02 9.97761881e-01 -2.80587675e-04 -6.24263761e-01] [-6.63370121e-03 -1.63357522e-04 9.99977983e-01 -1.27446028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.084203822000006 meters Centerline goodness [0,1] 0.9998708232862556 Centerline is valid? [True, True] Translation: X:33.66, Y:-0.63, Z:-1.27 [[ 9.97781442e-01 6.62048767e-02 7.00769515e-03 3.36596869e+01] [-6.62044316e-02 9.97806036e-01 -2.95727958e-04 -6.27227543e-01] [-7.01189916e-03 -1.68868606e-04 9.99975402e-01 -1.27339261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.114203822 meters Centerline goodness [0,1] 0.9998503889886295 Centerline is valid? [True, True] Translation: X:33.69, Y:-0.63, Z:-1.27 [[ 9.97958290e-01 6.32488243e-02 8.87901592e-03 3.36889082e+01] [-6.32480049e-02 9.97997771e-01 -3.73334273e-04 -6.32419292e-01] [-8.88485105e-03 -1.89008009e-04 9.99960511e-01 -1.27246499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.144203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.72, Y:-0.64, Z:-1.27 [[ 9.98084524e-01 6.10535789e-02 9.98712144e-03 3.37182175e+01] [-6.10524355e-02 9.98134472e-01 -4.19607195e-04 -6.40979096e-01] [-9.99410871e-03 -1.90934640e-04 9.99950039e-01 -1.26832619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.174203822 meters Centerline goodness [0,1] 0.9999360709186609 Centerline is valid? [True, True] Translation: X:33.75, Y:-0.65, Z:-1.27 [[ 9.98215923e-01 5.87097820e-02 1.08689072e-02 3.37474196e+01] [-5.87082953e-02 9.98275076e-01 -4.56071734e-04 -6.45178735e-01] [-1.08769350e-02 -1.82836946e-04 9.99940828e-01 -1.26891139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.204203822000004 meters Centerline goodness [0,1] 0.9999143248800548 Centerline is valid? [True, True] Translation: X:33.78, Y:-0.66, Z:-1.27 [[ 9.98522162e-01 5.32290893e-02 1.09615631e-02 3.37786171e+01] [-5.32272565e-02 9.98582319e-01 -4.59074121e-04 -6.55700536e-01] [-1.09704592e-02 -1.25058250e-04 9.99939815e-01 -1.26683023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.234203822000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.81, Y:-0.66, Z:-1.27 [[ 9.98688266e-01 4.99566735e-02 1.12284259e-02 3.38108639e+01] [-4.99545733e-02 9.98751381e-01 -4.67598385e-04 -6.62596339e-01] [-1.12377655e-02 -9.39262054e-05 9.99936850e-01 -1.26763100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.264203822000006 meters Centerline goodness [0,1] 0.9999566470856003 Centerline is valid? [True, True] Translation: X:33.84, Y:-0.67, Z:-1.27 [[ 9.98827268e-01 4.69572961e-02 1.17940835e-02 3.38417441e+01] [-4.69547399e-02 9.98896896e-01 -4.93698853e-04 -6.69523508e-01] [-1.18042562e-02 -6.06682457e-05 9.99930326e-01 -1.26868693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.29420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.87, Y:-0.68, Z:-1.27 [[ 9.98937864e-01 4.42766617e-02 1.27561946e-02 3.38735307e+01] [-4.42734241e-02 9.99019307e-01 -5.36223582e-04 -6.78259525e-01] [-1.27674269e-02 -2.91063738e-05 9.99918493e-01 -1.26878339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.324203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.91, Y:-0.69, Z:-1.27 [[ 9.99128867e-01 3.97832051e-02 1.26017486e-02 3.39061863e+01] [-3.97796686e-02 9.99208334e-01 -5.31264957e-04 -6.93580053e-01] [-1.26129077e-02 2.95087694e-05 9.99920454e-01 -1.26940057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.354203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.94, Y:-0.70, Z:-1.27 [[ 9.99197190e-01 3.82832177e-02 1.18055331e-02 3.39369426e+01] [-3.82799634e-02 9.99266928e-01 -5.01585264e-04 -6.99047103e-01] [-1.18160811e-02 4.92672103e-05 9.99930186e-01 -1.27264139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.384203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.97, Y:-0.70, Z:-1.27 [[ 9.99230548e-01 3.75370977e-02 1.13700355e-02 3.39688102e+01] [-3.75340383e-02 9.99295233e-01 -4.82418679e-04 -7.02015558e-01] [-1.13801309e-02 5.52841333e-05 9.99935243e-01 -1.27216122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.414203822000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.00, Y:-0.71, Z:-1.27 [[ 9.99225825e-01 3.72819045e-02 1.25622422e-02 3.39997861e+01] [-3.72781129e-02 9.99304786e-01 -5.35932594e-04 -7.06369604e-01] [-1.25734893e-02 6.72210070e-05 9.99920948e-01 -1.27254219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.444203822000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.03, Y:-0.71, Z:-1.27 [[ 9.99203349e-01 3.80352347e-02 1.20825508e-02 3.40325895e+01] [-3.80317695e-02 9.99276397e-01 -5.16512866e-04 -7.08325377e-01] [-1.20934536e-02 5.65805963e-05 9.99926870e-01 -1.27359455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.47420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.06, Y:-0.71, Z:-1.28 [[ 9.99168956e-01 3.91733815e-02 1.12625117e-02 3.40639607e+01] [-3.91704148e-02 9.99232428e-01 -4.83964975e-04 -7.10145146e-01] [-1.12728255e-02 4.24055220e-05 9.99936459e-01 -1.27683081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.504203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.10, Y:-0.71, Z:-1.28 [[ 9.99050602e-01 4.25725999e-02 9.24493063e-03 3.40961901e+01] [-4.25707436e-02 9.99093376e-01 -3.97571729e-04 -7.11369454e-01] [-9.25347461e-03 3.63070376e-06 9.99957186e-01 -1.28114405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.534203822 meters Centerline goodness [0,1] 0.9998703851720637 Centerline is valid? [True, True] Translation: X:34.13, Y:-0.71, Z:-1.28 [[ 9.98937493e-01 4.52798399e-02 8.58027952e-03 3.41287979e+01] [-4.52783323e-02 9.98974342e-01 -3.69975887e-04 -7.10218146e-01] [-8.58823153e-03 -1.89179627e-05 9.99963120e-01 -1.28103648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.564203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.16, Y:-0.71, Z:-1.28 [[ 9.98798270e-01 4.81474582e-02 9.15630127e-03 3.41596785e+01] [-4.81458293e-02 9.98840238e-01 -3.98367714e-04 -7.07377013e-01] [-9.16486253e-03 -4.29487343e-05 9.99958001e-01 -1.28245695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.594203822000004 meters Centerline goodness [0,1] 0.9999787057345457 Centerline is valid? [True, True] Translation: X:34.19, Y:-0.70, Z:-1.28 [[ 9.98506948e-01 5.37576177e-02 9.69506504e-03 3.41901522e+01] [-5.37560267e-02 9.98554009e-01 -4.24809146e-04 -6.98364712e-01] [-9.70388279e-03 -9.69932919e-05 9.99952912e-01 -1.28423521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.624203822000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.22, Y:-0.70, Z:-1.28 [[ 9.98357537e-01 5.65851532e-02 8.96378257e-03 3.42217909e+01] [-5.65839113e-02 9.98397770e-01 -3.92289400e-04 -6.96784701e-01] [-8.97161829e-03 -1.15560799e-04 9.99959748e-01 -1.28415608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.65420382200001 meters Centerline goodness [0,1] 0.9998924708058238 Centerline is valid? [True, True] Translation: X:34.25, Y:-0.69, Z:-1.29 [[ 9.98040187e-01 6.20683261e-02 7.95660582e-03 3.42516785e+01] [-6.20675114e-02 9.98071892e-01 -3.49523776e-04 -6.89239984e-01] [-7.96295898e-03 -1.45007948e-04 9.99968285e-01 -1.28622619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.684203822 meters Centerline goodness [0,1] 0.9999139136984827 Centerline is valid? [True, True] Translation: X:34.28, Y:-0.69, Z:-1.29 [[ 9.97908891e-01 6.41345334e-02 8.03782278e-03 3.42809119e+01] [-6.41337698e-02 9.97941248e-01 -3.52986414e-04 -6.85392103e-01] [-8.04391352e-03 -1.63247595e-04 9.99967634e-01 -1.28944567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.714203822 meters Centerline goodness [0,1] 0.9998714680490992 Centerline is valid? [True, True] Translation: X:34.31, Y:-0.68, Z:-1.29 [[ 9.97800390e-01 6.57643965e-02 8.33223880e-03 3.43096029e+01] [-6.57636292e-02 9.97835162e-01 -3.66339301e-04 -6.82300509e-01] [-8.33829294e-03 -1.82424766e-04 9.99965219e-01 -1.29049060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.744203822 meters Centerline goodness [0,1] 0.999849209426565 Centerline is valid? [True, True] Translation: X:34.34, Y:-0.68, Z:-1.29 [[ 9.97733915e-01 6.66868778e-02 8.93841540e-03 3.43397361e+01] [-6.66860376e-02 9.97773932e-01 -3.92336075e-04 -6.81814189e-01] [-8.94468155e-03 -2.04620497e-04 9.99959975e-01 -1.28831606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.774203822000004 meters Centerline goodness [0,1] 0.9998285983631143 Centerline is valid? [True, True] Translation: X:34.37, Y:-0.68, Z:-1.29 [[ 9.97668740e-01 6.76465260e-02 9.00181134e-03 3.43689554e+01] [-6.76457142e-02 9.97709327e-01 -3.94977367e-04 -6.75503885e-01] [-9.00790998e-03 -2.14877385e-04 9.99959405e-01 -1.28979243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.804203822000005 meters Centerline goodness [0,1] 0.9998289977128444 Centerline is valid? [True, True] Translation: X:34.40, Y:-0.67, Z:-1.29 [[ 9.97679031e-01 6.74139750e-02 9.58681292e-03 3.43975375e+01] [-6.74130449e-02 9.97725065e-01 -4.20494867e-04 -6.73766085e-01] [-9.59335077e-03 -2.26757338e-04 9.99953957e-01 -1.29147621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.834203822000006 meters Centerline goodness [0,1] 0.9999146138410964 Centerline is valid? [True, True] Translation: X:34.43, Y:-0.68, Z:-1.29 [[ 9.97706987e-01 6.68233451e-02 1.07428614e-02 3.44275422e+01] [-6.68221510e-02 9.97764791e-01 -4.70461889e-04 -6.77788810e-01] [-1.07502867e-02 -2.48477994e-04 9.99942183e-01 -1.28793179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.864203822 meters Centerline goodness [0,1] 0.9999353963434331 Centerline is valid? [True, True] Translation: X:34.46, Y:-0.68, Z:-1.29 [[ 9.97745648e-01 6.60751506e-02 1.17343877e-02 3.44568786e+01] [-6.60736813e-02 9.97814615e-01 -5.13273936e-04 -6.78154276e-01] [-1.17426582e-02 -2.63217355e-04 9.99931018e-01 -1.28753251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.894203822 meters Centerline goodness [0,1] 0.9998936238112461 Centerline is valid? [True, True] Translation: X:34.49, Y:-0.68, Z:-1.29 [[ 9.97892180e-01 6.38542885e-02 1.15683555e-02 3.44863452e+01] [-6.38527210e-02 9.97959205e-01 -5.05172701e-04 -6.78801234e-01] [-1.15770044e-02 -2.34563092e-04 9.99932957e-01 -1.29134377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.924203822 meters Centerline goodness [0,1] 0.9998937549138353 Centerline is valid? [True, True] Translation: X:34.52, Y:-0.68, Z:-1.29 [[ 9.98014855e-01 6.20443944e-02 1.08093855e-02 3.45165743e+01] [-6.20429124e-02 9.98073371e-01 -4.72706122e-04 -6.82037285e-01] [-1.08178886e-02 -1.98878025e-04 9.99941465e-01 -1.29307887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.954203822000004 meters Centerline goodness [0,1] 0.9998932991890739 Centerline is valid? [True, True] Translation: X:34.55, Y:-0.68, Z:-1.29 [[ 9.98146055e-01 5.99746531e-02 1.03679351e-02 3.45463738e+01] [-5.99731754e-02 9.98199886e-01 -4.53650556e-04 -6.84493022e-01] [-1.03764792e-02 -1.68988478e-04 9.99946149e-01 -1.29427604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.984203822000005 meters Centerline goodness [0,1] 0.9999571954455954 Centerline is valid? [True, True] Translation: X:34.58, Y:-0.69, Z:-1.30 [[ 9.98366666e-01 5.61794494e-02 1.03860177e-02 3.45768435e+01] [-5.61777651e-02 9.98420679e-01 -4.54068517e-04 -6.88074214e-01] [-1.03951242e-02 -1.30136394e-04 9.99945961e-01 -1.29674403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.014203822000006 meters Centerline goodness [0,1] 0.9999788220843304 Centerline is valid? [True, True] Translation: X:34.61, Y:-0.69, Z:-1.30 [[ 9.98434944e-01 5.50552590e-02 9.82758615e-03 3.46075423e+01] [-5.50536965e-02 9.98483303e-01 -4.29654327e-04 -6.90513067e-01] [-9.83633540e-03 -1.12063052e-04 9.99951616e-01 -1.29861289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.04420382200001 meters Centerline goodness [0,1] 0.9999787161586923 Centerline is valid? [True, True] Translation: X:34.64, Y:-0.69, Z:-1.30 [[ 9.98478126e-01 5.43020994e-02 9.62877642e-03 3.46383729e+01] [-5.43005645e-02 9.98524547e-01 -4.20962522e-04 -6.92735681e-01] [-9.63742876e-03 -1.02526124e-04 9.99953554e-01 -1.29909809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.074203822 meters Centerline goodness [0,1] 0.9999570252906165 Centerline is valid? [True, True] Translation: X:34.67, Y:-0.69, Z:-1.30 [[ 9.98480912e-01 5.41981096e-02 9.92136072e-03 3.46675132e+01] [-5.41964723e-02 9.98530197e-01 -4.34008539e-04 -6.93173579e-01] [-9.93030072e-03 -1.04353510e-04 9.99950688e-01 -1.30015330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.104203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.70, Y:-0.69, Z:-1.30 [[ 9.98460128e-01 5.47751197e-02 8.77827639e-03 3.46980011e+01] [-5.47738632e-02 9.98498711e-01 -3.83675290e-04 -6.92812143e-01] [-8.78611353e-03 -9.77356307e-05 9.99961397e-01 -1.30131481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.134203822 meters Centerline goodness [0,1] 0.9998711201804318 Centerline is valid? [True, True] Translation: X:34.73, Y:-0.69, Z:-1.30 [[ 9.98437845e-01 5.52198347e-02 8.52291593e-03 3.47271523e+01] [-5.52186640e-02 9.98474216e-01 -3.72791169e-04 -6.91058940e-01] [-8.53049727e-03 -9.84152200e-05 9.99963610e-01 -1.30286970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.164203822000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.76, Y:-0.69, Z:-1.30 [[ 9.98420326e-01 5.53872330e-02 9.43960558e-03 3.47580840e+01] [-5.53858084e-02 9.98464943e-01 -4.12465892e-04 -6.90195820e-01] [-9.44796059e-03 -1.11005855e-04 9.99955361e-01 -1.30177796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.194203822000006 meters Centerline goodness [0,1] 0.9999786916684423 Centerline is valid? [True, True] Translation: X:34.79, Y:-0.68, Z:-1.30 [[ 9.98354518e-01 5.64546937e-02 1.00560203e-02 3.47878289e+01] [-5.64531341e-02 9.98405154e-01 -4.39103932e-04 -6.83432971e-01] [-1.00647719e-02 -1.29312466e-04 9.99949341e-01 -1.30276128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.22420382200001 meters Centerline goodness [0,1] 0.9998498079687601 Centerline is valid? [True, True] Translation: X:34.82, Y:-0.68, Z:-1.30 [[ 9.98310141e-01 5.73448802e-02 9.40351610e-03 3.48181785e+01] [-5.73435521e-02 9.98354420e-01 -4.11019571e-04 -6.83212105e-01] [-9.41161173e-03 -1.28906009e-04 9.99955701e-01 -1.30303845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.254203822 meters Centerline goodness [0,1] 0.9999786434307193 Centerline is valid? [True, True] Translation: X:34.85, Y:-0.68, Z:-1.31 [[ 9.98290281e-01 5.76915754e-02 9.39128359e-03 3.48474149e+01] [-5.76902636e-02 9.98334445e-01 -4.10749855e-04 -6.82563576e-01] [-9.39933870e-03 -1.31738038e-04 9.99955817e-01 -1.30717501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.284203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.88, Y:-0.68, Z:-1.31 [[ 9.98252575e-01 5.81845774e-02 1.03126658e-02 3.48772278e+01] [-5.81830210e-02 9.98305831e-01 -4.51128089e-04 -6.83148786e-01] [-1.03214431e-02 -1.49682276e-04 9.99946721e-01 -1.30757872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.314203822 meters Centerline goodness [0,1] 0.9999566254608545 Centerline is valid? [True, True] Translation: X:34.91, Y:-0.68, Z:-1.31 [[ 9.98248826e-01 5.82307355e-02 1.04145456e-02 3.49075906e+01] [-5.82291584e-02 9.98303139e-01 -4.54841010e-04 -6.83928399e-01] [-1.04233593e-02 -1.52385721e-04 9.99945664e-01 -1.30519287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.344203822000004 meters Centerline goodness [0,1] 0.9997644085583945 Centerline is valid? [True, True] Translation: X:34.94, Y:-0.68, Z:-1.31 [[ 9.98207399e-01 5.89328652e-02 1.04358188e-02 3.49373402e+01] [-5.89313222e-02 9.98261935e-01 -4.55571944e-04 -6.77981983e-01] [-1.04445288e-02 -1.60241313e-04 9.99945442e-01 -1.30670014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.374203822000005 meters Centerline goodness [0,1] 0.9997628543710251 Centerline is valid? [True, True] Translation: X:34.97, Y:-0.68, Z:-1.31 [[ 9.98185571e-01 5.92991347e-02 1.04488199e-02 3.49666752e+01] [-5.92975994e-02 9.98240245e-01 -4.56947388e-04 -6.76901008e-01] [-1.04575291e-02 -1.63471646e-04 9.99945305e-01 -1.30750796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.40420382200001 meters Centerline goodness [0,1] 0.9999566668111106 Centerline is valid? [True, True] Translation: X:35.00, Y:-0.68, Z:-1.31 [[ 9.98167633e-01 5.97110489e-02 9.79629357e-03 3.49956369e+01] [-5.97097211e-02 9.98215691e-01 -4.28219393e-04 -6.75527521e-01] [-9.80438339e-03 -1.57499219e-04 9.99951923e-01 -1.31084432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.434203822 meters Centerline goodness [0,1] 0.9998932581870971 Centerline is valid? [True, True] Translation: X:35.02, Y:-0.67, Z:-1.32 [[ 9.98147708e-01 6.01864624e-02 8.87370295e-03 3.50241141e+01] [-6.01853907e-02 9.98187141e-01 -3.88008326e-04 -6.72263921e-01] [-8.88096902e-03 -1.46777658e-04 9.99960553e-01 -1.31664169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.464203822 meters Centerline goodness [0,1] 0.9996567775704143 Centerline is valid? [True, True] Translation: X:35.05, Y:-0.67, Z:-1.31 [[ 9.98109987e-01 6.09285298e-02 8.01056009e-03 3.50539702e+01] [-6.09276840e-02 9.98142122e-01 -3.49815694e-04 -6.71792440e-01] [-8.01699120e-03 -1.38910336e-04 9.99967854e-01 -1.31348177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.494203822 meters Centerline goodness [0,1] 0.999828418230563 Centerline is valid? [True, True] Translation: X:35.08, Y:-0.67, Z:-1.32 [[ 9.98115813e-01 6.07082312e-02 8.90703515e-03 3.50825538e+01] [-6.07071799e-02 9.98155543e-01 -3.88600408e-04 -6.70349004e-01] [-8.91419775e-03 -1.52852774e-04 9.99960256e-01 -1.31719595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.524203822000004 meters Centerline goodness [0,1] 0.9998271428880102 Centerline is valid? [True, True] Translation: X:35.11, Y:-0.67, Z:-1.32 [[ 9.98125363e-01 6.04611811e-02 9.49761752e-03 3.51126355e+01] [-6.04599764e-02 9.98170536e-01 -4.14175810e-04 -6.72925802e-01] [-9.50528353e-03 -1.60826350e-04 9.99954811e-01 -1.31550711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.554203822000005 meters Centerline goodness [0,1] 0.9999785154151896 Centerline is valid? [True, True] Translation: X:35.14, Y:-0.68, Z:-1.31 [[ 9.98149165e-01 6.00514791e-02 9.59497601e-03 3.51421425e+01] [-6.00502328e-02 9.98195269e-01 -4.18197617e-04 -6.75126437e-01] [-9.60277304e-03 -1.58756941e-04 9.99953880e-01 -1.31448488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.584203822000006 meters Centerline goodness [0,1] 0.999956961480525 Centerline is valid? [True, True] Translation: X:35.17, Y:-0.67, Z:-1.32 [[ 9.98224337e-01 5.87809476e-02 9.64231350e-03 3.51707491e+01] [-5.87796294e-02 9.98270894e-01 -4.20284240e-04 -6.70925097e-01] [-9.65034563e-03 -1.47233658e-04 9.99953423e-01 -1.31858459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.61420382200001 meters Centerline goodness [0,1] 0.9998511904761904 Centerline is valid? [True, True] Translation: X:35.20, Y:-0.67, Z:-1.32 [[ 9.98280426e-01 5.77338800e-02 1.01483640e-02 3.51996693e+01] [-5.77323708e-02 9.98331998e-01 -4.41851872e-04 -6.71530294e-01] [-1.01569464e-02 -1.44797040e-04 9.99948406e-01 -1.31927175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.644203822 meters Centerline goodness [0,1] 0.9998931623931624 Centerline is valid? [True, True] Translation: X:35.23, Y:-0.67, Z:-1.32 [[ 9.98362179e-01 5.63932164e-02 9.63146129e-03 3.52293033e+01] [-5.63917997e-02 9.98408629e-01 -4.18813907e-04 -6.74056116e-01] [-9.63975232e-03 -1.25007471e-04 9.99953529e-01 -1.32001165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.674203822 meters Centerline goodness [0,1] 0.9998499110186754 Centerline is valid? [True, True] Translation: X:35.26, Y:-0.68, Z:-1.32 [[ 9.98517890e-01 5.37816979e-02 8.33981715e-03 3.52591526e+01] [-5.37805453e-02 9.98552713e-01 -3.62565643e-04 -6.77625543e-01] [-8.34724644e-03 -8.64916332e-05 9.99965157e-01 -1.32056568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.704203822000004 meters Centerline goodness [0,1] 0.9998712252913527 Centerline is valid? [True, True] Translation: X:35.29, Y:-0.68, Z:-1.32 [[ 9.98568739e-01 5.25644910e-02 9.87157023e-03 3.52878963e+01] [-5.25628179e-02 9.98617527e-01 -4.29034797e-04 -6.79702732e-01] [-9.88047505e-03 -9.04568114e-05 9.99951183e-01 -1.32230584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.734203822000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.32, Y:-0.68, Z:-1.32 [[ 9.98616742e-01 5.13666091e-02 1.12282968e-02 3.53186779e+01] [-5.13643833e-02 9.98679860e-01 -4.86715405e-04 -6.84091797e-01] [-1.12384748e-02 -9.06923868e-05 9.99936842e-01 -1.32050311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.764203822000006 meters Centerline goodness [0,1] 0.9999360027305502 Centerline is valid? [True, True] Translation: X:35.35, Y:-0.69, Z:-1.32 [[ 9.98757849e-01 4.82864802e-02 1.22953242e-02 3.53495859e+01] [-4.82835805e-02 9.98833526e-01 -5.32743108e-04 -6.90875998e-01] [-1.23067063e-02 -6.15809148e-05 9.99924268e-01 -1.31832683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.79420382200001 meters Centerline goodness [0,1] 0.9998706924419732 Centerline is valid? [True, True] Translation: X:35.38, Y:-0.69, Z:-1.32 [[ 9.98847712e-01 4.64270137e-02 1.21565178e-02 3.53809135e+01] [-4.64240426e-02 9.98921684e-01 -5.26623824e-04 -6.94328292e-01] [-1.21678588e-02 -3.83377004e-05 9.99925968e-01 -1.31734729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.824203822 meters Centerline goodness [0,1] 0.9999787125340599 Centerline is valid? [True, True] Translation: X:35.41, Y:-0.70, Z:-1.32 [[ 9.98918486e-01 4.48979052e-02 1.20845872e-02 3.54118464e+01] [-4.48948704e-02 9.98991580e-01 -5.22423290e-04 -6.96451605e-01] [-1.20958566e-02 -2.06776962e-05 9.99926842e-01 -1.32131590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.854203822 meters Centerline goodness [0,1] 0.9999787125340599 Centerline is valid? [True, True] Translation: X:35.44, Y:-0.70, Z:-1.32 [[ 9.98911283e-01 4.50578770e-02 1.20845916e-02 3.54435020e+01] [-4.50548551e-02 9.98984378e-01 -5.22328934e-04 -6.97976508e-01] [-1.20958532e-02 -2.27092583e-05 9.99926842e-01 -1.32231205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.884203822 meters Centerline goodness [0,1] 0.9998498530705047 Centerline is valid? [True, True] Translation: X:35.48, Y:-0.70, Z:-1.32 [[ 9.99005497e-01 4.27964911e-02 1.25090882e-02 3.54757009e+01] [-4.27930489e-02 9.99083810e-01 -5.42830287e-04 -7.04707656e-01] [-1.25208588e-02 6.98841657e-06 9.99921611e-01 -1.32194910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.914203822000005 meters Centerline goodness [0,1] 0.9998275267333563 Centerline is valid? [True, True] Translation: X:35.51, Y:-0.71, Z:-1.32 [[ 9.99010891e-01 4.24346725e-02 1.32867616e-02 3.55074406e+01] [-4.24307260e-02 9.99099243e-01 -5.78907938e-04 -7.08521574e-01] [-1.32993592e-02 1.45683969e-05 9.99911560e-01 -1.31870632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.944203822000006 meters Centerline goodness [0,1] 0.9999131944444445 Centerline is valid? [True, True] Translation: X:35.54, Y:-0.71, Z:-1.32 [[ 9.99003032e-01 4.23635615e-02 1.40808720e-02 3.55399945e+01] [-4.23590840e-02 9.99102261e-01 -6.16206911e-04 -7.10801845e-01] [-1.40943358e-02 1.91397334e-05 9.99900670e-01 -1.31843347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.97420382200001 meters Centerline goodness [0,1] 0.9998074330829964 Centerline is valid? [True, True] Translation: X:35.57, Y:-0.71, Z:-1.32 [[ 9.98973453e-01 4.30941280e-02 1.39619262e-02 3.55714697e+01] [-4.30897644e-02 9.99071016e-01 -6.13348953e-04 -7.11558935e-01] [-1.39753876e-02 1.11032105e-05 9.99902339e-01 -1.32078658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.004203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.60, Y:-0.71, Z:-1.32 [[ 9.98963458e-01 4.35133283e-02 1.33641151e-02 3.56029153e+01] [-4.35093371e-02 9.99052847e-01 -5.89390372e-04 -7.13675344e-01] [-1.33771036e-02 7.31565610e-06 9.99910523e-01 -1.32470239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.034203822 meters Centerline goodness [0,1] 0.9999149948996939 Centerline is valid? [True, True] Translation: X:35.63, Y:-0.71, Z:-1.33 [[ 9.98933656e-01 4.44079116e-02 1.26289062e-02 3.56347677e+01] [-4.44044000e-02 9.99013482e-01 -5.58463488e-04 -7.14607265e-01] [-1.26412478e-02 -2.91102962e-06 9.99920096e-01 -1.32634181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.064203822 meters Centerline goodness [0,1] 0.9999357807984587 Centerline is valid? [True, True] Translation: X:35.67, Y:-0.72, Z:-1.33 [[ 9.98898947e-01 4.53508870e-02 1.20079835e-02 3.56653944e+01] [-4.53477592e-02 9.98971119e-01 -5.32762008e-04 -7.16851175e-01] [-1.20197899e-02 -1.23597363e-05 9.99927760e-01 -1.33092960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.094203822000004 meters Centerline goodness [0,1] 0.9999783788458628 Centerline is valid? [True, True] Translation: X:35.70, Y:-0.72, Z:-1.33 [[ 9.98897516e-01 4.55449285e-02 1.13759735e-02 3.56962361e+01] [-4.55420836e-02 9.98962291e-01 -5.09142977e-04 -7.20246644e-01] [-1.13873574e-02 -9.50388120e-06 9.99935162e-01 -1.32999122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.124203822000005 meters Centerline goodness [0,1] 0.9999141391375277 Centerline is valid? [True, True] Translation: X:35.73, Y:-0.72, Z:-1.33 [[ 9.98894950e-01 4.57219935e-02 1.08802024e-02 3.57260973e+01] [-4.57193964e-02 9.98954203e-01 -4.87442303e-04 -7.23174605e-01] [-1.08911107e-02 -1.05326315e-05 9.99940690e-01 -1.33263738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.15420382200001 meters Centerline goodness [0,1] 0.9999573023633141 Centerline is valid? [True, True] Translation: X:35.76, Y:-0.73, Z:-1.33 [[ 9.98895054e-01 4.57337080e-02 1.08212242e-02 3.57574182e+01] [-4.57311408e-02 9.98953667e-01 -4.84689652e-04 -7.25181915e-01] [-1.08320682e-02 -1.07128299e-05 9.99941331e-01 -1.33300625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.184203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.79, Y:-0.73, Z:-1.33 [[ 9.98908739e-01 4.54590938e-02 1.07146044e-02 3.57883605e+01] [-4.54565587e-02 9.98966201e-01 -4.80148499e-04 -7.25000445e-01] [-1.07253548e-02 -7.42451218e-06 9.99942482e-01 -1.33181150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.214203822 meters Centerline goodness [0,1] 0.9999572293150275 Centerline is valid? [True, True] Translation: X:35.82, Y:-0.73, Z:-1.33 [[ 9.98916363e-01 4.53295778e-02 1.05512733e-02 3.58186281e+01] [-4.53271068e-02 9.98972086e-01 -4.73332496e-04 -7.26242501e-01] [-1.05618834e-02 -5.43911428e-06 9.99944222e-01 -1.33467885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.244203822 meters Centerline goodness [0,1] 0.9999140930372407 Centerline is valid? [True, True] Translation: X:35.85, Y:-0.73, Z:-1.34 [[ 9.98945146e-01 4.48860278e-02 9.68709275e-03 3.58508032e+01] [-4.48839570e-02 9.98992114e-01 -4.31179214e-04 -7.33932674e-01] [-9.69668319e-03 -4.07067116e-06 9.99952986e-01 -1.33654952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.274203822000004 meters Centerline goodness [0,1] 0.9998486257379495 Centerline is valid? [True, True] Translation: X:35.88, Y:-0.74, Z:-1.34 [[ 9.98948356e-01 4.47078150e-02 1.01682741e-02 3.58824142e+01] [-4.47054766e-02 9.99000106e-01 -4.57255984e-04 -7.39812488e-01] [-1.01785498e-02 2.19757253e-06 9.99948197e-01 -1.33604507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.304203822000005 meters Centerline goodness [0,1] 0.9998501327395736 Centerline is valid? [True, True] Translation: X:35.91, Y:-0.74, Z:-1.34 [[ 9.98929175e-01 4.47932446e-02 1.15788336e-02 3.59126176e+01] [-4.47902012e-02 9.98996279e-01 -5.22149795e-04 -7.43723346e-01] [-1.15906004e-02 2.97237847e-06 9.99932827e-01 -1.33602076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.334203822000006 meters Centerline goodness [0,1] 0.9999144311812775 Centerline is valid? [True, True] Translation: X:35.94, Y:-0.75, Z:-1.34 [[ 9.98909034e-01 4.49759461e-02 1.25660523e-02 3.59444694e+01] [-4.49723795e-02 9.98988070e-01 -5.66407326e-04 -7.46037379e-01] [-1.25788111e-02 6.64121318e-07 9.99920884e-01 -1.33519318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.36420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.98, Y:-0.75, Z:-1.34 [[ 9.98880130e-01 4.56333778e-02 1.24932093e-02 3.59761515e+01] [-4.56299322e-02 9.98958255e-01 -5.60853336e-04 -7.48120425e-01] [-1.25057882e-02 -9.83904195e-06 9.99921800e-01 -1.33851417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.394203822 meters Centerline goodness [0,1] 0.9999785931412425 Centerline is valid? [True, True] Translation: X:36.01, Y:-0.75, Z:-1.34 [[ 9.98773422e-01 4.77438362e-02 1.31216683e-02 3.60083175e+01] [-4.77401802e-02 9.98859612e-01 -5.91892699e-04 -7.51239951e-01] [-1.31349638e-02 -3.52641132e-05 9.99913732e-01 -1.33532592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.424203822 meters Centerline goodness [0,1] 0.9999355296241377 Centerline is valid? [True, True] Translation: X:36.04, Y:-0.75, Z:-1.34 [[ 9.98677308e-01 4.95691459e-02 1.36577559e-02 3.60406624e+01] [-4.95653213e-02 9.98770693e-01 -6.18587951e-04 -7.52058290e-01] [-1.36716292e-02 -5.91813080e-05 9.99906537e-01 -1.33511484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.454203822000004 meters Centerline goodness [0,1] 0.9998070780905018 Centerline is valid? [True, True] Translation: X:36.07, Y:-0.75, Z:-1.34 [[ 9.98571836e-01 5.17818608e-02 1.31501697e-02 3.60713706e+01] [-5.17784447e-02 9.98658416e-01 -6.00331938e-04 -7.51561566e-01] [-1.31636140e-02 -8.14207706e-05 9.99913353e-01 -1.33778229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.484203822000005 meters Centerline goodness [0,1] 0.9997854307477738 Centerline is valid? [True, True] Translation: X:36.10, Y:-0.75, Z:-1.34 [[ 9.98325667e-01 5.66487387e-02 1.16954231e-02 3.61025057e+01] [-5.66463680e-02 9.98394162e-01 -5.34135662e-04 -7.49779488e-01] [-1.17069003e-02 -1.29261899e-04 9.99931464e-01 -1.34166771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.514203822000006 meters Centerline goodness [0,1] 0.9999787102680378 Centerline is valid? [True, True] Translation: X:36.13, Y:-0.75, Z:-1.34 [[ 9.98151413e-01 5.95677401e-02 1.20598649e-02 3.61324610e+01] [-5.95654229e-02 9.98224251e-01 -5.51550266e-04 -7.47205561e-01] [-1.20713042e-02 -1.67820275e-04 9.99927125e-01 -1.34347548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.54420382200001 meters Centerline goodness [0,1] 0.9999572795625428 Centerline is valid? [True, True] Translation: X:36.16, Y:-0.74, Z:-1.34 [[ 9.97953579e-01 6.27470756e-02 1.23068470e-02 3.61634997e+01] [-6.27449043e-02 9.98029439e-01 -5.62845836e-04 -7.43921550e-01] [-1.23179125e-02 -2.10497920e-04 9.99924109e-01 -1.34350826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.574203822 meters Centerline goodness [0,1] 0.9998714515265131 Centerline is valid? [True, True] Translation: X:36.19, Y:-0.74, Z:-1.34 [[ 9.97533381e-01 6.93071914e-02 1.11205512e-02 3.61939277e+01] [-6.93058233e-02 9.97595331e-01 -5.08814373e-04 -7.37812953e-01] [-1.11290745e-02 -2.63159637e-04 9.99938035e-01 -1.34497281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.604203822 meters Centerline goodness [0,1] 0.9996795419586395 Centerline is valid? [True, True] Translation: X:36.22, Y:-0.73, Z:-1.35 [[ 9.97328872e-01 7.22449377e-02 1.07605375e-02 3.62231461e+01] [-7.22438359e-02 9.97386879e-01 -4.91567860e-04 -7.33074015e-01] [-1.07679322e-02 -2.87127685e-04 9.99941983e-01 -1.34932668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.634203822 meters Centerline goodness [0,1] 0.9993762501882004 Centerline is valid? [True, True] Translation: X:36.25, Y:-0.73, Z:-1.35 [[ 9.97144153e-01 7.47849299e-02 1.05239140e-02 3.62529962e+01] [-7.47840053e-02 9.97199639e-01 -4.81900710e-04 -7.32022270e-01] [-1.05304821e-02 -3.06495965e-04 9.99944506e-01 -1.35057132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.664203822000005 meters Centerline goodness [0,1] 0.9992935887830461 Centerline is valid? [True, True] Translation: X:36.28, Y:-0.73, Z:-1.35 [[ 9.96858942e-01 7.83438990e-02 1.15967317e-02 3.62830858e+01] [-7.83430207e-02 9.96926321e-01 -5.30696199e-04 -7.30103392e-01] [-1.16026639e-02 -3.79493744e-04 9.99932615e-01 -1.34695019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.694203822000006 meters Centerline goodness [0,1] 0.9989057672502575 Centerline is valid? [True, True] Translation: X:36.31, Y:-0.73, Z:-1.35 [[ 9.96792870e-01 7.91004533e-02 1.21281491e-02 3.63114942e+01] [-7.90995441e-02 9.96866568e-01 -5.55379425e-04 -7.26826792e-01] [-1.21340771e-02 -4.05732814e-04 9.99926297e-01 -1.34795837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.72420382200001 meters Centerline goodness [0,1] 0.9984833272808835 Centerline is valid? [True, True] Translation: X:36.34, Y:-0.73, Z:-1.35 [[ 9.96783669e-01 7.91630940e-02 1.24708728e-02 3.63395949e+01] [-7.91621480e-02 9.96861590e-01 -5.70237732e-04 -7.26212380e-01] [-1.24768759e-02 -4.18817420e-04 9.99922073e-01 -1.34909920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.754203822 meters Centerline goodness [0,1] 0.9996784359122773 Centerline is valid? [True, True] Translation: X:36.37, Y:-0.73, Z:-1.35 [[ 9.96941339e-01 7.72267092e-02 1.20000979e-02 3.63691418e+01] [-7.72257087e-02 9.97013485e-01 -5.47420597e-04 -7.34593587e-01] [-1.20065350e-02 -3.80969845e-04 9.99927846e-01 -1.34931862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.784203822 meters Centerline goodness [0,1] 0.9991700361779102 Centerline is valid? [True, True] Translation: X:36.40, Y:-0.74, Z:-1.35 [[ 9.97088408e-01 7.52619976e-02 1.22612284e-02 3.63978637e+01] [-7.52608057e-02 9.97163727e-01 -5.59246770e-04 -7.35329267e-01] [-1.22685422e-02 -3.65171454e-04 9.99924672e-01 -1.35277652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.814203822 meters Centerline goodness [0,1] 0.9997206043542737 Centerline is valid? [True, True] Translation: X:36.43, Y:-0.74, Z:-1.35 [[ 9.97242986e-01 7.30606312e-02 1.29834640e-02 3.64271026e+01] [-7.30591183e-02 9.97327436e-01 -5.91425177e-04 -7.43192819e-01] [-1.29919748e-02 -3.58765826e-04 9.99915536e-01 -1.35122768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.844203822000004 meters Centerline goodness [0,1] 0.999764353041988 Centerline is valid? [True, True] Translation: X:36.46, Y:-0.75, Z:-1.35 [[ 9.97402284e-01 7.07595547e-02 1.34822193e-02 3.64564132e+01] [-7.07577179e-02 9.97493343e-01 -6.13793764e-04 -7.49586625e-01] [-1.34918558e-02 -3.41771771e-04 9.99908922e-01 -1.35173917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.874203822000005 meters Centerline goodness [0,1] 0.999914628420199 Centerline is valid? [True, True] Translation: X:36.49, Y:-0.76, Z:-1.36 [[ 9.97759279e-01 6.58582016e-02 1.17948896e-02 3.64862462e+01] [-6.58564612e-02 9.97828963e-01 -5.36318356e-04 -7.60588540e-01] [-1.18046034e-02 -2.41653071e-04 9.99930294e-01 -1.35556725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.90420382200001 meters Centerline goodness [0,1] 0.9999570750971176 Centerline is valid? [True, True] Translation: X:36.52, Y:-0.77, Z:-1.36 [[ 9.97941151e-01 6.31791246e-02 1.10389449e-02 3.65167318e+01] [-6.31774362e-02 9.98002184e-01 -5.01945249e-04 -7.67311222e-01] [-1.10486036e-02 -1.96500418e-04 9.99938943e-01 -1.35607864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.934203822 meters Centerline goodness [0,1] 0.9997869983811877 Centerline is valid? [True, True] Translation: X:36.55, Y:-0.77, Z:-1.36 [[ 9.98098912e-01 6.05977616e-02 1.12460142e-02 3.65466126e+01] [-6.05958455e-02 9.98162252e-01 -5.11360773e-04 -7.69855430e-01] [-1.12563342e-02 -1.71073108e-04 9.99936631e-01 -1.35982631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.964203822 meters Centerline goodness [0,1] 0.9999573214971619 Centerline is valid? [True, True] Translation: X:36.58, Y:-0.78, Z:-1.36 [[ 9.98365954e-01 5.59017226e-02 1.18498694e-02 3.65773787e+01] [-5.58992699e-02 9.98436268e-01 -5.38348798e-04 -7.84255417e-01] [-1.18614340e-02 -1.24929939e-04 9.99929643e-01 -1.35778890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.994203822 meters Centerline goodness [0,1] 0.9999357257632565 Centerline is valid? [True, True] Translation: X:36.61, Y:-0.79, Z:-1.36 [[ 9.98451210e-01 5.44036145e-02 1.16373312e-02 3.66085653e+01] [-5.44011741e-02 9.98519021e-01 -5.26390871e-04 -7.90729920e-01] [-1.16487341e-02 -1.07508876e-04 9.99932145e-01 -1.35960672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.024203822000004 meters Centerline goodness [0,1] 0.9998708649893464 Centerline is valid? [True, True] Translation: X:36.64, Y:-0.80, Z:-1.36 [[ 9.98508231e-01 5.34726102e-02 1.10450648e-02 3.66405139e+01] [-5.34703429e-02 9.98569312e-01 -5.00691128e-04 -7.96395876e-01] [-1.10560361e-02 -9.06391919e-05 9.99938876e-01 -1.35919211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.054203822000005 meters Centerline goodness [0,1] 0.9999786948462833 Centerline is valid? [True, True] Translation: X:36.67, Y:-0.80, Z:-1.36 [[ 9.98541990e-01 5.29658100e-02 1.04171559e-02 3.66716097e+01] [-5.29637472e-02 9.98596323e-01 -4.73983926e-04 -7.98666045e-01] [-1.04276385e-02 -7.84387576e-05 9.99945628e-01 -1.36462147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.084203822000006 meters Centerline goodness [0,1] 0.9999785306367813 Centerline is valid? [True, True] Translation: X:36.70, Y:-0.80, Z:-1.36 [[ 9.98490525e-01 5.37792193e-02 1.11564967e-02 3.67034959e+01] [-5.37768499e-02 9.98552847e-01 -5.12477189e-04 -7.99683178e-01] [-1.11679121e-02 -8.82576298e-05 9.99937633e-01 -1.36155930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.11420382200001 meters Centerline goodness [0,1] 0.9999141059503103 Centerline is valid? [True, True] Translation: X:36.74, Y:-0.80, Z:-1.36 [[ 9.98406350e-01 5.52648423e-02 1.14261517e-02 3.67359520e+01] [-5.52624844e-02 9.98471725e-01 -5.22227628e-04 -7.99484517e-01] [-1.14375502e-02 -1.10042148e-04 9.99934583e-01 -1.36214750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.144203822 meters Centerline goodness [0,1] 0.9999568528466335 Centerline is valid? [True, True] Translation: X:36.77, Y:-0.80, Z:-1.37 [[ 9.98343575e-01 5.65595715e-02 1.05413970e-02 3.67666006e+01] [-5.65576032e-02 9.98399220e-01 -4.84969910e-04 -7.98536556e-01] [-1.05519522e-02 -1.12029555e-04 9.99944320e-01 -1.36690095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.174203822 meters Centerline goodness [0,1] 0.9999570077386071 Centerline is valid? [True, True] Translation: X:36.80, Y:-0.80, Z:-1.37 [[ 9.98290783e-01 5.77064049e-02 9.24567176e-03 3.67981878e+01] [-5.77049232e-02 9.98333591e-01 -4.27166649e-04 -8.00678519e-01] [-9.25491495e-03 -1.07084250e-04 9.99957167e-01 -1.36693541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.204203822000004 meters Centerline goodness [0,1] 0.9999784515267093 Centerline is valid? [True, True] Translation: X:36.83, Y:-0.80, Z:-1.37 [[ 9.98217108e-01 5.89873721e-02 9.11571165e-03 3.68271494e+01] [-5.89859782e-02 9.98258722e-01 -4.21923025e-04 -8.02816304e-01] [-9.12472679e-03 -1.16528388e-04 9.99958362e-01 -1.36940024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.234203822000005 meters Centerline goodness [0,1] 0.9999784603454961 Centerline is valid? [True, True] Translation: X:36.86, Y:-0.80, Z:-1.37 [[ 9.98188127e-01 5.94017444e-02 9.58626332e-03 3.68579229e+01] [-5.94002220e-02 9.98234149e-01 -4.43702628e-04 -8.04111550e-01] [-9.59569212e-03 -1.26527474e-04 9.99953952e-01 -1.36736983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.264203822000006 meters Centerline goodness [0,1] 0.9998709233284571 Centerline is valid? [True, True] Translation: X:36.89, Y:-0.80, Z:-1.37 [[ 9.98166650e-01 5.97784172e-02 9.48045118e-03 3.68870291e+01] [-5.97769427e-02 9.98211663e-01 -4.39073999e-04 -8.02451403e-01] [-9.48974409e-03 -1.28443364e-04 9.99954963e-01 -1.36870790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.29420382200001 meters Centerline goodness [0,1] 0.9999569818463392 Centerline is valid? [True, True] Translation: X:36.92, Y:-0.80, Z:-1.37 [[ 9.98175321e-01 5.96713191e-02 9.23919321e-03 3.69165593e+01] [-5.96699150e-02 9.98218071e-01 -4.27793020e-04 -8.01223612e-01] [-9.24825660e-03 -1.24289439e-04 9.99957226e-01 -1.37240863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.324203822 meters Centerline goodness [0,1] 0.9999575542774677 Centerline is valid? [True, True] Translation: X:36.95, Y:-0.80, Z:-1.37 [[ 9.98197878e-01 5.90205288e-02 1.08431190e-02 3.69459835e+01] [-5.90185588e-02 9.98256759e-01 -5.01853561e-04 -8.03451494e-01] [-1.08538365e-02 -1.38996097e-04 9.99941086e-01 -1.37235961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.354203822 meters Centerline goodness [0,1] 0.9999785545785975 Centerline is valid? [True, True] Translation: X:36.98, Y:-0.81, Z:-1.37 [[ 9.98203944e-01 5.85699132e-02 1.25877712e-02 3.69775412e+01] [-5.85672336e-02 9.98283297e-01 -5.81712950e-04 -8.08953466e-01] [-1.26002326e-02 -1.56562778e-04 9.99920602e-01 -1.36818431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.384203822 meters Centerline goodness [0,1] 0.9999786939384255 Centerline is valid? [True, True] Translation: X:37.01, Y:-0.81, Z:-1.37 [[ 9.98215576e-01 5.81346951e-02 1.36389456e-02 3.70086785e+01] [-5.81315210e-02 9.98308735e-01 -6.29387851e-04 -8.12247438e-01] [-1.36524678e-02 -1.64587896e-04 9.99906787e-01 -1.36772486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.414203822000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.04, Y:-0.81, Z:-1.37 [[ 9.98248151e-01 5.80814268e-02 1.12772442e-02 3.70395973e+01] [-5.80792604e-02 9.98311840e-01 -5.19779888e-04 -8.14156190e-01] [-1.12883960e-02 -1.36104689e-04 9.99936275e-01 -1.37210329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.444203822000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.07, Y:-0.81, Z:-1.38 [[ 9.98228758e-01 5.85789967e-02 1.03849539e-02 3.70701626e+01] [-5.85771446e-02 9.98282768e-01 -4.82690967e-04 -8.12904342e-01] [-1.03953961e-02 -1.26484941e-04 9.99945958e-01 -1.37879877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.47420382200001 meters Centerline goodness [0,1] 0.9999785352451275 Centerline is valid? [True, True] Translation: X:37.10, Y:-0.82, Z:-1.38 [[ 9.98193678e-01 5.92586151e-02 9.88930598e-03 3.71007840e+01] [-5.92569617e-02 9.98242656e-01 -4.60374002e-04 -8.16296186e-01] [-9.89920819e-03 -1.26467808e-04 9.99950994e-01 -1.37645074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.504203822 meters Centerline goodness [0,1] 0.9999574042127234 Centerline is valid? [True, True] Translation: X:37.13, Y:-0.82, Z:-1.38 [[ 9.98134669e-01 6.02737579e-02 9.70857267e-03 3.71305465e+01] [-6.02722124e-02 9.98181875e-01 -4.51960377e-04 -8.16159973e-01] [-9.71816263e-03 -1.34039834e-04 9.99952769e-01 -1.37921868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.534203822 meters Centerline goodness [0,1] 0.9999135975807323 Centerline is valid? [True, True] Translation: X:37.16, Y:-0.82, Z:-1.38 [[ 9.98056646e-01 6.17705202e-02 8.20577050e-03 3.71609821e+01] [-6.17694668e-02 9.98090370e-01 -3.82000862e-04 -8.21347400e-01] [-8.21369691e-03 -1.25607570e-04 9.99966259e-01 -1.38160579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.564203822 meters Centerline goodness [0,1] 0.9999570511306289 Centerline is valid? [True, True] Translation: X:37.19, Y:-0.82, Z:-1.38 [[ 9.98022536e-01 6.23940058e-02 7.61617371e-03 3.71909771e+01] [-6.23931164e-02 9.98051589e-01 -3.54553532e-04 -8.24567756e-01] [-7.62345628e-03 -1.21344397e-04 9.99970934e-01 -1.38345754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.594203822000004 meters Centerline goodness [0,1] 0.9998712612110029 Centerline is valid? [True, True] Translation: X:37.22, Y:-0.82, Z:-1.39 [[ 9.97930448e-01 6.38674553e-02 7.46789527e-03 3.72207106e+01] [-6.38666392e-02 9.97958382e-01 -3.47943823e-04 -8.22116902e-01] [-7.47487096e-03 -1.29725637e-04 9.99972054e-01 -1.38597808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.624203822000005 meters Centerline goodness [0,1] 0.9998926024572558 Centerline is valid? [True, True] Translation: X:37.25, Y:-0.81, Z:-1.39 [[ 9.97676007e-01 6.77795861e-02 6.96508289e-03 3.72502235e+01] [-6.77789770e-02 9.97700308e-01 -3.23726098e-04 -8.13356094e-01] [-6.97100737e-03 -1.49112433e-04 9.99975691e-01 -1.38727699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.65420382200001 meters Centerline goodness [0,1] 0.9997431781701445 Centerline is valid? [True, True] Translation: X:37.28, Y:-0.81, Z:-1.39 [[ 9.97508084e-01 7.01896408e-02 7.14399059e-03 3.72794235e+01] [-7.01890517e-02 9.97533651e-01 -3.33458527e-04 -8.09652369e-01] [-7.14977635e-03 -1.68802348e-04 9.99974426e-01 -1.38832232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.684203822 meters Centerline goodness [0,1] 0.998993058531151 Centerline is valid? [True, True] Translation: X:37.31, Y:-0.81, Z:-1.39 [[ 9.97338186e-01 7.25342303e-02 7.43825935e-03 3.73079109e+01] [-7.25336636e-02 9.97365905e-01 -3.46277775e-04 -8.05537787e-01] [-7.44378326e-03 -1.94168154e-04 9.99972276e-01 -1.39013453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.714203822 meters Centerline goodness [0,1] 0.9996567849328586 Centerline is valid? [True, True] Translation: X:37.34, Y:-0.80, Z:-1.38 [[ 9.96981535e-01 7.72366248e-02 7.89443180e-03 3.73389390e+01] [-7.72361362e-02 9.97012760e-01 -3.67199551e-04 -8.04045010e-01] [-7.89921050e-03 -2.43644237e-04 9.99968771e-01 -1.38325053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.744203822 meters Centerline goodness [0,1] 0.9984043470760738 Centerline is valid? [True, True] Translation: X:37.37, Y:-0.80, Z:-1.38 [[ 9.96777873e-01 7.97602047e-02 8.49596421e-03 3.73673183e+01] [-7.97597248e-02 9.96814040e-01 -3.95832522e-04 -7.99315068e-01] [-8.50046809e-03 -2.83078667e-04 9.99963830e-01 -1.38368303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.774203822000004 meters Centerline goodness [0,1] 0.9984043470760738 Centerline is valid? [True, True] Translation: X:37.40, Y:-0.80, Z:-1.38 [[ 9.96781715e-01 7.97121768e-02 8.49595451e-03 3.73956251e+01] [-7.97116934e-02 9.96817882e-01 -3.96041794e-04 -8.00540969e-01] [-8.50048873e-03 -2.82459703e-04 9.99963830e-01 -1.38457404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.804203822000005 meters Centerline goodness [0,1] 0.9940469862868077 Centerline is valid? [True, True] Translation: X:37.42, Y:-0.80, Z:-1.39 [[ 9.96639428e-01 8.14356268e-02 8.83678628e-03 3.74239592e+01] [-8.14351759e-02 9.96678555e-01 -4.11436804e-04 -7.96701280e-01] [-8.84094100e-03 -3.09571104e-04 9.99960870e-01 -1.38666438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.834203822000006 meters Centerline goodness [0,1] 0.9961129383623083 Centerline is valid? [True, True] Translation: X:37.45, Y:-0.80, Z:-1.39 [[ 9.96448667e-01 8.38850679e-02 7.30408551e-03 3.74537451e+01] [-8.38848324e-02 9.96475399e-01 -3.39120231e-04 -7.96286704e-01] [-7.30678864e-03 -2.74786087e-04 9.99973267e-01 -1.38821800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.86420382200001 meters Centerline goodness [0,1] 0.9910268979922418 Centerline is valid? [True, True] Translation: X:37.48, Y:-0.79, Z:-1.39 [[ 9.96440501e-01 8.39910645e-02 7.19919280e-03 3.74814250e+01] [-8.39908297e-02 9.96466471e-01 -3.35473279e-04 -7.93465088e-01] [-7.20193101e-03 -2.70387015e-04 9.99974029e-01 -1.39156525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.894203822 meters Centerline goodness [0,1] 0.9657039326441437 Centerline is valid? [True, True] Translation: X:37.51, Y:-0.79, Z:-1.40 [[ 9.96516133e-01 8.30644866e-02 7.47576423e-03 3.75092512e+01] [-8.30642130e-02 9.96544136e-01 -3.47622992e-04 -7.88127489e-01] [-7.47880414e-03 -2.74556553e-04 9.99971996e-01 -1.39605234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.924203822 meters Centerline goodness [0,1] 0.9736338913911787 Centerline is valid? [True, True] Translation: X:37.54, Y:-0.79, Z:-1.40 [[ 9.96653692e-01 8.13737977e-02 7.72807634e-03 3.75370526e+01] [-8.13734591e-02 9.96683617e-01 -3.58756260e-04 -7.90017576e-01] [-7.73164044e-03 -2.71304553e-04 9.99970074e-01 -1.39645523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.954203822000004 meters Centerline goodness [0,1] 0.9982484246502189 Centerline is valid? [True, True] Translation: X:37.57, Y:-0.79, Z:-1.39 [[ 9.97001280e-01 7.69525668e-02 8.17009683e-03 3.75676146e+01] [-7.69520546e-02 9.97034723e-01 -3.77497150e-04 -7.94693486e-01] [-8.17491961e-03 -2.52340596e-04 9.99966553e-01 -1.39244281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.984203822000005 meters Centerline goodness [0,1] 0.9998918825411928 Centerline is valid? [True, True] Translation: X:37.60, Y:-0.80, Z:-1.39 [[ 9.97198765e-01 7.43036918e-02 8.57819308e-03 3.75971078e+01] [-7.43030253e-02 9.97235631e-01 -3.96805493e-04 -8.01923912e-01] [-8.58396390e-03 -2.41691750e-04 9.99963128e-01 -1.38839680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.014203822000006 meters Centerline goodness [0,1] 0.999679500876031 Centerline is valid? [True, True] Translation: X:37.63, Y:-0.81, Z:-1.39 [[ 9.97554127e-01 6.93830856e-02 8.47063496e-03 3.76253491e+01] [-6.93822578e-02 9.97590070e-01 -3.91907959e-04 -8.07137367e-01] [-8.47741311e-03 -1.96762377e-04 9.99964047e-01 -1.39214550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.04420382200001 meters Centerline goodness [0,1] 0.9997663452143252 Centerline is valid? [True, True] Translation: X:37.65, Y:-0.81, Z:-1.40 [[ 9.97678928e-01 6.76044241e-02 8.14847375e-03 3.76539514e+01] [-6.76036044e-02 9.97712188e-01 -3.76302998e-04 -8.09510478e-01] [-8.15527133e-03 -1.75436625e-04 9.99966730e-01 -1.39529087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.074203822 meters Centerline goodness [0,1] 0.9998297799906379 Centerline is valid? [True, True] Translation: X:37.68, Y:-0.81, Z:-1.40 [[ 9.97785613e-01 6.60418558e-02 7.89575034e-03 3.76828893e+01] [-6.60410352e-02 9.97816841e-01 -3.64904876e-04 -8.10798214e-01] [-7.90261166e-03 -1.57346691e-04 9.99968761e-01 -1.39801028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.104203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.71, Y:-0.81, Z:-1.40 [[ 9.97874416e-01 6.47602744e-02 7.26331978e-03 3.77123488e+01] [-6.47595491e-02 9.97900841e-01 -3.35261764e-04 -8.14437961e-01] [-7.26978456e-03 -1.35820177e-04 9.99973566e-01 -1.39587692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.134203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.74, Y:-0.81, Z:-1.39 [[ 9.98037068e-01 6.21972251e-02 7.31540245e-03 3.77420423e+01] [-6.21964215e-02 9.98063871e-01 -3.37508309e-04 -8.12819220e-01] [-7.32223097e-03 -1.18146051e-04 9.99973185e-01 -1.39380830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.164203822000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.77, Y:-0.81, Z:-1.40 [[ 9.98129448e-01 6.07722611e-02 6.65869397e-03 3.77702906e+01] [-6.07715624e-02 9.98151653e-01 -3.07412974e-04 -8.11241947e-01] [-6.66506858e-03 -9.78212940e-05 9.99977783e-01 -1.39851221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.194203822000006 meters Centerline goodness [0,1] 0.9999785747953893 Centerline is valid? [True, True] Translation: X:37.80, Y:-0.82, Z:-1.40 [[ 9.98239275e-01 5.91033271e-02 5.01462343e-03 3.78000598e+01] [-5.91029109e-02 9.98251868e-01 -2.31290744e-04 -8.15650202e-01] [-5.01952726e-03 -6.54953371e-05 9.99987400e-01 -1.40003611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.22420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.83, Y:-0.82, Z:-1.41 [[ 9.98367637e-01 5.69946578e-02 3.69732987e-03 3.78286843e+01] [-5.69944154e-02 9.98374483e-01 -1.70974822e-04 -8.19690793e-01] [-3.70106445e-03 -4.00314257e-05 9.99993150e-01 -1.40582444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.254203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.86, Y:-0.83, Z:-1.40 [[ 9.98560431e-01 5.34476143e-02 4.51855127e-03 3.78579056e+01] [-5.34472145e-02 9.98570654e-01 -2.09258602e-04 -8.25706794e-01] [-4.52327707e-03 -3.25466186e-05 9.99989769e-01 -1.40333534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.284203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.89, Y:-0.83, Z:-1.40 [[ 9.98619048e-01 5.22522797e-02 5.44950031e-03 3.78873923e+01] [-5.22516902e-02 9.98633916e-01 -2.50586681e-04 -8.27940167e-01] [-5.45514956e-03 -3.45049691e-05 9.99985120e-01 -1.40207488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.314203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.92, Y:-0.83, Z:-1.40 [[ 9.98652707e-01 5.14895886e-02 6.44919808e-03 3.79165483e+01] [-5.14887490e-02 9.98673531e-01 -2.96260883e-04 -8.29777450e-01] [-6.45589777e-03 -3.61994079e-05 9.99979160e-01 -1.40174669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.344203822000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.95, Y:-0.83, Z:-1.40 [[ 9.98651868e-01 5.12903954e-02 7.98381908e-03 3.79460251e+01] [-5.12891052e-02 9.98683781e-01 -3.66392803e-04 -8.32059571e-01] [-7.99210305e-03 -4.35840791e-05 9.99968062e-01 -1.39898932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.374203822000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.98, Y:-0.83, Z:-1.40 [[ 9.98636913e-01 5.12719207e-02 9.77270697e-03 3.79762260e+01] [-5.12699931e-02 9.98684729e-01 -4.47836481e-04 -8.34467026e-01] [-9.78281464e-03 -5.38205779e-05 9.99952146e-01 -1.39627282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.40420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.01, Y:-0.84, Z:-1.40 [[ 9.98621257e-01 5.16551580e-02 9.34502844e-03 3.80064453e+01] [-5.16534155e-02 9.98664980e-01 -4.27885290e-04 -8.35627010e-01] [-9.35465512e-03 -5.54072907e-05 9.99956243e-01 -1.39730499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.434203822 meters Centerline goodness [0,1] 0.9999787147995999 Centerline is valid? [True, True] Translation: X:38.04, Y:-0.84, Z:-1.40 [[ 9.98607528e-01 5.20292474e-02 8.71562263e-03 3.80355213e+01] [-5.20277473e-02 9.98645560e-01 -3.98910093e-04 -8.35915624e-01] [-8.72457283e-03 -5.50995897e-05 9.99961939e-01 -1.40045297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.464203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.07, Y:-0.84, Z:-1.40 [[ 9.98528454e-01 5.37394829e-02 7.27971428e-03 3.80658021e+01] [-5.37384805e-02 9.98554988e-01 -3.33369946e-04 -8.36520322e-01] [-7.28711013e-03 -5.83214071e-05 9.99973447e-01 -1.40304827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.494203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.10, Y:-0.84, Z:-1.40 [[ 9.98477834e-01 5.46304721e-02 7.58460357e-03 3.80957535e+01] [-5.46294054e-02 9.98506638e-01 -3.47895067e-04 -8.38641219e-01] [-7.59228269e-03 -6.69768704e-05 9.99971176e-01 -1.40337151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.524203822000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.13, Y:-0.84, Z:-1.40 [[ 9.98439925e-01 5.53214263e-02 7.56681899e-03 3.81252611e+01] [-5.53203857e-02 9.98468595e-01 -3.46913695e-04 -8.41401747e-01] [-7.57442288e-03 -7.22268615e-05 9.99971311e-01 -1.40310476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.554203822000005 meters Centerline goodness [0,1] 0.9999571091571949 Centerline is valid? [True, True] Translation: X:38.15, Y:-0.84, Z:-1.41 [[ 9.98410594e-01 5.60449859e-02 5.93677901e-03 3.81549469e+01] [-5.60443599e-02 9.98428243e-01 -2.71893469e-04 -8.42799986e-01] [-5.94268610e-03 -6.12616592e-05 9.99982340e-01 -1.40687980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.584203822000006 meters Centerline goodness [0,1] 0.9999784941611648 Centerline is valid? [True, True] Translation: X:38.18, Y:-0.84, Z:-1.41 [[ 9.98357037e-01 5.71623535e-02 3.96142496e-03 3.81842351e+01] [-5.71620805e-02 9.98364895e-01 -1.82187612e-04 -8.44078576e-01] [-3.96536188e-03 -4.45550074e-05 9.99992137e-01 -1.40744316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.61420382200001 meters Centerline goodness [0,1] 0.9999785264875776 Centerline is valid? [True, True] Translation: X:38.21, Y:-0.84, Z:-1.41 [[ 9.98323359e-01 5.76565168e-02 5.11830006e-03 3.82126287e+01] [-5.76560687e-02 9.98336478e-01 -2.35179722e-04 -8.43771172e-01] [-5.12334530e-03 -6.03156495e-05 9.99986874e-01 -1.40816687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.644203822 meters Centerline goodness [0,1] 0.9999358124010441 Centerline is valid? [True, True] Translation: X:38.24, Y:-0.84, Z:-1.41 [[ 9.98284139e-01 5.82017469e-02 6.42918344e-03 3.82422463e+01] [-5.82010597e-02 9.98304838e-01 -2.94083671e-04 -8.43895933e-01] [-6.43540111e-03 -8.06062244e-05 9.99979289e-01 -1.40675532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.674203822 meters Centerline goodness [0,1] 0.9999784399120348 Centerline is valid? [True, True] Translation: X:38.27, Y:-0.85, Z:-1.41 [[ 9.98223185e-01 5.92032667e-02 6.74132780e-03 3.82715442e+01] [-5.92025312e-02 9.98245944e-01 -3.08783495e-04 -8.45115842e-01] [-6.74778413e-03 -9.08688262e-05 9.99977229e-01 -1.40521043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.704203822000004 meters Centerline goodness [0,1] 0.9998930572785216 Centerline is valid? [True, True] Translation: X:38.30, Y:-0.85, Z:-1.41 [[ 9.98118239e-01 6.10841505e-02 5.35801085e-03 3.82995531e+01] [-6.10837127e-02 9.98132616e-01 -2.45468880e-04 -8.46218364e-01] [-5.36299965e-03 -8.22802297e-05 9.99985616e-01 -1.41060585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.734203822000005 meters Centerline goodness [0,1] 0.9999571183533448 Centerline is valid? [True, True] Translation: X:38.33, Y:-0.85, Z:-1.41 [[ 9.98076785e-01 6.18391508e-02 4.31853871e-03 3.83277819e+01] [-6.18388747e-02 9.98086126e-01 -1.97579546e-04 -8.47415046e-01] [-4.32249173e-03 -6.98540166e-05 9.99990656e-01 -1.41366578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.764203822000006 meters Centerline goodness [0,1] 0.9998287597927994 Centerline is valid? [True, True] Translation: X:38.36, Y:-0.84, Z:-1.42 [[ 9.97944517e-01 6.39640373e-02 3.91688974e-03 3.83557632e+01] [-6.39638241e-02 9.97952202e-01 -1.79808958e-04 -8.44686845e-01] [-3.92037004e-03 -7.10998827e-05 9.99992313e-01 -1.41617164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.79420382200001 meters Centerline goodness [0,1] 0.9999352625105199 Centerline is valid? [True, True] Translation: X:38.38, Y:-0.85, Z:-1.42 [[ 9.97905983e-01 6.45412405e-02 4.25173610e-03 3.83845828e+01] [-6.45409975e-02 9.97915037e-01 -1.94462690e-04 -8.46456795e-01] [-4.25542226e-03 -8.03558072e-05 9.99990942e-01 -1.41569619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.824203822 meters Centerline goodness [0,1] 0.9999570271373628 Centerline is valid? [True, True] Translation: X:38.41, Y:-0.85, Z:-1.41 [[ 9.97912978e-01 6.43389481e-02 5.49437586e-03 3.84132369e+01] [-6.43385432e-02 9.97928098e-01 -2.50593168e-04 -8.49397115e-01] [-5.49911496e-03 -1.03429965e-04 9.99984874e-01 -1.41467526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.854203822 meters Centerline goodness [0,1] 0.999978531097705 Centerline is valid? [True, True] Translation: X:38.44, Y:-0.85, Z:-1.41 [[ 9.97945037e-01 6.37362732e-02 6.58709532e-03 3.84417807e+01] [-6.37356820e-02 9.97966769e-01 -2.99833163e-04 -8.53858723e-01] [-6.59281249e-03 -1.20615996e-04 9.99978260e-01 -1.41205988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.884203822 meters Centerline goodness [0,1] 0.9999785867237687 Centerline is valid? [True, True] Translation: X:38.47, Y:-0.86, Z:-1.41 [[ 9.98035532e-01 6.21495681e-02 7.90618140e-03 3.84713665e+01] [-6.21486767e-02 9.98066838e-01 -3.58624395e-04 -8.59134062e-01] [-7.91318582e-03 -1.33438822e-04 9.99968681e-01 -1.40905887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.914203822000005 meters Centerline goodness [0,1] 0.9999783559153284 Centerline is valid? [True, True] Translation: X:38.50, Y:-0.86, Z:-1.41 [[ 9.98068312e-01 6.16227736e-02 7.89166945e-03 3.85005072e+01] [-6.16218705e-02 9.98099503e-01 -3.57776207e-04 -8.61306396e-01] [-7.89871852e-03 -1.29214337e-04 9.99968796e-01 -1.40954406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.944203822000006 meters Centerline goodness [0,1] 0.9999151427722857 Centerline is valid? [True, True] Translation: X:38.53, Y:-0.86, Z:-1.42 [[ 9.98077923e-01 6.14965152e-02 7.65757873e-03 3.85288532e+01] [-6.14956601e-02 9.98107290e-01 -3.47288081e-04 -8.59246412e-01] [-7.66444217e-03 -1.24287293e-04 9.99970620e-01 -1.41687806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.97420382200001 meters Centerline goodness [0,1] 0.9999363435749449 Centerline is valid? [True, True] Translation: X:38.56, Y:-0.86, Z:-1.42 [[ 9.98060979e-01 6.18705968e-02 6.80518638e-03 3.85583305e+01] [-6.18699333e-02 9.98084173e-01 -3.08175974e-04 -8.63086063e-01] [-6.81121585e-03 -1.13458012e-04 9.99976797e-01 -1.41726896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.004203822 meters Centerline goodness [0,1] 0.999957285949213 Centerline is valid? [True, True] Translation: X:38.59, Y:-0.87, Z:-1.42 [[ 9.98011181e-01 6.27109051e-02 6.40500103e-03 3.85880967e+01] [-6.27103353e-02 9.98031728e-01 -2.89950082e-04 -8.68656266e-01] [-6.41057727e-03 -1.12286338e-04 9.99979446e-01 -1.41890195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.034203822 meters Centerline goodness [0,1] 0.9999569966457383 Centerline is valid? [True, True] Translation: X:38.62, Y:-0.87, Z:-1.42 [[ 9.97982688e-01 6.31848601e-02 6.18282969e-03 3.86173851e+01] [-6.31843390e-02 9.98001834e-01 -2.79783230e-04 -8.72766614e-01] [-6.18815344e-03 -1.11439187e-04 9.99980847e-01 -1.41839032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.064203822 meters Centerline goodness [0,1] 0.9999785614749706 Centerline is valid? [True, True] Translation: X:38.65, Y:-0.87, Z:-1.42 [[ 9.97936695e-01 6.39655114e-02 5.54673590e-03 3.86467788e+01] [-6.39651043e-02 9.97952104e-01 -2.50939383e-04 -8.74502373e-01] [-5.55142823e-03 -1.04375922e-04 9.99984585e-01 -1.41988324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.094203822000004 meters Centerline goodness [0,1] 0.9999568881895196 Centerline is valid? [True, True] Translation: X:38.68, Y:-0.88, Z:-1.42 [[ 9.97812693e-01 6.59410625e-02 4.64820000e-03 3.86757008e+01] [-6.59407966e-02 9.97823515e-01 -2.10618244e-04 -8.75097199e-01] [-4.65197166e-03 -9.63484540e-05 9.99989175e-01 -1.42309902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.124203822000005 meters Centerline goodness [0,1] 0.9998090833881335 Centerline is valid? [True, True] Translation: X:38.70, Y:-0.88, Z:-1.42 [[ 9.97740303e-01 6.70299093e-02 4.61282559e-03 3.87040357e+01] [-6.70296568e-02 9.97750962e-01 -2.09490434e-04 -8.75871082e-01] [-4.61649329e-03 -1.00179067e-04 9.99989339e-01 -1.42487207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.15420382200001 meters Centerline goodness [0,1] 0.9998286937901499 Centerline is valid? [True, True] Translation: X:38.73, Y:-0.88, Z:-1.42 [[ 9.97649624e-01 6.83848160e-02 4.32951757e-03 3.87332274e+01] [-6.83846102e-02 9.97659013e-01 -1.95728875e-04 -8.77058845e-01] [-4.33276711e-03 -1.00803533e-04 9.99990608e-01 -1.42466586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.18420382200001 meters Centerline goodness [0,1] 0.9998080900697273 Centerline is valid? [True, True] Translation: X:38.76, Y:-0.88, Z:-1.43 [[ 9.97533774e-01 7.00398573e-02 4.55945100e-03 3.87610843e+01] [-7.00396437e-02 9.97544187e-01 -2.06693320e-04 -8.75398739e-01] [-4.56273061e-03 -1.13158755e-04 9.99989584e-01 -1.42627923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.214203822 meters Centerline goodness [0,1] 0.9997633187021259 Centerline is valid? [True, True] Translation: X:38.79, Y:-0.88, Z:-1.42 [[ 9.97236150e-01 7.41917403e-02 3.95554553e-03 3.87916450e+01] [-7.41916187e-02 9.97243988e-01 -1.77666511e-04 -8.77099775e-01] [-3.95782539e-03 -1.16292858e-04 9.99992161e-01 -1.42460699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.244203822 meters Centerline goodness [0,1] 0.9990575333076297 Centerline is valid? [True, True] Translation: X:38.82, Y:-0.88, Z:-1.43 [[ 9.97090814e-01 7.61116224e-02 4.11448168e-03 3.88202416e+01] [-7.61115019e-02 9.97099295e-01 -1.86087698e-04 -8.76760115e-01] [-4.11671022e-03 -1.27613046e-04 9.99991518e-01 -1.42563564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.274203822000004 meters Centerline goodness [0,1] 0.998968850698174 Centerline is valid? [True, True] Translation: X:38.85, Y:-0.88, Z:-1.42 [[ 9.96964489e-01 7.77311784e-02 4.43523937e-03 3.88493279e+01] [-7.77310556e-02 9.96974344e-01 -2.00323613e-04 -8.76663822e-01] [-4.43739125e-03 -1.45040309e-04 9.99990144e-01 -1.42469011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.304203822000005 meters Centerline goodness [0,1] 0.991542754889012 Centerline is valid? [True, True] Translation: X:38.88, Y:-0.87, Z:-1.43 [[ 9.96724422e-01 8.05925013e-02 6.72873598e-03 3.88779013e+01] [-8.05922894e-02 9.96747105e-01 -3.03083643e-04 -8.66281523e-01] [-6.73127438e-03 -2.40193369e-04 9.99977316e-01 -1.42551242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.334203822000006 meters Centerline goodness [0,1] 0.9948492007747484 Centerline is valid? [True, True] Translation: X:38.91, Y:-0.87, Z:-1.42 [[ 9.96637534e-01 8.15240485e-02 8.21310619e-03 3.89065198e+01] [-8.15237746e-02 9.96671329e-01 -3.68698734e-04 -8.68234961e-01] [-8.21582528e-03 -3.02104421e-04 9.99966204e-01 -1.42255982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.36420382200001 meters Centerline goodness [0,1] 0.9946638207043756 Centerline is valid? [True, True] Translation: X:38.93, Y:-0.87, Z:-1.42 [[ 9.96573569e-01 8.21535386e-02 9.58732440e-03 3.89341211e+01] [-8.21531987e-02 9.96619620e-01 -4.29942904e-04 -8.67373335e-01] [-9.59023694e-03 -3.59159632e-04 9.99953948e-01 -1.42130006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.394203822 meters Centerline goodness [0,1] 0.994638411948682 Centerline is valid? [True, True] Translation: X:38.96, Y:-0.87, Z:-1.42 [[ 9.96531135e-01 8.25625184e-02 1.04464241e-02 3.89616910e+01] [-8.25621455e-02 9.96585808e-01 -4.67681199e-04 -8.66202860e-01] [-1.04493709e-02 -3.96420309e-04 9.99945325e-01 -1.42103732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.424203822 meters Centerline goodness [0,1] 0.9974208675263775 Centerline is valid? [True, True] Translation: X:38.99, Y:-0.87, Z:-1.42 [[ 9.96521224e-01 8.27928116e-02 9.52890117e-03 3.89903276e+01] [-8.27925177e-02 9.96566715e-01 -4.25990269e-04 -8.70694995e-01] [-9.53145467e-03 -3.64413374e-04 9.99954508e-01 -1.42288957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.454203822000004 meters Centerline goodness [0,1] 0.9980045059542968 Centerline is valid? [True, True] Translation: X:39.02, Y:-0.87, Z:-1.42 [[ 9.96555925e-01 8.24521163e-02 8.82822138e-03 3.90189386e+01] [-8.24518532e-02 9.96594971e-01 -3.94367790e-04 -8.74738465e-01] [-8.83067749e-03 -3.34893656e-04 9.99960953e-01 -1.42447291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.484203822000005 meters Centerline goodness [0,1] 0.9921936653513918 Centerline is valid? [True, True] Translation: X:39.05, Y:-0.87, Z:-1.43 [[ 9.96600508e-01 8.18836423e-02 9.08274788e-03 3.90469852e+01] [-8.18833424e-02 9.96641838e-01 -4.05514428e-04 -8.72386676e-01] [-9.08545154e-03 -3.39589870e-04 9.99958669e-01 -1.42807649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.514203822000006 meters Centerline goodness [0,1] 0.99808 Centerline is valid? [True, True] Translation: X:39.08, Y:-0.88, Z:-1.43 [[ 9.96778745e-01 7.97076631e-02 8.87816964e-03 3.90770792e+01] [-7.97072998e-02 9.96818233e-01 -3.95310542e-04 -8.78216965e-01] [-8.88143065e-03 -3.13617783e-04 9.99960510e-01 -1.42647891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.54420382200001 meters Centerline goodness [0,1] 0.9967268862911796 Centerline is valid? [True, True] Translation: X:39.11, Y:-0.88, Z:-1.43 [[ 9.96916054e-01 7.80745527e-02 7.92126046e-03 3.91051814e+01] [-7.80742085e-02 9.96947488e-01 -3.53135578e-04 -8.78437032e-01] [-7.92465161e-03 -2.66399614e-04 9.99968564e-01 -1.43056090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.574203822 meters Centerline goodness [0,1] 0.9978058963871848 Centerline is valid? [True, True] Translation: X:39.13, Y:-0.88, Z:-1.43 [[ 9.97083956e-01 7.59975388e-02 6.92515912e-03 3.91343331e+01] [-7.59972312e-02 9.97107981e-01 -3.07947812e-04 -8.82329227e-01] [-6.92853471e-03 -2.19243096e-04 9.99975973e-01 -1.43342238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.604203822 meters Centerline goodness [0,1] 0.9997200990418775 Centerline is valid? [True, True] Translation: X:39.16, Y:-0.89, Z:-1.43 [[ 9.97369918e-01 7.22349503e-02 5.94637998e-03 3.91641295e+01] [-7.22346603e-02 9.97387630e-01 -2.63795008e-04 -8.93867552e-01] [-5.94990106e-03 -1.66433533e-04 9.99982285e-01 -1.43285161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.634203822 meters Centerline goodness [0,1] 0.9998292568403978 Centerline is valid? [True, True] Translation: X:39.19, Y:-0.90, Z:-1.43 [[ 9.97459037e-01 7.08890891e-02 7.08565369e-03 3.91929269e+01] [-7.08886404e-02 9.97484186e-01 -3.14760645e-04 -8.95702570e-01] [-7.09014060e-03 -1.88331507e-04 9.99974847e-01 -1.43375322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.664203822000005 meters Centerline goodness [0,1] 0.9998292568403978 Centerline is valid? [True, True] Translation: X:39.22, Y:-0.90, Z:-1.43 [[ 9.97462370e-01 7.08421729e-02 7.08565317e-03 3.92212327e+01] [-7.08417230e-02 9.97487519e-01 -3.14773071e-04 -8.96863834e-01] [-7.09014981e-03 -1.87985585e-04 9.99974847e-01 -1.43464411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.694203822000006 meters Centerline goodness [0,1] 0.9997857984363285 Centerline is valid? [True, True] Translation: X:39.25, Y:-0.90, Z:-1.43 [[ 9.97523040e-01 6.97788767e-02 8.87091855e-03 3.92512243e+01] [-6.97781436e-02 9.97562458e-01 -3.92494676e-04 -9.01132959e-01] [-8.87668315e-03 -2.27473747e-04 9.99960576e-01 -1.43244404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.72420382200001 meters Centerline goodness [0,1] 0.9998087750982684 Centerline is valid? [True, True] Translation: X:39.28, Y:-0.91, Z:-1.43 [[ 9.97543175e-01 6.93019051e-02 1.02401290e-02 3.92810548e+01] [-6.93009024e-02 9.97595699e-01 -4.53148608e-04 -9.05087560e-01] [-1.02469127e-02 -2.57614880e-04 9.99947466e-01 -1.43027217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.754203822 meters Centerline goodness [0,1] 0.9998297618794288 Centerline is valid? [True, True] Translation: X:39.31, Y:-0.91, Z:-1.43 [[ 9.97564297e-01 6.89401059e-02 1.06176741e-02 3.93096116e+01] [-6.89390110e-02 9.97620766e-01 -4.69516160e-04 -9.06391468e-01] [-1.06247807e-02 -2.63599395e-04 9.99943521e-01 -1.43043338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.784203822 meters Centerline goodness [0,1] 0.9999141207033514 Centerline is valid? [True, True] Translation: X:39.34, Y:-0.91, Z:-1.43 [[ 9.97602763e-01 6.83004675e-02 1.11253274e-02 3.93391580e+01] [-6.82992277e-02 9.97664760e-01 -4.91782589e-04 -9.09629164e-01] [-1.11329361e-02 -2.69247599e-04 9.99937991e-01 -1.42776303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.814203822 meters Centerline goodness [0,1] 0.9998939712025786 Centerline is valid? [True, True] Translation: X:39.37, Y:-0.91, Z:-1.43 [[ 9.97639099e-01 6.76063977e-02 1.20666062e-02 3.93690409e+01] [-6.76048957e-02 9.97712030e-01 -5.32790924e-04 -9.07028146e-01] [-1.20750182e-02 -2.84228597e-04 9.99927054e-01 -1.43048652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.844203822000004 meters Centerline goodness [0,1] 0.9998940992078621 Centerline is valid? [True, True] Translation: X:39.40, Y:-0.91, Z:-1.43 [[ 9.97722978e-01 6.62456993e-02 1.26635893e-02 3.93987783e+01] [-6.62439407e-02 9.97803301e-01 -5.58745500e-04 -9.11561259e-01] [-1.26727857e-02 -2.81412831e-04 9.99919657e-01 -1.43174841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.874203822000005 meters Centerline goodness [0,1] 0.9999785545785975 Centerline is valid? [True, True] Translation: X:39.43, Y:-0.92, Z:-1.43 [[ 9.97782244e-01 6.53739775e-02 1.25234244e-02 3.94287122e+01] [-6.53721890e-02 9.97860798e-01 -5.52561118e-04 -9.18463669e-01] [-1.25327574e-02 -2.67347995e-04 9.99921426e-01 -1.43120026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.90420382200001 meters Centerline goodness [0,1] 0.9999572585643152 Centerline is valid? [True, True] Translation: X:39.46, Y:-0.92, Z:-1.43 [[ 9.97856963e-01 6.41800420e-02 1.27437500e-02 3.94592932e+01] [-6.41780983e-02 9.97938303e-01 -5.61840064e-04 -9.24104532e-01] [-1.27535352e-02 -2.57233619e-04 9.99918637e-01 -1.43207971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.93420382200001 meters Centerline goodness [0,1] 0.9999572348023179 Centerline is valid? [True, True] Translation: X:39.49, Y:-0.93, Z:-1.43 [[ 9.97992383e-01 6.20769809e-02 1.25559135e-02 3.94906209e+01] [-6.20749240e-02 9.98071339e-01 -5.53848951e-04 -9.31854420e-01] [-1.25660786e-02 -2.26670340e-04 9.99921018e-01 -1.43322793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.964203822 meters Centerline goodness [0,1] 0.9999783923941228 Centerline is valid? [True, True] Translation: X:39.52, Y:-0.94, Z:-1.43 [[ 9.98009334e-01 6.18220690e-02 1.24659821e-02 3.95227252e+01] [-6.18200535e-02 9.98087161e-01 -5.47323319e-04 -9.37195269e-01] [-1.24759733e-02 -2.24413897e-04 9.99922147e-01 -1.43153953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.994203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.55, Y:-0.94, Z:-1.43 [[ 9.97987698e-01 6.21313677e-02 1.26588934e-02 3.95541020e+01] [-6.21292822e-02 9.98067954e-01 -5.58319643e-04 -9.38661088e-01] [-1.26691250e-02 -2.29291825e-04 9.99919717e-01 -1.43316876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.024203822000004 meters Centerline goodness [0,1] 0.9998091481646415 Centerline is valid? [True, True] Translation: X:39.58, Y:-0.94, Z:-1.44 [[ 9.97958647e-01 6.25926490e-02 1.26767442e-02 3.95848875e+01] [-6.25905682e-02 9.98039130e-01 -5.61202488e-04 -9.36961666e-01] [-1.26870139e-02 -2.33387746e-04 9.99919489e-01 -1.43722833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.054203822000005 meters Centerline goodness [0,1] 0.9999787618137411 Centerline is valid? [True, True] Translation: X:39.62, Y:-0.94, Z:-1.44 [[ 9.97900549e-01 6.34735107e-02 1.28688437e-02 3.96165990e+01] [-6.34714143e-02 9.97983493e-01 -5.71674395e-04 -9.40790718e-01] [-1.28791798e-02 -2.46329518e-04 9.99917030e-01 -1.43701582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.084203822000006 meters Centerline goodness [0,1] 0.9999153277873034 Centerline is valid? [True, True] Translation: X:39.65, Y:-0.94, Z:-1.44 [[ 9.97883298e-01 6.37940087e-02 1.26193246e-02 3.96474302e+01] [-6.37919899e-02 9.97963058e-01 -5.62841589e-04 -9.43737951e-01] [-1.26295256e-02 -2.43361603e-04 9.99920215e-01 -1.43943443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.11420382200001 meters Centerline goodness [0,1] 0.9999571174339072 Centerline is valid? [True, True] Translation: X:39.68, Y:-0.95, Z:-1.44 [[ 9.97887890e-01 6.37161555e-02 1.26495612e-02 3.96795308e+01] [-6.37141003e-02 9.97968032e-01 -5.65808821e-04 -9.50020143e-01] [-1.26599089e-02 -2.41341640e-04 9.99919831e-01 -1.43878779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.144203822 meters Centerline goodness [0,1] 0.9999149876732126 Centerline is valid? [True, True] Translation: X:39.71, Y:-0.96, Z:-1.44 [[ 9.97941731e-01 6.26898934e-02 1.35011019e-02 3.97101910e+01] [-6.26874189e-02 9.98033025e-01 -6.06810860e-04 -9.55070701e-01] [-1.35125865e-02 -2.40787352e-04 9.99908672e-01 -1.43868936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.174203822 meters Centerline goodness [0,1] 0.9999788936026509 Centerline is valid? [True, True] Translation: X:39.74, Y:-0.96, Z:-1.44 [[ 9.97967603e-01 6.22307130e-02 1.37113786e-02 3.97410783e+01] [-6.22280711e-02 9.98061763e-01 -6.19639160e-04 -9.58121108e-01] [-1.37233633e-02 -2.34852836e-04 9.99905803e-01 -1.43923152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.204203822000004 meters Centerline goodness [0,1] 0.9999574612897737 Centerline is valid? [True, True] Translation: X:39.77, Y:-0.96, Z:-1.44 [[ 9.97996944e-01 6.17728159e-02 1.36462238e-02 3.97729833e+01] [-6.17701570e-02 9.98090210e-01 -6.16651787e-04 -9.64359658e-01] [-1.36582547e-02 -2.27512788e-04 9.99906696e-01 -1.43830088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.234203822000005 meters Centerline goodness [0,1] 0.9999787057345457 Centerline is valid? [True, True] Translation: X:39.80, Y:-0.97, Z:-1.44 [[ 9.98023143e-01 6.12951953e-02 1.38818545e-02 3.98044762e+01] [-6.12923601e-02 9.98119657e-01 -6.29989610e-04 -9.67252936e-01] [-1.38943672e-02 -2.22107416e-04 9.99903444e-01 -1.44019603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.264203822000006 meters Centerline goodness [0,1] 0.9999366299824676 Centerline is valid? [True, True] Translation: X:39.84, Y:-0.97, Z:-1.44 [[ 9.98043208e-01 6.08092599e-02 1.45598591e-02 3.98368404e+01] [-6.08060546e-02 9.98149380e-01 -6.63144092e-04 -9.71484521e-01] [-1.45732397e-02 -2.23481133e-04 9.99893780e-01 -1.43997695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.29420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.87, Y:-0.98, Z:-1.44 [[ 9.98096693e-01 5.95379734e-02 1.60692840e-02 3.98686291e+01] [-5.95338530e-02 9.98226016e-01 -7.35082438e-04 -9.82278111e-01] [-1.60845427e-02 -2.22983042e-04 9.99870611e-01 -1.43970096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.324203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.90, Y:-0.99, Z:-1.44 [[ 9.98135583e-01 5.89612819e-02 1.57773698e-02 3.99011276e+01] [-5.89572061e-02 9.98260249e-01 -7.23735904e-04 -9.91234230e-01] [-1.57925935e-02 -2.07803082e-04 9.99875268e-01 -1.43961468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.354203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.93, Y:-1.00, Z:-1.44 [[ 9.98154483e-01 5.88042930e-02 1.51553125e-02 3.99326138e+01] [-5.88004694e-02 9.98269511e-01 -6.98153750e-04 -9.95254677e-01] [-1.51701409e-02 -1.94274194e-04 9.99884908e-01 -1.44367233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.384203822 meters Centerline goodness [0,1] 0.9999785715816316 Centerline is valid? [True, True] Translation: X:39.96, Y:-1.00, Z:-1.44 [[ 9.98108288e-01 5.98195064e-02 1.41941080e-02 3.99643622e+01] [-5.98162206e-02 9.98209191e-01 -6.56298076e-04 -1.00132388e+00] [-1.42079485e-02 -1.93981348e-04 9.99899043e-01 -1.44423864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.414203822000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.00, Y:-1.00, Z:-1.45 [[ 9.98026566e-01 6.13011054e-02 1.36069343e-02 3.99955985e+01] [-6.12981755e-02 9.98119298e-01 -6.32674596e-04 -1.00200662e+00] [-1.36201274e-02 -2.02654194e-04 9.99907221e-01 -1.44718873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.444203822000006 meters Centerline goodness [0,1] 0.9999366339979723 Centerline is valid? [True, True] Translation: X:40.03, Y:-1.00, Z:-1.45 [[ 9.97941504e-01 6.28756410e-02 1.26256677e-02 4.00264878e+01] [-6.28732471e-02 9.98021348e-01 -5.86834237e-04 -1.00327319e+00] [-1.26375834e-02 -2.08190482e-04 9.99920121e-01 -1.45057991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.47420382200001 meters Centerline goodness [0,1] 0.9999361607047859 Centerline is valid? [True, True] Translation: X:40.06, Y:-1.00, Z:-1.45 [[ 9.97848377e-01 6.45109029e-02 1.17030057e-02 4.00584373e+01] [-6.45089437e-02 9.97916980e-01 -5.45211870e-04 -1.00459271e+00] [-1.17138002e-02 -2.10909758e-04 9.99931369e-01 -1.45349829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.504203822 meters Centerline goodness [0,1] 0.9999362244897959 Centerline is valid? [True, True] Translation: X:40.09, Y:-1.00, Z:-1.46 [[ 9.97647770e-01 6.76007899e-02 1.13604597e-02 4.00893587e+01] [-6.75991217e-02 9.97712422e-01 -5.31206817e-04 -1.00445433e+00] [-1.13703818e-02 -2.37999805e-04 9.99935327e-01 -1.45544981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.534203822 meters Centerline goodness [0,1] 0.9999572329733776 Centerline is valid? [True, True] Translation: X:40.12, Y:-1.01, Z:-1.45 [[ 9.97524484e-01 6.92970158e-02 1.19510734e-02 4.01218541e+01] [-6.92952712e-02 9.97596036e-01 -5.60505546e-04 -1.00795074e+00] [-1.19611848e-02 -2.69034867e-04 9.99928426e-01 -1.45288780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.564203822 meters Centerline goodness [0,1] 0.9997880188239284 Centerline is valid? [True, True] Translation: X:40.15, Y:-1.01, Z:-1.46 [[ 9.97406738e-01 7.10093336e-02 1.17248719e-02 4.01526002e+01] [-7.10077167e-02 9.97475612e-01 -5.54668222e-04 -1.00633605e+00] [-1.17346604e-02 -2.79326557e-04 9.99931107e-01 -1.45596868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.594203822000004 meters Centerline goodness [0,1] 0.9999145664246049 Centerline is valid? [True, True] Translation: X:40.18, Y:-1.01, Z:-1.46 [[ 9.97192300e-01 7.41651937e-02 1.03460678e-02 4.01839377e+01] [-7.41641026e-02 9.97245931e-01 -4.89604717e-04 -1.00759205e+00] [-1.03538857e-02 -2.79076781e-04 9.99946358e-01 -1.45880170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.624203822000005 meters Centerline goodness [0,1] 0.9998086978701696 Centerline is valid? [True, True] Translation: X:40.21, Y:-1.01, Z:-1.46 [[ 9.97086758e-01 7.56601232e-02 9.67177471e-03 4.02148821e+01] [-7.56592661e-02 9.97133626e-01 -4.55003280e-04 -1.00771665e+00] [-9.67847739e-03 -2.78081631e-04 9.99953124e-01 -1.46190983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.65420382200001 meters Centerline goodness [0,1] 0.999597235765464 Centerline is valid? [True, True] Translation: X:40.25, Y:-1.01, Z:-1.46 [[ 9.97000036e-01 7.67204822e-02 1.02418417e-02 4.02452945e+01] [-7.67195262e-02 9.97052595e-01 -4.86780715e-04 -1.00629564e+00] [-1.02490009e-02 -3.00428850e-04 9.99947432e-01 -1.46353943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.68420382200001 meters Centerline goodness [0,1] 0.9997214902414465 Centerline is valid? [True, True] Translation: X:40.28, Y:-1.00, Z:-1.46 [[ 9.96820552e-01 7.87428690e-02 1.21797712e-02 4.02756870e+01] [-7.87416624e-02 9.96894887e-01 -5.79330178e-04 -1.00374527e+00] [-1.21875698e-02 -3.81567207e-04 9.99925656e-01 -1.46081002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.714203822 meters Centerline goodness [0,1] 0.9995961914477599 Centerline is valid? [True, True] Translation: X:40.31, Y:-1.00, Z:-1.46 [[ 9.96769133e-01 7.93898375e-02 1.21880953e-02 4.03057535e+01] [-7.93886802e-02 9.96843569e-01 -5.79503220e-04 -1.00245014e+00] [-1.21956311e-02 -3.89965882e-04 9.99925554e-01 -1.46235629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.744203822 meters Centerline goodness [0,1] 0.9997638775597819 Centerline is valid? [True, True] Translation: X:40.34, Y:-1.01, Z:-1.46 [[ 9.96766294e-01 7.94703949e-02 1.18916914e-02 4.03366084e+01] [-7.94693003e-02 9.96837154e-01 -5.65294391e-04 -1.00713222e+00] [-1.18990040e-02 -3.81558003e-04 9.99929132e-01 -1.46181422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.774203822000004 meters Centerline goodness [0,1] 0.9995071780587101 Centerline is valid? [True, True] Translation: X:40.37, Y:-1.01, Z:-1.47 [[ 9.96809396e-01 7.89949718e-02 1.14377454e-02 4.03666579e+01] [-7.89939223e-02 9.96874949e-01 -5.44204682e-04 -1.00641447e+00] [-1.14449913e-02 -3.61044027e-04 9.99934439e-01 -1.46533839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.804203822000005 meters Centerline goodness [0,1] 0.9996998863855603 Centerline is valid? [True, True] Translation: X:40.40, Y:-1.01, Z:-1.46 [[ 9.96958030e-01 7.71369905e-02 1.11611382e-02 4.03983059e+01] [-7.71358789e-02 9.97020448e-01 -5.30679158e-04 -1.01401880e+00] [-1.11688180e-02 -3.31859358e-04 9.99937572e-01 -1.46485630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.834203822000006 meters Centerline goodness [0,1] 0.9998077374975968 Centerline is valid? [True, True] Translation: X:40.43, Y:-1.01, Z:-1.47 [[ 9.97042022e-01 7.61193231e-02 1.06326973e-02 4.04297528e+01] [-7.61182794e-02 9.97098668e-01 -5.03393956e-04 -1.01469550e+00] [-1.06401663e-02 -3.07437695e-04 9.99943345e-01 -1.46829150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.86420382200001 meters Centerline goodness [0,1] 0.9997659425069685 Centerline is valid? [True, True] Translation: X:40.46, Y:-1.02, Z:-1.47 [[ 9.97131172e-01 7.49928762e-02 1.02710299e-02 4.04600494e+01] [-7.49917964e-02 9.97184030e-01 -4.90763976e-04 -1.01606117e+00] [-1.02789108e-02 -2.80886926e-04 9.99947131e-01 -1.47120977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.894203822 meters Centerline goodness [0,1] 0.9997644690919213 Centerline is valid? [True, True] Translation: X:40.49, Y:-1.02, Z:-1.47 [[ 9.97306912e-01 7.24609751e-02 1.13283385e-02 4.04913968e+01] [-7.24594991e-02 9.97371209e-01 -5.41212376e-04 -1.02113970e+00] [-1.13377754e-02 -2.81090887e-04 9.99935686e-01 -1.46917832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.924203822 meters Centerline goodness [0,1] 0.9999148646347693 Centerline is valid? [True, True] Translation: X:40.52, Y:-1.02, Z:-1.47 [[ 9.97396140e-01 7.10874115e-02 1.21457773e-02 4.05233290e+01] [-7.10856420e-02 9.97470048e-01 -5.77885420e-04 -1.02371699e+00] [-1.21561294e-02 -2.87009687e-04 9.99926070e-01 -1.46978814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.954203822000004 meters Centerline goodness [0,1] 0.9998933060196744 Centerline is valid? [True, True] Translation: X:40.55, Y:-1.03, Z:-1.47 [[ 9.97489970e-01 6.96019740e-02 1.30125250e-02 4.05544443e+01] [-6.95997808e-02 9.97574801e-01 -6.21871950e-04 -1.02626800e+00] [-1.30242506e-02 -2.85357856e-04 9.99915140e-01 -1.46972338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.984203822000005 meters Centerline goodness [0,1] 0.999873031995937 Centerline is valid? [True, True] Translation: X:40.59, Y:-1.03, Z:-1.47 [[ 9.97579200e-01 6.83372954e-02 1.28745090e-02 4.05868379e+01] [-6.83350212e-02 9.97662240e-01 -6.16989124e-04 -1.02908882e+00] [-1.28865749e-02 -2.64284331e-04 9.99916930e-01 -1.47080834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.014203822000006 meters Centerline goodness [0,1] 0.999978431076505 Centerline is valid? [True, True] Translation: X:40.62, Y:-1.04, Z:-1.47 [[ 9.97760521e-01 6.58295246e-02 1.18497109e-02 4.06184284e+01] [-6.58274046e-02 9.97830862e-01 -5.69273494e-04 -1.03986092e+00] [-1.18614822e-02 -2.12037093e-04 9.99929628e-01 -1.47212146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.04420382200001 meters Centerline goodness [0,1] 0.9999568043886741 Centerline is valid? [True, True] Translation: X:40.65, Y:-1.04, Z:-1.48 [[ 9.97824784e-01 6.50198994e-02 1.08679847e-02 4.06506054e+01] [-6.50180553e-02 9.97883950e-01 -5.23282783e-04 -1.04325227e+00] [-1.08790113e-02 -1.84470699e-04 9.99940805e-01 -1.47730562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.074203822 meters Centerline goodness [0,1] 0.9999576172413063 Centerline is valid? [True, True] Translation: X:40.68, Y:-1.05, Z:-1.48 [[ 9.97935658e-01 6.33849850e-02 1.03327855e-02 4.06823785e+01] [-6.33832101e-02 9.97989138e-01 -4.99487538e-04 -1.04595087e+00] [-1.03436677e-02 -1.56468691e-04 9.99946491e-01 -1.47826043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.104203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.71, Y:-1.05, Z:-1.48 [[ 9.97928123e-01 6.32516940e-02 1.17764458e-02 4.07133840e+01] [-6.32493449e-02 9.97997592e-01 -5.72175935e-04 -1.04566992e+00] [-1.17890557e-02 -1.73862026e-04 9.99930492e-01 -1.47730512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.134203822 meters Centerline goodness [0,1] 0.9999787238569392 Centerline is valid? [True, True] Translation: X:40.75, Y:-1.05, Z:-1.48 [[ 9.97888018e-01 6.36327571e-02 1.30528095e-02 4.07461397e+01] [-6.36298489e-02 9.97973364e-01 -6.38398914e-04 -1.04621990e+00] [-1.30669793e-02 -1.93497672e-04 9.99914605e-01 -1.47585089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.164203822000005 meters Centerline goodness [0,1] 0.9999571266265086 Centerline is valid? [True, True] Translation: X:40.78, Y:-1.05, Z:-1.48 [[ 9.97828345e-01 6.43735106e-02 1.39515208e-02 4.07769754e+01] [-6.43702701e-02 9.97925851e-01 -6.81669700e-04 -1.04701656e+00] [-1.39664648e-02 -2.17873816e-04 9.99902440e-01 -1.47579176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.194203822000006 meters Centerline goodness [0,1] 0.9999366366746927 Centerline is valid? [True, True] Translation: X:40.81, Y:-1.05, Z:-1.47 [[ 9.97712419e-01 6.59205602e-02 1.49802918e-02 4.08095085e+01] [-6.59169680e-02 9.97824842e-01 -7.33961189e-04 -1.05010318e+00] [-1.49960905e-02 -2.55173225e-04 9.99887520e-01 -1.47434376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.22420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.84, Y:-1.05, Z:-1.47 [[ 9.97653273e-01 6.65856520e-02 1.59467309e-02 4.08416892e+01] [-6.65816061e-02 9.97780674e-01 -7.85082036e-04 -1.05184358e+00] [-1.59636151e-02 -2.78519289e-04 9.99872535e-01 -1.47380988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.254203822 meters Centerline goodness [0,1] 0.9999574694311536 Centerline is valid? [True, True] Translation: X:40.87, Y:-1.05, Z:-1.47 [[ 9.97588587e-01 6.75562912e-02 1.59109491e-02 4.08739995e+01] [-6.75523459e-02 9.97715422e-01 -7.85893913e-04 -1.05291864e+00] [-1.59276913e-02 -2.90823137e-04 9.99873104e-01 -1.47413704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.284203822 meters Centerline goodness [0,1] 0.9999575893803808 Centerline is valid? [True, True] Translation: X:40.90, Y:-1.05, Z:-1.48 [[ 9.97534988e-01 6.86077520e-02 1.47283400e-02 4.09048563e+01] [-6.86044521e-02 9.97643672e-01 -7.29773274e-04 -1.05040257e+00] [-1.47437033e-02 -2.82455319e-04 9.99891266e-01 -1.47829974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.314203822 meters Centerline goodness [0,1] 0.9999358288770054 Centerline is valid? [True, True] Translation: X:40.94, Y:-1.05, Z:-1.48 [[ 9.97430368e-01 7.04882201e-02 1.28090442e-02 4.09368642e+01] [-7.04858361e-02 9.97512576e-01 -6.38027198e-04 -1.04765604e+00] [-1.28221560e-02 -2.66468486e-04 9.99917757e-01 -1.48180709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.344203822000004 meters Centerline goodness [0,1] 0.9999153295796114 Centerline is valid? [True, True] Translation: X:40.97, Y:-1.05, Z:-1.48 [[ 9.97375798e-01 7.13507648e-02 1.22713172e-02 4.09681912e+01] [-7.13486461e-02 9.97451251e-01 -6.10915811e-04 -1.04675654e+00] [-1.22836300e-02 -2.66229222e-04 9.99924518e-01 -1.48440786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.374203822000005 meters Centerline goodness [0,1] 0.9998090793381417 Centerline is valid? [True, True] Translation: X:41.00, Y:-1.05, Z:-1.48 [[ 9.97305955e-01 7.23302117e-02 1.22136135e-02 4.10001598e+01] [-7.23281906e-02 9.97380701e-01 -6.07693699e-04 -1.04932189e+00] [-1.22255770e-02 -2.77332018e-04 9.99925226e-01 -1.48364700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.40420382200001 meters Centerline goodness [0,1] 0.9999570160545036 Centerline is valid? [True, True] Translation: X:41.03, Y:-1.05, Z:-1.49 [[ 9.97194798e-01 7.38790331e-02 1.20176203e-02 4.10318042e+01] [-7.38771632e-02 9.97267168e-01 -6.00061303e-04 -1.04998564e+00] [-1.20291101e-02 -2.89449686e-04 9.99927606e-01 -1.48500702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.43420382200001 meters Centerline goodness [0,1] 0.9999360818152765 Centerline is valid? [True, True] Translation: X:41.06, Y:-1.05, Z:-1.49 [[ 9.97148832e-01 7.45765811e-02 1.15125988e-02 4.10628135e+01] [-7.45748929e-02 9.97215249e-01 -5.76457893e-04 -1.04783380e+00] [-1.15235293e-02 -2.83736507e-04 9.99933562e-01 -1.48927093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.464203822 meters Centerline goodness [0,1] 0.9998508162482418 Centerline is valid? [True, True] Translation: X:41.09, Y:-1.05, Z:-1.49 [[ 9.97105420e-01 7.51274907e-02 1.16893552e-02 4.10943656e+01] [-7.51257510e-02 9.97173894e-01 -5.88484406e-04 -1.04641281e+00] [-1.17005312e-02 -2.91390597e-04 9.99931504e-01 -1.49241596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.494203822 meters Centerline goodness [0,1] 0.9998297365172605 Centerline is valid? [True, True] Translation: X:41.13, Y:-1.05, Z:-1.49 [[ 9.97055604e-01 7.56171455e-02 1.27345965e-02 4.11253714e+01] [-7.56150864e-02 9.97136873e-01 -6.43784550e-04 -1.05075974e+00] [-1.27468169e-02 -3.21038621e-04 9.99918704e-01 -1.48966471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.524203822000004 meters Centerline goodness [0,1] 0.9998287341311468 Centerline is valid? [True, True] Translation: X:41.16, Y:-1.05, Z:-1.49 [[ 9.97008876e-01 7.58780071e-02 1.46911451e-02 4.11567665e+01] [-7.58753202e-02 9.97117038e-01 -7.40988776e-04 -1.05285026e+00] [-1.47050158e-02 -3.75922952e-04 9.99891805e-01 -1.48792437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.554203822000005 meters Centerline goodness [0,1] 0.9999147848317 Centerline is valid? [True, True] Translation: X:41.19, Y:-1.06, Z:-1.49 [[ 9.97018850e-01 7.57164734e-02 1.48468026e-02 4.11891579e+01] [-7.57136797e-02 9.97129317e-01 -7.50966601e-04 -1.05750940e+00] [-1.48610427e-02 -3.75378198e-04 9.99889498e-01 -1.48720157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.584203822000006 meters Centerline goodness [0,1] 0.9999147848317 Centerline is valid? [True, True] Translation: X:41.22, Y:-1.06, Z:-1.49 [[ 9.97004555e-01 7.59045025e-02 1.48466972e-02 4.12216290e+01] [-7.59016988e-02 9.97115021e-01 -7.53041823e-04 -1.05935383e+00] [-1.48610240e-02 -3.76103409e-04 9.99889498e-01 -1.48822404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.61420382200001 meters Centerline goodness [0,1] 0.9998721418373218 Centerline is valid? [True, True] Translation: X:41.25, Y:-1.06, Z:-1.49 [[ 9.97054790e-01 7.52467320e-02 1.48214362e-02 4.12526831e+01] [-7.52438149e-02 9.97164880e-01 -7.55155430e-04 -1.06071125e+00] [-1.48362386e-02 -3.62290062e-04 9.99889871e-01 -1.49010271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.644203822 meters Centerline goodness [0,1] 0.9998932422333725 Centerline is valid? [True, True] Translation: X:41.28, Y:-1.06, Z:-1.49 [[ 9.97119040e-01 7.44147588e-02 1.46991017e-02 4.12835627e+01] [-7.44117665e-02 9.97227319e-01 -7.51151790e-04 -1.06200031e+00] [-1.47142425e-02 -3.44798371e-04 9.99891680e-01 -1.49198267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.674203822 meters Centerline goodness [0,1] 0.9999355877616747 Centerline is valid? [True, True] Translation: X:41.31, Y:-1.07, Z:-1.49 [[ 9.97312048e-01 7.17474472e-02 1.48654876e-02 4.13148986e+01] [-7.17440277e-02 9.97422784e-01 -7.63876772e-04 -1.06896320e+00] [-1.48819822e-02 -3.04686446e-04 9.99889211e-01 -1.49258634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.704203822000004 meters Centerline goodness [0,1] 0.9999574205360755 Centerline is valid? [True, True] Translation: X:41.35, Y:-1.08, Z:-1.49 [[ 9.97390290e-01 7.06822341e-02 1.47183801e-02 4.13465799e+01] [-7.06787905e-02 9.97498842e-01 -7.54656050e-04 -1.07594758e+00] [-1.47349078e-02 -2.87590684e-04 9.99891394e-01 -1.49286020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.734203822000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.38, Y:-1.08, Z:-1.49 [[ 9.97468917e-01 6.96205863e-02 1.44476191e-02 4.13771651e+01] [-6.96171206e-02 9.97573508e-01 -7.43275209e-04 -1.08087264e+00] [-1.44643093e-02 -2.64407725e-04 9.99895351e-01 -1.49444836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.764203822000006 meters Centerline goodness [0,1] 0.9999575497728913 Centerline is valid? [True, True] Translation: X:41.41, Y:-1.09, Z:-1.50 [[ 9.97707115e-01 6.62915001e-02 1.36363364e-02 4.14087859e+01] [-6.62880799e-02 9.97800279e-01 -7.03145747e-04 -1.08984770e+00] [-1.36529528e-02 -2.02393039e-04 9.99906774e-01 -1.49718209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.79420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.44, Y:-1.10, Z:-1.50 [[ 9.97811362e-01 6.46437192e-02 1.39167635e-02 4.14409651e+01] [-6.46399640e-02 9.97908391e-01 -7.19944170e-04 -1.09669891e+00] [-1.39341950e-02 -1.81210621e-04 9.99902898e-01 -1.49724155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.824203822 meters Centerline goodness [0,1] 0.9999788953844205 Centerline is valid? [True, True] Translation: X:41.47, Y:-1.10, Z:-1.50 [[ 9.97868384e-01 6.35986061e-02 1.46255036e-02 4.14718327e+01] [-6.35943039e-02 9.97975545e-01 -7.59514764e-04 -1.10001346e+00] [-1.46441990e-02 -1.72202949e-04 9.99892753e-01 -1.49944034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.854203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.50, Y:-1.11, Z:-1.50 [[ 9.97844971e-01 6.36445683e-02 1.59619436e-02 4.15035462e+01] [-6.36394056e-02 9.97972612e-01 -8.31684451e-04 -1.10523777e+00] [-1.59825148e-02 -1.85916457e-04 9.99872254e-01 -1.49550682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.884203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.54, Y:-1.11, Z:-1.50 [[ 9.97751312e-01 6.51646137e-02 1.56809488e-02 4.15355301e+01] [-6.51597798e-02 9.97874507e-01 -8.19529751e-04 -1.10594718e+00] [-1.57010234e-02 -2.04080285e-04 9.99876711e-01 -1.49692428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.914203822000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.57, Y:-1.11, Z:-1.50 [[ 9.97632942e-01 6.71112514e-02 1.49864423e-02 4.15673331e+01] [-6.71070238e-02 9.97745474e-01 -7.85360789e-04 -1.10786414e+00] [-1.50053615e-02 -2.22193747e-04 9.99887389e-01 -1.49798274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.944203822000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.60, Y:-1.11, Z:-1.50 [[ 9.97487809e-01 6.94277727e-02 1.40661315e-02 4.15984816e+01] [-6.94242467e-02 9.97586952e-01 -7.39395758e-04 -1.10618586e+00] [-1.40835238e-02 -2.38992328e-04 9.99900794e-01 -1.50206299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.97420382200001 meters Centerline goodness [0,1] 0.9999361688546565 Centerline is valid? [True, True] Translation: X:41.63, Y:-1.10, Z:-1.50 [[ 9.97175519e-01 7.38201622e-02 1.38407866e-02 4.16302632e+01] [-7.38171104e-02 9.97271527e-01 -7.31928758e-04 -1.09973295e+00] [-1.38570534e-02 -2.91825430e-04 9.99903944e-01 -1.50439446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.004203822 meters Centerline goodness [0,1] 0.9998936419135946 Centerline is valid? [True, True] Translation: X:41.66, Y:-1.10, Z:-1.51 [[ 9.96993733e-01 7.62012286e-02 1.40310345e-02 4.16626425e+01] [-7.61983573e-02 9.97092404e-01 -7.39902121e-04 -1.09752390e+00] [-1.40466194e-02 -3.31464002e-04 9.99901286e-01 -1.50508497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.034203822 meters Centerline goodness [0,1] 0.9998724706682537 Centerline is valid? [True, True] Translation: X:41.69, Y:-1.10, Z:-1.51 [[ 9.96839275e-01 7.81949052e-02 1.40362381e-02 4.16944601e+01] [-7.81921946e-02 9.96938027e-01 -7.42641819e-04 -1.09659796e+00] [-1.40513304e-02 -3.57229732e-04 9.99901211e-01 -1.50596850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.064203822 meters Centerline goodness [0,1] 0.9998302243161223 Centerline is valid? [True, True] Translation: X:41.73, Y:-1.10, Z:-1.51 [[ 9.96727886e-01 7.97269993e-02 1.33088927e-02 4.17257786e+01] [-7.97246748e-02 9.96816672e-01 -7.05958925e-04 -1.09611619e+00] [-1.33228101e-02 -3.57398197e-04 9.99911184e-01 -1.50843840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.094203822000004 meters Centerline goodness [0,1] 0.9997877623787592 Centerline is valid? [True, True] Translation: X:41.76, Y:-1.09, Z:-1.51 [[ 9.96631326e-01 8.11594695e-02 1.17958073e-02 4.17578613e+01] [-8.11577045e-02 9.96701074e-01 -6.29013650e-04 -1.09489718e+00] [-1.18079443e-02 -3.30425939e-04 9.99930229e-01 -1.51231711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.124203822000005 meters Centerline goodness [0,1] 0.999638097671052 Centerline is valid? [True, True] Translation: X:41.79, Y:-1.10, Z:-1.51 [[ 9.96635262e-01 8.11475301e-02 1.15426965e-02 4.17895360e+01] [-8.11458281e-02 9.96702049e-01 -6.16488541e-04 -1.09589472e+00] [-1.15546558e-02 -3.22227446e-04 9.99933191e-01 -1.51394193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.15420382200001 meters Centerline goodness [0,1] 0.9997671070460704 Centerline is valid? [True, True] Translation: X:41.82, Y:-1.09, Z:-1.51 [[ 9.96642455e-01 8.08656321e-02 1.28283475e-02 4.18200151e+01] [-8.08634988e-02 9.96724949e-01 -6.85752985e-04 -1.09461684e+00] [-1.28417879e-02 -3.53894524e-04 9.99917478e-01 -1.51309783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.18420382200001 meters Centerline goodness [0,1] 0.9998103466441892 Centerline is valid? [True, True] Translation: X:41.85, Y:-1.10, Z:-1.51 [[ 9.96634010e-01 8.09622613e-02 1.28748579e-02 4.18524819e+01] [-8.09601550e-02 9.96717103e-01 -6.85564326e-04 -1.09757702e+00] [-1.28880959e-02 -3.59093770e-04 9.99916881e-01 -1.51219577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.214203822 meters Centerline goodness [0,1] 0.9999353587588882 Centerline is valid? [True, True] Translation: X:41.88, Y:-1.10, Z:-1.51 [[ 9.96644581e-01 8.09786134e-02 1.19181836e-02 4.18841171e+01] [-8.09767926e-02 9.96715784e-01 -6.36052656e-04 -1.10250251e+00] [-1.19305483e-02 -3.31177845e-04 9.99928774e-01 -1.51244514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.244203822 meters Centerline goodness [0,1] 0.9998937865108869 Centerline is valid? [True, True] Translation: X:41.91, Y:-1.10, Z:-1.52 [[ 9.96638699e-01 8.11852109e-02 1.09665054e-02 4.19149767e+01] [-8.11836480e-02 9.96698986e-01 -5.88344306e-04 -1.10185034e+00] [-1.09780697e-02 -3.03934212e-04 9.99939693e-01 -1.51704971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.274203822000004 meters Centerline goodness [0,1] 0.9998069746493373 Centerline is valid? [True, True] Translation: X:41.95, Y:-1.10, Z:-1.52 [[ 9.96681809e-01 8.05057199e-02 1.20083314e-02 4.19461560e+01] [-8.05037642e-02 9.96754095e-01 -6.46941443e-04 -1.10282312e+00] [-1.20214359e-02 -3.21921107e-04 9.99927688e-01 -1.51599675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.304203822000005 meters Centerline goodness [0,1] 0.9997897304344169 Centerline is valid? [True, True] Translation: X:41.98, Y:-1.10, Z:-1.52 [[ 9.96710116e-01 7.99544003e-02 1.32755074e-02 4.19775893e+01] [-7.99519871e-02 9.96798461e-01 -7.13253672e-04 -1.10132265e+00] [-1.32900331e-02 -3.50496042e-04 9.99911622e-01 -1.51653980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.334203822000006 meters Centerline goodness [0,1] 0.9998103266596418 Centerline is valid? [True, True] Translation: X:42.01, Y:-1.10, Z:-1.52 [[ 9.96769721e-01 7.90957773e-02 1.39277442e-02 4.20088806e+01] [-7.90930035e-02 9.96866959e-01 -7.50728387e-04 -1.10241293e+00] [-1.39434875e-02 -3.53283798e-04 9.99902722e-01 -1.51708547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.36420382200001 meters Centerline goodness [0,1] 0.9998520272269902 Centerline is valid? [True, True] Translation: X:42.04, Y:-1.11, Z:-1.52 [[ 9.96862662e-01 7.79252964e-02 1.38737875e-02 4.20405182e+01] [-7.79224050e-02 9.96959145e-01 -7.49669463e-04 -1.10646906e+00] [-1.38900176e-02 -3.33761396e-04 9.99903473e-01 -1.51788411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.394203822 meters Centerline goodness [0,1] 0.9999573397039375 Centerline is valid? [True, True] Translation: X:42.07, Y:-1.11, Z:-1.52 [[ 9.97142496e-01 7.43156886e-02 1.35654203e-02 4.20720561e+01] [-7.43125311e-02 9.97234729e-01 -7.37379425e-04 -1.11467775e+00] [-1.35827071e-02 -2.72808359e-04 9.99907714e-01 -1.51850752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.424203822 meters Centerline goodness [0,1] 0.9999572777374289 Centerline is valid? [True, True] Translation: X:42.10, Y:-1.12, Z:-1.52 [[ 9.97255308e-01 7.27100520e-02 1.39677938e-02 4.21033111e+01] [-7.27065682e-02 9.97353087e-01 -7.57724293e-04 -1.11550070e+00] [-1.39859165e-02 -2.59905783e-04 9.99902159e-01 -1.52250002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.454203822000004 meters Centerline goodness [0,1] 0.9999361117618246 Centerline is valid? [True, True] Translation: X:42.14, Y:-1.12, Z:-1.52 [[ 9.97345331e-01 7.12430975e-02 1.50569644e-02 4.21353655e+01] [-7.12388460e-02 9.97458949e-01 -8.19209083e-04 -1.12473070e+00] [-1.50770669e-02 -2.55606415e-04 9.99886302e-01 -1.51748933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.484203822000005 meters Centerline goodness [0,1] 0.999978810865788 Centerline is valid? [True, True] Translation: X:42.17, Y:-1.13, Z:-1.52 [[ 9.97499223e-01 6.89107240e-02 1.57038887e-02 4.21661426e+01] [-6.89057608e-02 9.97622805e-01 -8.57551519e-04 -1.12805557e+00] [-1.57256520e-02 -2.26681424e-04 9.99876319e-01 -1.52029800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.514203822000006 meters Centerline goodness [0,1] 0.9999787766883145 Centerline is valid? [True, True] Translation: X:42.20, Y:-1.13, Z:-1.52 [[ 9.97572745e-01 6.80711120e-02 1.46609352e-02 4.21992011e+01] [-6.80666730e-02 9.97680452e-01 -8.02135680e-04 -1.13189774e+00] [-1.46815308e-02 -1.97732392e-04 9.99892201e-01 -1.52324347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.54420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.23, Y:-1.14, Z:-1.53 [[ 9.97628086e-01 6.73929888e-02 1.40137997e-02 4.22321915e+01] [-6.73888330e-02 9.97726492e-01 -7.69088111e-04 -1.13608983e+00] [-1.40337703e-02 -1.77109706e-04 9.99901506e-01 -1.52526940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.574203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.26, Y:-1.14, Z:-1.53 [[ 9.97651519e-01 6.70548402e-02 1.39676253e-02 4.22645607e+01] [-6.70506424e-02 9.97749277e-01 -7.69147521e-04 -1.14022116e+00] [-1.39877631e-02 -1.69197055e-04 9.99902152e-01 -1.52641325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.604203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.30, Y:-1.14, Z:-1.53 [[ 9.97682156e-01 6.69578010e-02 1.21230695e-02 4.22961194e+01] [-6.69546080e-02 9.97755798e-01 -6.69515511e-04 -1.14437757e+00] [-1.21406921e-02 -1.43731685e-04 9.99926289e-01 -1.53025674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.634203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.33, Y:-1.15, Z:-1.53 [[ 9.97662439e-01 6.74123783e-02 1.11905476e-02 4.23269922e+01] [-6.74096670e-02 9.97725189e-01 -6.19724148e-04 -1.14546946e+00] [-1.12068683e-02 -1.36075581e-04 9.99937192e-01 -1.53344152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.664203822000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.36, Y:-1.15, Z:-1.54 [[ 9.97618040e-01 6.81372620e-02 1.07498292e-02 4.23590520e+01] [-6.81347883e-02 9.97675947e-01 -5.96598197e-04 -1.14671733e+00] [-1.07654966e-02 -1.37260216e-04 9.99942041e-01 -1.53539960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.694203822000006 meters Centerline goodness [0,1] 0.9999787969382778 Centerline is valid? [True, True] Translation: X:42.39, Y:-1.15, Z:-1.54 [[ 9.97539940e-01 6.92576184e-02 1.08374506e-02 4.23911060e+01] [-6.92551510e-02 9.97598797e-01 -6.03237995e-04 -1.14766721e+00] [-1.08532065e-02 -1.48795285e-04 9.99941091e-01 -1.53609628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.72420382200001 meters Centerline goodness [0,1] 0.9999787888429313 Centerline is valid? [True, True] Translation: X:42.42, Y:-1.15, Z:-1.54 [[ 9.97380343e-01 7.15360586e-02 1.07258689e-02 4.24235739e+01] [-7.15337552e-02 9.97438000e-01 -5.98735182e-04 -1.14852986e+00] [-1.07412204e-02 -1.70094978e-04 9.99942297e-01 -1.53696847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.75420382200001 meters Centerline goodness [0,1] 0.9999786192298646 Centerline is valid? [True, True] Translation: X:42.46, Y:-1.15, Z:-1.54 [[ 9.97274298e-01 7.30200421e-02 1.05852334e-02 4.24553048e+01] [-7.30178643e-02 9.97330457e-01 -5.92569610e-04 -1.15013231e+00] [-1.06002452e-02 -1.81956698e-04 9.99943799e-01 -1.53733628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.784203822 meters Centerline goodness [0,1] 0.999956771711408 Centerline is valid? [True, True] Translation: X:42.49, Y:-1.15, Z:-1.53 [[ 9.97096570e-01 7.53988212e-02 1.06512162e-02 4.24875792e+01] [-7.53967346e-02 9.97153436e-01 -5.97883261e-04 -1.15181004e+00] [-1.06659765e-02 -2.06919573e-04 9.99943095e-01 -1.53476023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.814203822 meters Centerline goodness [0,1] 0.9999145518243185 Centerline is valid? [True, True] Translation: X:42.52, Y:-1.14, Z:-1.53 [[ 9.96622926e-01 8.13011281e-02 1.15269340e-02 4.25195516e+01] [-8.12990171e-02 9.96689543e-01 -6.52376875e-04 -1.14219329e+00] [-1.15418135e-02 -2.86954652e-04 9.99933350e-01 -1.53483200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.844203822000004 meters Centerline goodness [0,1] 0.9998718414251233 Centerline is valid? [True, True] Translation: X:42.55, Y:-1.14, Z:-1.53 [[ 9.96340705e-01 8.45509466e-02 1.25034565e-02 4.25511171e+01] [-8.45487138e-02 9.96419095e-01 -7.08011435e-04 -1.13815344e+00] [-1.25185459e-02 -3.51730556e-04 9.99921578e-01 -1.53449175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.874203822000005 meters Centerline goodness [0,1] 0.9997435842646211 Centerline is valid? [True, True] Translation: X:42.58, Y:-1.13, Z:-1.53 [[ 9.96064715e-01 8.75651426e-02 1.36905026e-02 4.25820854e+01] [-8.75627416e-02 9.96158704e-01 -7.75851803e-04 -1.13400256e+00] [-1.37058509e-02 -4.25979335e-04 9.99905980e-01 -1.53427456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.90420382200001 meters Centerline goodness [0,1] 0.9994875080076874 Centerline is valid? [True, True] Translation: X:42.61, Y:-1.13, Z:-1.54 [[ 9.95808941e-01 9.03040487e-02 1.44821300e-02 4.26131194e+01] [-9.03016484e-02 9.95914122e-01 -8.20915045e-04 -1.12735129e+00] [-1.44970898e-02 -4.90285673e-04 9.99894791e-01 -1.53575887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.93420382200001 meters Centerline goodness [0,1] 0.9991994606893064 Centerline is valid? [True, True] Translation: X:42.64, Y:-1.12, Z:-1.54 [[ 9.95386428e-01 9.47529899e-02 1.50907264e-02 4.26438360e+01] [-9.47508875e-02 9.95500646e-01 -8.55839142e-04 -1.11670681e+00] [-1.51039212e-02 -5.77969049e-04 9.99885762e-01 -1.53602275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.964203822 meters Centerline goodness [0,1] 0.9995749564330344 Centerline is valid? [True, True] Translation: X:42.67, Y:-1.12, Z:-1.54 [[ 9.95304221e-01 9.57026361e-02 1.45090848e-02 4.26741482e+01] [-9.57007943e-02 9.95409806e-01 -8.22786988e-04 -1.11779451e+00] [-1.45212281e-02 -5.69607576e-04 9.99894399e-01 -1.53709963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.994203822 meters Centerline goodness [0,1] 0.9995281197717816 Centerline is valid? [True, True] Translation: X:42.70, Y:-1.12, Z:-1.54 [[ 9.95332099e-01 9.56016171e-02 1.32039360e-02 4.27044701e+01] [-9.56000828e-02 9.95419541e-01 -7.48774090e-04 -1.11851004e+00] [-1.32150400e-02 -5.17018491e-04 9.99912544e-01 -1.53933745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.024203822000004 meters Centerline goodness [0,1] 0.9992973939703628 Centerline is valid? [True, True] Translation: X:42.73, Y:-1.12, Z:-1.54 [[ 9.95600624e-01 9.28096734e-02 1.28748803e-02 4.27338367e+01] [-9.28079786e-02 9.95683758e-01 -7.30336324e-04 -1.11629319e+00] [-1.28870915e-02 -4.67768315e-04 9.99916849e-01 -1.54369588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.054203822000005 meters Centerline goodness [0,1] 0.9994874642292744 Centerline is valid? [True, True] Translation: X:42.76, Y:-1.12, Z:-1.54 [[ 9.95791695e-01 9.06853191e-02 1.32315521e-02 4.27647552e+01] [-9.06833497e-02 9.95879495e-01 -7.49969571e-04 -1.11824017e+00] [-1.32450426e-02 -4.53067995e-04 9.99912178e-01 -1.54412073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.084203822000006 meters Centerline goodness [0,1] 0.9997228617719792 Centerline is valid? [True, True] Translation: X:42.80, Y:-1.12, Z:-1.54 [[ 9.95944289e-01 8.89457614e-02 1.35508260e-02 4.27952911e+01] [-8.89435299e-02 9.96036374e-01 -7.68440647e-04 -1.12005930e+00] [-1.35654651e-02 -4.39934222e-04 9.99907888e-01 -1.54409890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.11420382200001 meters Centerline goodness [0,1] 0.999320233669676 Centerline is valid? [True, True] Translation: X:42.82, Y:-1.12, Z:-1.55 [[ 9.96077644e-01 8.74207794e-02 1.36724314e-02 4.28248469e+01] [-8.74183613e-02 9.96171385e-01 -7.75543153e-04 -1.11736593e+00] [-1.36878835e-02 -4.22720351e-04 9.99906227e-01 -1.54693017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.144203822 meters Centerline goodness [0,1] 0.9998288660234881 Centerline is valid? [True, True] Translation: X:42.86, Y:-1.12, Z:-1.54 [[ 9.96348595e-01 8.42105327e-02 1.40735163e-02 4.28550982e+01] [-8.42076559e-02 9.96447908e-01 -7.97917195e-04 -1.12394699e+00] [-1.40907189e-02 -3.90094140e-04 9.99900645e-01 -1.54350924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.174203822 meters Centerline goodness [0,1] 0.9998502673796792 Centerline is valid? [True, True] Translation: X:42.89, Y:-1.12, Z:-1.54 [[ 9.96447444e-01 8.28583053e-02 1.50662846e-02 4.28851688e+01] [-8.28548539e-02 9.96561259e-01 -8.54203551e-04 -1.12172463e+00] [-1.50852534e-02 -3.97145867e-04 9.99886132e-01 -1.54431323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.204203822000004 meters Centerline goodness [0,1] 0.9999360122856411 Centerline is valid? [True, True] Translation: X:42.92, Y:-1.12, Z:-1.54 [[ 9.96534492e-01 8.16311664e-02 1.59799357e-02 4.29158134e+01] [-8.16271290e-02 9.96662526e-01 -9.05823480e-04 -1.12156276e+00] [-1.60005465e-02 -4.01711927e-04 9.99871902e-01 -1.54425814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.234203822000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.95, Y:-1.12, Z:-1.55 [[ 9.96778981e-01 7.87801170e-02 1.50118716e-02 4.29472731e+01] [-7.87762313e-02 9.96891961e-01 -8.50911831e-04 -1.12106386e+00] [-1.50322491e-02 -3.34407644e-04 9.99886953e-01 -1.54650130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.264203822000006 meters Centerline goodness [0,1] 0.9999572594777109 Centerline is valid? [True, True] Translation: X:42.98, Y:-1.12, Z:-1.55 [[ 9.96910711e-01 7.71560093e-02 1.46963855e-02 4.29781539e+01] [-7.71521039e-02 9.97018986e-01 -8.33360536e-04 -1.12201978e+00] [-1.47168742e-02 -3.03071018e-04 9.99891655e-01 -1.54833071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.29420382200001 meters Centerline goodness [0,1] 0.9999573506205485 Centerline is valid? [True, True] Translation: X:43.01, Y:-1.12, Z:-1.55 [[ 9.97017140e-01 7.57083355e-02 1.50023470e-02 4.30097915e+01] [-7.57040965e-02 9.97129964e-01 -8.51072403e-04 -1.12355450e+00] [-1.50237230e-02 -2.87205352e-04 9.99887096e-01 -1.54909016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.324203822 meters Centerline goodness [0,1] 0.9999150075430806 Centerline is valid? [True, True] Translation: X:43.04, Y:-1.12, Z:-1.55 [[ 9.97082002e-01 7.48020226e-02 1.52361217e-02 4.30414817e+01] [-7.47975391e-02 9.97198366e-01 -8.64702225e-04 -1.12414548e+00] [-1.52581171e-02 -2.77445381e-04 9.99883550e-01 -1.55003622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.354203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.07, Y:-1.12, Z:-1.55 [[ 9.97109498e-01 7.42083598e-02 1.63023913e-02 4.30726181e+01] [-7.42031408e-02 9.97242717e-01 -9.25624814e-04 -1.12402859e+00] [-1.63261301e-02 -2.86739339e-04 9.99866679e-01 -1.54573757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.384203822 meters Centerline goodness [0,1] 0.9999786771290886 Centerline is valid? [True, True] Translation: X:43.10, Y:-1.12, Z:-1.55 [[ 9.97095266e-01 7.42258037e-02 1.70751422e-02 4.31036590e+01] [-7.42201059e-02 9.97241415e-01 -9.68030907e-04 -1.12170530e+00] [-1.70998918e-02 -3.02099829e-04 9.99853741e-01 -1.54672639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.414203822000005 meters Centerline goodness [0,1] 0.999978808171569 Centerline is valid? [True, True] Translation: X:43.14, Y:-1.12, Z:-1.55 [[ 9.97111793e-01 7.40567299e-02 1.68425798e-02 4.31352064e+01] [-7.40511019e-02 9.97253988e-01 -9.58417785e-04 -1.12032932e+00] [-1.68673072e-02 -2.91561920e-04 9.99857694e-01 -1.54910031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.444203822000006 meters Centerline goodness [0,1] 0.9999148465108357 Centerline is valid? [True, True] Translation: X:43.17, Y:-1.12, Z:-1.55 [[ 9.97171149e-01 7.34161898e-02 1.61171252e-02 4.31661993e+01] [-7.34109096e-02 9.97301355e-01 -9.19793357e-04 -1.11548012e+00] [-1.61411585e-02 -2.65981423e-04 9.99869688e-01 -1.55307739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.47420382200001 meters Centerline goodness [0,1] 0.9999148465108357 Centerline is valid? [True, True] Translation: X:43.20, Y:-1.12, Z:-1.55 [[ 9.97169525e-01 7.34382526e-02 1.61171238e-02 4.31969764e+01] [-7.34329749e-02 9.97299730e-01 -9.19818880e-04 -1.11728496e+00] [-1.61411531e-02 -2.66312989e-04 9.99869688e-01 -1.55404677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.50420382200001 meters Centerline goodness [0,1] 0.9999786821292289 Centerline is valid? [True, True] Translation: X:43.23, Y:-1.12, Z:-1.55 [[ 9.97170733e-01 7.33199586e-02 1.65744692e-02 4.32285233e+01] [-7.33143549e-02 9.97308433e-01 -9.46278787e-04 -1.11946978e+00] [-1.65992390e-02 -2.71545004e-04 9.99862186e-01 -1.55026243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.534203822 meters Centerline goodness [0,1] 0.9999786766744141 Centerline is valid? [True, True] Translation: X:43.26, Y:-1.12, Z:-1.55 [[ 9.97156157e-01 7.32850831e-02 1.75753887e-02 4.32592016e+01] [-7.32787654e-02 9.97310992e-01 -1.00406186e-03 -1.11743294e+00] [-1.76017111e-02 -2.86696326e-04 9.99845037e-01 -1.55083648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.564203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.29, Y:-1.12, Z:-1.55 [[ 9.97172480e-01 7.29299887e-02 1.81179774e-02 4.32900587e+01] [-7.29232151e-02 9.97337021e-01 -1.03512714e-03 -1.11964444e+00] [-1.81452215e-02 -2.89020865e-04 9.99835320e-01 -1.54941346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.594203822000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.32, Y:-1.12, Z:-1.55 [[ 9.97186489e-01 7.25786800e-02 1.87467874e-02 4.33214624e+01] [-7.25713884e-02 9.97362647e-01 -1.06985618e-03 -1.11989400e+00] [-1.87749943e-02 -2.93634264e-04 9.99823691e-01 -1.55037733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.624203822000005 meters Centerline goodness [0,1] 0.9999786834924966 Centerline is valid? [True, True] Translation: X:43.35, Y:-1.12, Z:-1.55 [[ 9.97200276e-01 7.24659006e-02 1.84473243e-02 4.33538927e+01] [-7.24587715e-02 9.97370850e-01 -1.05543792e-03 -1.12249859e+00] [-1.84753068e-02 -2.84187473e-04 9.99829277e-01 -1.55123761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.65420382200001 meters Centerline goodness [0,1] 0.9999786146575137 Centerline is valid? [True, True] Translation: X:43.38, Y:-1.12, Z:-1.55 [[ 9.97218196e-01 7.22347559e-02 1.83850564e-02 4.33846325e+01] [-7.22275759e-02 9.97387620e-01 -1.05511617e-03 -1.12361590e+00] [-1.84132437e-02 -2.75727019e-04 9.99830424e-01 -1.55307226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.68420382200001 meters Centerline goodness [0,1] 0.9999787464666001 Centerline is valid? [True, True] Translation: X:43.42, Y:-1.13, Z:-1.55 [[ 9.97246652e-01 7.18732157e-02 1.82580397e-02 4.34170804e+01] [-7.18660262e-02 9.97413741e-01 -1.05043903e-03 -1.12655956e+00] [-1.82863181e-02 -2.64585950e-04 9.99832756e-01 -1.55292058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.714203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.45, Y:-1.13, Z:-1.56 [[ 9.97339571e-01 7.08318936e-02 1.72227711e-02 4.34497097e+01] [-7.08252952e-02 9.97488241e-01 -9.93538022e-04 -1.12545245e+00] [-1.72498859e-02 -2.28913066e-04 9.99851183e-01 -1.55582829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.744203822 meters Centerline goodness [0,1] 0.9999787901925851 Centerline is valid? [True, True] Translation: X:43.48, Y:-1.12, Z:-1.56 [[ 9.97343069e-01 7.09751855e-02 1.64111244e-02 4.34806684e+01] [-7.09691690e-02 9.97478058e-01 -9.49437233e-04 -1.12410517e+00] [-1.64371230e-02 -2.17769217e-04 9.99864878e-01 -1.56039127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.774203822000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.51, Y:-1.13, Z:-1.56 [[ 9.97356336e-01 7.09812775e-02 1.55562389e-02 4.35117422e+01] [-7.09758059e-02 9.97477627e-01 -9.04242828e-04 -1.12787771e+00] [-1.55811846e-02 -2.02264278e-04 9.99878586e-01 -1.56073365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.804203822000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.54, Y:-1.13, Z:-1.56 [[ 9.97307770e-01 7.17385344e-02 1.51918967e-02 4.35417862e+01] [-7.17334056e-02 9.97423450e-01 -8.82950600e-04 -1.12920829e+00] [-1.52160956e-02 -2.09192993e-04 9.99884207e-01 -1.56221905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.834203822000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.57, Y:-1.13, Z:-1.56 [[ 9.97263874e-01 7.21919449e-02 1.59087402e-02 4.35714867e+01] [-7.21863536e-02 9.97390732e-01 -9.26163951e-04 -1.12882357e+00] [-1.59340916e-02 -2.24764093e-04 9.99873019e-01 -1.56260929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.86420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.60, Y:-1.13, Z:-1.56 [[ 9.97237919e-01 7.24112739e-02 1.65269799e-02 4.36020428e+01] [-7.24052626e-02 9.97374830e-01 -9.62585893e-04 -1.12814203e+00] [-1.65532959e-02 -2.36713170e-04 9.99862957e-01 -1.56270371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.894203822 meters Centerline goodness [0,1] 0.9999788314987299 Centerline is valid? [True, True] Translation: X:43.63, Y:-1.13, Z:-1.56 [[ 9.97213376e-01 7.26588800e-02 1.69165720e-02 4.36325870e+01] [-7.26526176e-02 9.97356820e-01 -9.85277023e-04 -1.12797582e+00] [-1.69434476e-02 -2.46501812e-04 9.99856419e-01 -1.56325979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.924203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.66, Y:-1.13, Z:-1.57 [[ 9.97194191e-01 7.31187587e-02 1.60434789e-02 4.36623265e+01] [-7.31131826e-02 9.97323212e-01 -9.34605927e-04 -1.12748111e+00] [-1.60688711e-02 -2.41006201e-04 9.99870858e-01 -1.56695885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.954203822000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.69, Y:-1.13, Z:-1.57 [[ 9.97151841e-01 7.37333127e-02 1.58620260e-02 4.36930624e+01] [-7.37279455e-02 9.97277964e-01 -9.23669752e-04 -1.12889893e+00] [-1.58869543e-02 -2.48435597e-04 9.99873764e-01 -1.56786460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.984203822000005 meters Centerline goodness [0,1] 0.9999786333917354 Centerline is valid? [True, True] Translation: X:43.72, Y:-1.13, Z:-1.57 [[ 9.97092186e-01 7.44525771e-02 1.62476551e-02 4.37236871e+01] [-7.44470412e-02 9.97224520e-01 -9.46125515e-04 -1.12960613e+00] [-1.62730015e-02 -2.66215490e-04 9.99867551e-01 -1.56760541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.014203822000006 meters Centerline goodness [0,1] 0.9999787188763567 Centerline is valid? [True, True] Translation: X:43.75, Y:-1.13, Z:-1.57 [[ 9.97022267e-01 7.53083220e-02 1.65908341e-02 4.37533923e+01] [-7.53026654e-02 9.97160255e-01 -9.66283269e-04 -1.12819519e+00] [-1.66164896e-02 -2.85928095e-04 9.99861896e-01 -1.56796592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.04420382200001 meters Centerline goodness [0,1] 0.9999363746262009 Centerline is valid? [True, True] Translation: X:43.78, Y:-1.12, Z:-1.57 [[ 9.96886247e-01 7.70755239e-02 1.66485726e-02 4.37832722e+01] [-7.70700775e-02 9.97025207e-01 -9.69446551e-04 -1.12259202e+00] [-1.66737672e-02 -3.16678850e-04 9.99860933e-01 -1.56922161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.074203822 meters Centerline goodness [0,1] 0.999978646166987 Centerline is valid? [True, True] Translation: X:43.81, Y:-1.12, Z:-1.57 [[ 9.96828824e-01 7.78736546e-02 1.63703833e-02 4.38125011e+01] [-7.78684962e-02 9.96963183e-01 -9.53254183e-04 -1.12454847e+00] [-1.63949029e-02 -3.24505885e-04 9.99865542e-01 -1.56801234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.104203822 meters Centerline goodness [0,1] 0.99991452260877 Centerline is valid? [True, True] Translation: X:43.84, Y:-1.12, Z:-1.57 [[ 9.96778195e-01 7.86397433e-02 1.57803883e-02 4.38426877e+01] [-7.86350516e-02 9.96903047e-01 -9.18541228e-04 -1.12269321e+00] [-1.58037511e-02 -3.25309785e-04 9.99875060e-01 -1.57037631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.134203822 meters Centerline goodness [0,1] 0.9998927958833619 Centerline is valid? [True, True] Translation: X:43.87, Y:-1.11, Z:-1.58 [[ 9.96665202e-01 8.04326948e-02 1.37498100e-02 4.38717710e+01] [-8.04293037e-02 9.96759994e-01 -8.00319993e-04 -1.11452183e+00] [-1.37696324e-02 -3.08236554e-04 9.99905147e-01 -1.57674158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.164203822000005 meters Centerline goodness [0,1] 0.9998714515265131 Centerline is valid? [True, True] Translation: X:43.90, Y:-1.11, Z:-1.58 [[ 9.96641209e-01 8.08846433e-02 1.28052949e-02 4.39006937e+01] [-8.08817415e-02 9.96723426e-01 -7.45174079e-04 -1.11382434e+00] [-1.28236105e-02 -2.93043356e-04 9.99917731e-01 -1.57973653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.194203822000006 meters Centerline goodness [0,1] 0.9997888825553656 Centerline is valid? [True, True] Translation: X:43.93, Y:-1.11, Z:-1.58 [[ 9.96651867e-01 8.08383722e-02 1.22561435e-02 4.39283148e+01] [-8.08357140e-02 9.96727184e-01 -7.12924178e-04 -1.11171730e+00] [-1.22736631e-02 -2.80196900e-04 9.99924637e-01 -1.58411172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.22420382200001 meters Centerline goodness [0,1] 0.9998307057454238 Centerline is valid? [True, True] Translation: X:43.96, Y:-1.12, Z:-1.58 [[ 9.96847128e-01 7.81761123e-02 1.35756497e-02 4.39577055e+01] [-7.81726265e-02 9.96939526e-01 -7.88037186e-04 -1.11719030e+00] [-1.35957075e-02 -2.75691589e-04 9.99907536e-01 -1.57960775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.25420382200001 meters Centerline goodness [0,1] 0.9998942604576407 Centerline is valid? [True, True] Translation: X:43.99, Y:-1.12, Z:-1.58 [[ 9.97006817e-01 7.60669232e-02 1.38285830e-02 4.39866179e+01] [-7.60631101e-02 9.97102683e-01 -8.02246432e-04 -1.11649365e+00] [-1.38495417e-02 -2.51999872e-04 9.99904059e-01 -1.58138421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.284203822 meters Centerline goodness [0,1] 0.9999784802771741 Centerline is valid? [True, True] Translation: X:44.02, Y:-1.12, Z:-1.58 [[ 9.97216281e-01 7.32021831e-02 1.41820364e-02 4.40157819e+01] [-7.31978847e-02 9.97317098e-01 -8.22623165e-04 -1.12217004e+00] [-1.42042052e-02 -2.17761851e-04 9.99899091e-01 -1.57866260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.314203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.04, Y:-1.13, Z:-1.58 [[ 9.97439975e-01 6.98995560e-02 1.50847278e-02 4.40448273e+01] [-6.98943217e-02 9.97554018e-01 -8.74561393e-04 -1.12617223e+00] [-1.51089623e-02 -1.82014325e-04 9.99885837e-01 -1.57846402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.344203822000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.07, Y:-1.13, Z:-1.57 [[ 9.97800914e-01 6.38405004e-02 1.78248933e-02 4.40748742e+01] [-6.38322407e-02 9.97960109e-01 -1.03252246e-03 -1.13472693e+00] [-1.78544492e-02 -1.07551028e-04 9.99840591e-01 -1.57379919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.374203822000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.11, Y:-1.14, Z:-1.57 [[ 9.97939330e-01 6.14805848e-02 1.83638584e-02 4.41055078e+01] [-6.14714553e-02 9.98108277e-01 -1.06173945e-03 -1.13883054e+00] [-1.83943955e-02 -6.93015440e-05 9.99830806e-01 -1.57378701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.40420382200001 meters Centerline goodness [0,1] 0.999978837322498 Centerline is valid? [True, True] Translation: X:44.14, Y:-1.14, Z:-1.58 [[ 9.98056846e-01 5.96662287e-02 1.79575328e-02 4.41370493e+01] [-5.96571484e-02 9.98218383e-01 -1.04139638e-03 -1.14398760e+00] [-1.79876755e-02 -3.19224107e-05 9.99838208e-01 -1.57725099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.43420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.17, Y:-1.15, Z:-1.58 [[ 9.98143575e-01 5.84656210e-02 1.70638204e-02 4.41689965e+01] [-5.84572268e-02 9.98289423e-01 -9.90730455e-04 -1.14983414e+00] [-1.70925550e-02 -8.61237768e-06 9.99853912e-01 -1.57924011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.464203822 meters Centerline goodness [0,1] 0.9999144421629022 Centerline is valid? [True, True] Translation: X:44.20, Y:-1.15, Z:-1.58 [[ 9.98150197e-01 5.80399948e-02 1.80981521e-02 4.42011100e+01] [-5.80304242e-02 9.98314259e-01 -1.05397528e-03 -1.15351951e+00] [-1.81288160e-02 1.78219524e-06 9.99835660e-01 -1.57724534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.494203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.23, Y:-1.15, Z:-1.58 [[ 9.98075747e-01 5.90419501e-02 1.89433960e-02 4.42326903e+01] [-5.90315766e-02 9.98255502e-01 -1.10680525e-03 -1.15399555e+00] [-1.89756972e-02 -1.35830623e-05 9.99819945e-01 -1.57684049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.524203822000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.26, Y:-1.15, Z:-1.58 [[ 9.97866130e-01 6.26779420e-02 1.82937839e-02 4.42642766e+01] [-6.26688288e-02 9.98033802e-01 -1.07156853e-03 -1.14994095e+00] [-1.83249784e-02 -7.71680673e-05 9.99832081e-01 -1.57876516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.554203822000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.30, Y:-1.15, Z:-1.58 [[ 9.97730656e-01 6.49278247e-02 1.78302113e-02 4.42960623e+01] [-6.49194486e-02 9.97889956e-01 -1.04878667e-03 -1.14804400e+00] [-1.78606843e-02 -1.11120879e-04 9.99840479e-01 -1.58026462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.584203822000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.33, Y:-1.15, Z:-1.58 [[ 9.97577128e-01 6.72354694e-02 1.78679715e-02 4.43265176e+01] [-6.72274175e-02 9.97737124e-01 -1.05159115e-03 -1.14601698e+00] [-1.78982427e-02 -1.52174298e-04 9.99839802e-01 -1.58142076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.61420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.36, Y:-1.14, Z:-1.58 [[ 9.97428883e-01 6.92790386e-02 1.83313478e-02 4.43563653e+01] [-6.92709038e-02 9.97597302e-01 -1.07912477e-03 -1.14391302e+00] [-1.83620638e-02 -1.93478810e-04 9.99831384e-01 -1.58236249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.644203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.39, Y:-1.14, Z:-1.58 [[ 9.97236646e-01 7.20812683e-02 1.79822752e-02 4.43871398e+01] [-7.20738909e-02 9.97398733e-01 -1.05884412e-03 -1.14184429e+00] [-1.80118213e-02 -2.40134384e-04 9.99837745e-01 -1.58321368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.674203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.42, Y:-1.14, Z:-1.59 [[ 9.97184978e-01 7.29624549e-02 1.72800268e-02 4.44164199e+01] [-7.29557719e-02 9.97334658e-01 -1.01765924e-03 -1.14110694e+00] [-1.73082205e-02 -2.45883191e-04 9.99850171e-01 -1.58648742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.704203822000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.45, Y:-1.14, Z:-1.59 [[ 9.97129844e-01 7.38034264e-02 1.68857232e-02 4.44462185e+01] [-7.37971658e-02 9.97272776e-01 -9.94413938e-04 -1.14193514e+00] [-1.69130632e-02 -2.54558701e-04 9.99856932e-01 -1.58798492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.734203822000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.47, Y:-1.14, Z:-1.59 [[ 9.97074803e-01 7.45463977e-02 1.68722171e-02 4.44745252e+01] [-7.45402601e-02 9.97217510e-01 -9.93226304e-04 -1.14232197e+00] [-1.68993118e-02 -2.67338531e-04 9.99857161e-01 -1.58961960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.764203822000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.50, Y:-1.14, Z:-1.59 [[ 9.97040405e-01 7.50374203e-02 1.67277201e-02 4.45042742e+01] [-7.50314628e-02 9.97180681e-01 -9.84342558e-04 -1.14467684e+00] [-1.67544219e-02 -2.73676007e-04 9.99859597e-01 -1.59032180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.79420382200001 meters Centerline goodness [0,1] 0.9999786825836708 Centerline is valid? [True, True] Translation: X:44.53, Y:-1.15, Z:-1.59 [[ 9.97049576e-01 7.49808167e-02 1.64323052e-02 4.45337980e+01] [-7.49750662e-02 9.97184940e-01 -9.66589827e-04 -1.14651153e+00] [-1.64585230e-02 -2.68275192e-04 9.99864513e-01 -1.59085153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.824203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.56, Y:-1.15, Z:-1.59 [[ 9.97043700e-01 7.50480837e-02 1.64816552e-02 4.45621823e+01] [-7.50423113e-02 9.97179879e-01 -9.69278456e-04 -1.14656621e+00] [-1.65079174e-02 -2.70408519e-04 9.99863698e-01 -1.59242584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.854203822 meters Centerline goodness [0,1] 0.9999784816663797 Centerline is valid? [True, True] Translation: X:44.59, Y:-1.15, Z:-1.59 [[ 9.97089750e-01 7.43947389e-02 1.66569563e-02 4.45918879e+01] [-7.43887642e-02 9.97228837e-01 -9.78848637e-04 -1.15194091e+00] [-1.66836183e-02 -2.63090453e-04 9.99860784e-01 -1.59004423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.884203822 meters Centerline goodness [0,1] 0.9999786493584132 Centerline is valid? [True, True] Translation: X:44.62, Y:-1.15, Z:-1.59 [[ 9.97157126e-01 7.33215774e-02 1.73669934e-02 4.46209625e+01] [-7.33149278e-02 9.97308318e-01 -1.02011241e-03 -1.15242084e+00] [-1.73950432e-02 -2.56047509e-04 9.99848662e-01 -1.59278872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.914203822000005 meters Centerline goodness [0,1] 0.9999787681267118 Centerline is valid? [True, True] Translation: X:44.65, Y:-1.16, Z:-1.59 [[ 9.97243778e-01 7.21823635e-02 1.71625440e-02 4.46507107e+01] [-7.21757110e-02 9.97391423e-01 -1.00751132e-03 -1.15534022e+00] [-1.71904988e-02 -2.33984423e-04 9.99852205e-01 -1.59451745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.944203822000006 meters Centerline goodness [0,1] 0.9999363449256297 Centerline is valid? [True, True] Translation: X:44.68, Y:-1.16, Z:-1.60 [[ 9.97324795e-01 7.11667864e-02 1.66895897e-02 4.46796307e+01] [-7.11603627e-02 9.97464407e-01 -9.79193650e-04 -1.15833732e+00] [-1.67169578e-02 -2.11063152e-04 9.99860240e-01 -1.59697239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.97420382200001 meters Centerline goodness [0,1] 0.9999570557416474 Centerline is valid? [True, True] Translation: X:44.71, Y:-1.17, Z:-1.60 [[ 9.97391024e-01 7.03457151e-02 1.62057286e-02 4.47100096e+01] [-7.03395431e-02 9.97522653e-01 -9.51230940e-04 -1.16507877e+00] [-1.62324964e-02 -1.91154341e-04 9.99868226e-01 -1.59567901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.00420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.74, Y:-1.17, Z:-1.60 [[ 9.97513528e-01 6.86306653e-02 1.60184986e-02 4.47393460e+01] [-6.86244179e-02 9.97642123e-01 -9.39999611e-04 -1.16938010e+00] [-1.60452418e-02 -1.61597814e-04 9.99871254e-01 -1.60120539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.034203822 meters Centerline goodness [0,1] 0.999957346982299 Centerline is valid? [True, True] Translation: X:44.77, Y:-1.17, Z:-1.60 [[ 9.97544444e-01 6.82501945e-02 1.57160080e-02 4.47697030e+01] [-6.82441260e-02 9.97668225e-01 -9.22732893e-04 -1.17409208e+00] [-1.57423385e-02 -1.52058159e-04 9.99876070e-01 -1.60059033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.064203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.80, Y:-1.18, Z:-1.60 [[ 9.97528658e-01 6.84294500e-02 1.59369694e-02 4.48003290e+01] [-6.84232325e-02 9.97655946e-01 -9.35706186e-04 -1.17558371e+00] [-1.59636421e-02 -1.57065228e-04 9.99872561e-01 -1.60080343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.094203822000004 meters Centerline goodness [0,1] 0.9999788628196998 Centerline is valid? [True, True] Translation: X:44.83, Y:-1.17, Z:-1.60 [[ 9.97348794e-01 7.05795525e-02 1.77174998e-02 4.48306120e+01] [-7.05722015e-02 9.97506131e-01 -1.04056442e-03 -1.16962714e+00] [-1.77467573e-02 -2.12557299e-04 9.99842491e-01 -1.59673367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.124203822000005 meters Centerline goodness [0,1] 0.9999788068242026 Centerline is valid? [True, True] Translation: X:44.86, Y:-1.16, Z:-1.60 [[ 9.97226265e-01 7.21534823e-02 1.82661439e-02 4.48604861e+01] [-7.21459440e-02 9.97393510e-01 -1.07218473e-03 -1.16485880e+00] [-1.82958952e-02 -2.48617417e-04 9.99832585e-01 -1.59711077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.15420382200001 meters Centerline goodness [0,1] 0.9999788672865596 Centerline is valid? [True, True] Translation: X:44.89, Y:-1.16, Z:-1.60 [[ 9.97103300e-01 7.35494193e-02 1.93776397e-02 4.48895509e+01] [-7.35411987e-02 9.97291531e-01 -1.13745198e-03 -1.16136410e+00] [-1.94088150e-02 -2.90897734e-04 9.99811589e-01 -1.59629433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.18420382200001 meters Centerline goodness [0,1] 0.9999786602932076 Centerline is valid? [True, True] Translation: X:44.92, Y:-1.16, Z:-1.59 [[ 9.97014871e-01 7.43867617e-02 2.06871140e-02 4.49188555e+01] [-7.43775911e-02 9.97229413e-01 -1.21342520e-03 -1.16305091e+00] [-2.07200613e-02 -3.28854736e-04 9.99785262e-01 -1.59463413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.214203822 meters Centerline goodness [0,1] 0.9999787161586923 Centerline is valid? [True, True] Translation: X:44.95, Y:-1.17, Z:-1.60 [[ 9.97067774e-01 7.39190660e-02 1.97945791e-02 4.49495676e+01] [-7.39105915e-02 9.97264197e-01 -1.16036786e-03 -1.16706030e+00] [-1.98261983e-02 -3.06063653e-04 9.99803395e-01 -1.59653011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.244203822 meters Centerline goodness [0,1] 0.9999788184956896 Centerline is valid? [True, True] Translation: X:44.98, Y:-1.17, Z:-1.60 [[ 9.97129718e-01 7.34329920e-02 1.84369640e-02 4.49786720e+01] [-7.34255596e-02 9.97300115e-01 -1.08064768e-03 -1.16774892e+00] [-1.84665415e-02 -2.76198481e-04 9.99829441e-01 -1.60083436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.274203822000004 meters Centerline goodness [0,1] 0.9999786784929959 Centerline is valid? [True, True] Translation: X:45.01, Y:-1.17, Z:-1.60 [[ 9.97206742e-01 7.27049024e-02 1.71088025e-02 4.50083971e+01] [-7.26983871e-02 9.97353467e-01 -1.00327250e-03 -1.16834841e+00] [-1.71364663e-02 -2.43312245e-04 9.99853130e-01 -1.60432656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.304203822000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.04, Y:-1.17, Z:-1.60 [[ 9.97301551e-01 7.15303040e-02 1.65237029e-02 4.50382542e+01] [-7.15240654e-02 9.97438404e-01 -9.68969411e-04 -1.17143734e+00] [-1.65506866e-02 -2.15487714e-04 9.99863005e-01 -1.60481128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.334203822000006 meters Centerline goodness [0,1] 0.9999787392367386 Centerline is valid? [True, True] Translation: X:45.07, Y:-1.17, Z:-1.61 [[ 9.97522011e-01 6.82118696e-02 1.72330695e-02 4.50672620e+01] [-6.82045963e-02 9.97670844e-01 -1.01011500e-03 -1.17491031e+00] [-1.72618328e-02 -1.67762602e-04 9.99850989e-01 -1.60581704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.36420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.10, Y:-1.18, Z:-1.61 [[ 9.97613236e-01 6.67178174e-02 1.77922559e-02 4.50969760e+01] [-6.67098449e-02 9.97771873e-01 -1.04188141e-03 -1.17879512e+00] [-1.78221245e-02 -1.47523950e-04 9.99841162e-01 -1.60545661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.394203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.13, Y:-1.18, Z:-1.61 [[ 9.97613235e-01 6.67178338e-02 1.77922253e-02 4.51269137e+01] [-6.67098520e-02 9.97771872e-01 -1.04240406e-03 -1.18054877e+00] [-1.78221289e-02 -1.47000627e-04 9.99841162e-01 -1.60639951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.424203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.16, Y:-1.19, Z:-1.61 [[ 9.97816869e-01 6.32630694e-02 1.89546774e-02 4.51575685e+01] [-6.32533899e-02 9.97996882e-01 -1.11036264e-03 -1.18733833e+00] [-1.89869539e-02 -9.10090278e-05 9.99819727e-01 -1.60564961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.454203822000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.19, Y:-1.19, Z:-1.61 [[ 9.97947411e-01 6.11157322e-02 1.91267252e-02 4.51886438e+01] [-6.11054966e-02 9.98130685e-01 -1.11966450e-03 -1.19256342e+00] [-1.91594004e-02 -5.13817517e-05 9.99816441e-01 -1.60680264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.484203822000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.22, Y:-1.20, Z:-1.61 [[ 9.98071587e-01 5.91070115e-02 1.89596632e-02 4.52200436e+01] [-5.90965768e-02 9.98251652e-01 -1.11066012e-03 -1.19784516e+00] [-1.89921630e-02 -1.19328864e-05 9.99819633e-01 -1.60848861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.514203822000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.25, Y:-1.20, Z:-1.61 [[ 9.98177494e-01 5.74871759e-02 1.83552376e-02 4.52523828e+01] [-5.74770662e-02 9.98346245e-01 -1.07829288e-03 -1.20257074e+00] [-1.83868705e-02 2.13224782e-05 9.99830947e-01 -1.60844078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.54420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.28, Y:-1.21, Z:-1.61 [[ 9.98271875e-01 5.58695527e-02 1.82169550e-02 4.52842717e+01] [-5.58592721e-02 9.98438075e-01 -1.07308591e-03 -1.20669717e+00] [-1.82484543e-02 5.36456399e-05 9.99833482e-01 -1.61025452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.574203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.32, Y:-1.21, Z:-1.61 [[ 9.98276309e-01 5.57726215e-02 1.82708716e-02 4.53160116e+01] [-5.57622023e-02 9.98443494e-01 -1.07961669e-03 -1.20891450e+00] [-1.83026460e-02 5.89317227e-05 9.99832491e-01 -1.61194651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.604203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.35, Y:-1.21, Z:-1.61 [[ 9.98299887e-01 5.55729421e-02 1.75779100e-02 4.53471328e+01] [-5.55632093e-02 9.98454628e-01 -1.04197179e-03 -1.21132029e+00] [-1.76086511e-02 6.35152274e-05 9.99844954e-01 -1.61467503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.634203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.38, Y:-1.21, Z:-1.62 [[ 9.98329014e-01 5.52291615e-02 1.69976284e-02 4.53781019e+01] [-5.52199693e-02 9.98473703e-01 -1.01001631e-03 -1.21395314e+00] [-1.70274673e-02 6.97200704e-05 9.99855020e-01 -1.61680066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.664203822000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.41, Y:-1.22, Z:-1.62 [[ 9.98422295e-01 5.35849506e-02 1.67801786e-02 4.54104766e+01] [-5.35757227e-02 9.98563290e-01 -9.99306915e-04 -1.21914725e+00] [-1.68096182e-02 9.87201068e-05 9.99858704e-01 -1.61720460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.694203822000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.44, Y:-1.22, Z:-1.62 [[ 9.98484038e-01 5.25251078e-02 1.64541299e-02 4.54416753e+01] [-5.25160457e-02 9.98619597e-01 -9.82647067e-04 -1.22474096e+00] [-1.64830302e-02 1.17051577e-04 9.99864139e-01 -1.61985822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.72420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.47, Y:-1.23, Z:-1.62 [[ 9.98552748e-01 5.12210068e-02 1.63956888e-02 4.54735201e+01] [-5.12117959e-02 9.98687333e-01 -9.81423480e-04 -1.23071031e+00] [-1.64244362e-02 1.40350442e-04 9.99865100e-01 -1.62051906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.75420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.51, Y:-1.24, Z:-1.62 [[ 9.98650714e-01 4.89170298e-02 1.74320260e-02 4.55055485e+01] [-4.89062123e-02 9.98802827e-01 -1.04656651e-03 -1.24232789e+00] [-1.74623517e-02 1.92620027e-04 9.99847503e-01 -1.61865726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.784203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.54, Y:-1.25, Z:-1.62 [[ 9.98681814e-01 4.81665488e-02 1.77374694e-02 4.55381091e+01] [-4.81551838e-02 9.98839296e-01 -1.06753188e-03 -1.24883251e+00] [-1.77683007e-02 2.11973578e-04 9.99842109e-01 -1.61895666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.814203822 meters Centerline goodness [0,1] 0.9998716302952503 Centerline is valid? [True, True] Translation: X:45.57, Y:-1.25, Z:-1.62 [[ 9.98700493e-01 4.79555781e-02 1.72507247e-02 4.55693775e+01] [-4.79447345e-02 9.98849447e-01 -1.04184965e-03 -1.25492283e+00] [-1.72808393e-02 2.13414347e-04 9.99850652e-01 -1.62156085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.844203822000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.60, Y:-1.26, Z:-1.62 [[ 9.98622043e-01 4.96495719e-02 1.69981123e-02 4.56013736e+01] [-4.96392487e-02 9.98766683e-01 -1.02894983e-03 -1.25983675e+00] [-1.70282352e-02 1.83758459e-04 9.99854992e-01 -1.62264846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.874203822000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.63, Y:-1.26, Z:-1.62 [[ 9.98547774e-01 5.11272101e-02 1.69809340e-02 4.56332524e+01] [-5.11170569e-02 9.98692136e-01 -1.03170295e-03 -1.26283197e+00] [-1.70114733e-02 1.62189316e-04 9.99855281e-01 -1.62229276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.90420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.66, Y:-1.27, Z:-1.63 [[ 9.98451021e-01 5.29184051e-02 1.71814204e-02 4.56639000e+01] [-5.29082474e-02 9.98598830e-01 -1.04553764e-03 -1.26788673e+00] [-1.72126745e-02 1.34879285e-04 9.99851842e-01 -1.62525124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.93420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.70, Y:-1.27, Z:-1.63 [[ 9.98357128e-01 5.47283915e-02 1.69660846e-02 4.56959048e+01] [-5.47187374e-02 9.98501273e-01 -1.03306460e-03 -1.27121654e+00] [-1.69971950e-02 1.03004680e-04 9.99855532e-01 -1.62587043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.964203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.73, Y:-1.28, Z:-1.63 [[ 9.98173837e-01 5.83277669e-02 1.57118812e-02 4.57287134e+01] [-5.83199051e-02 9.98297486e-01 -9.58486041e-04 -1.27603370e+00] [-1.57410379e-02 4.04202679e-05 9.99876101e-01 -1.62711306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.994203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.76, Y:-1.28, Z:-1.63 [[ 9.98053659e-01 6.04084105e-02 1.54828025e-02 4.57602432e+01] [-6.04009788e-02 9.98173744e-01 -9.47596448e-04 -1.27833595e+00] [-1.55117697e-02 1.05756805e-05 9.99879685e-01 -1.63196797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.024203822000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.79, Y:-1.28, Z:-1.63 [[ 9.97920330e-01 6.24795270e-02 1.58531653e-02 4.57922955e+01] [-6.24719432e-02 9.98046246e-01 -9.73629792e-04 -1.27910609e+00] [-1.58830240e-02 -1.87730786e-05 9.99873857e-01 -1.63173578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.054203822000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.82, Y:-1.28, Z:-1.63 [[ 9.97775628e-01 6.43742604e-02 1.73133238e-02 4.58247624e+01] [-6.43654486e-02 9.97925825e-01 -1.06629215e-03 -1.28126981e+00] [-1.73460547e-02 -5.04595334e-05 9.99849545e-01 -1.62691914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.084203822000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.86, Y:-1.29, Z:-1.62 [[ 9.97573644e-01 6.67386773e-02 1.98185039e-02 4.58555017e+01] [-6.67275126e-02 9.97770484e-01 -1.22483371e-03 -1.28716787e+00] [-1.98560620e-02 -1.00577636e-04 9.99802844e-01 -1.62367088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.11420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.89, Y:-1.29, Z:-1.63 [[ 9.97546775e-01 6.73131390e-02 1.92190745e-02 4.58869056e+01] [-6.73026911e-02 9.97731893e-01 -1.19064953e-03 -1.29193118e+00] [-1.92556299e-02 -1.05766831e-04 9.99814588e-01 -1.62568690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.144203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.92, Y:-1.30, Z:-1.63 [[ 9.97548380e-01 6.75469446e-02 1.82931590e-02 4.59182034e+01] [-6.75374704e-02 9.97716092e-01 -1.13591217e-03 -1.29645109e+00] [-1.83281065e-02 -1.02346336e-04 9.99832021e-01 -1.62951753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.174203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.95, Y:-1.30, Z:-1.63 [[ 9.97506395e-01 6.82223523e-02 1.80749208e-02 4.59507354e+01] [-6.82131719e-02 9.97670135e-01 -1.12466246e-03 -1.30451098e+00] [-1.81095358e-02 -1.11089689e-04 9.99836003e-01 -1.63149518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.204203822000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.98, Y:-1.31, Z:-1.63 [[ 9.97469893e-01 6.87342731e-02 1.81496911e-02 4.59829992e+01] [-6.87250386e-02 9.97634996e-01 -1.13276090e-03 -1.30983450e+00] [-1.81846265e-02 -1.17443323e-04 9.99834639e-01 -1.63276925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.234203822000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.01, Y:-1.31, Z:-1.63 [[ 9.97454528e-01 6.90836284e-02 1.76611867e-02 4.60144380e+01] [-6.90748748e-02 9.97610865e-01 -1.10590911e-03 -1.31496977e+00] [-1.76953919e-02 -1.16850206e-04 9.99843417e-01 -1.63358912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.264203822000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.05, Y:-1.32, Z:-1.63 [[ 9.97450388e-01 6.93009113e-02 1.70325322e-02 4.60465504e+01] [-6.92927633e-02 9.97595795e-01 -1.06878465e-03 -1.31998833e+00] [-1.70656502e-02 -1.14171553e-04 9.99854365e-01 -1.63459877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.29420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.08, Y:-1.33, Z:-1.64 [[ 9.97445287e-01 6.93915476e-02 1.69620818e-02 4.60784342e+01] [-6.93834341e-02 9.97589495e-01 -1.06705620e-03 -1.32763087e+00] [-1.69952393e-02 -1.12557307e-04 9.99855564e-01 -1.63661585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.32420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.11, Y:-1.33, Z:-1.64 [[ 9.97418433e-01 6.97392566e-02 1.71144758e-02 4.61103339e+01] [-6.97309929e-02 9.97565247e-01 -1.07985151e-03 -1.33352149e+00] [-1.71481143e-02 -1.16345585e-04 9.99852954e-01 -1.63773208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.354203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.14, Y:-1.34, Z:-1.64 [[ 9.97396886e-01 7.00412574e-02 1.71369094e-02 4.61425668e+01] [-7.00329666e-02 9.97544088e-01 -1.08418102e-03 -1.33996991e+00] [-1.71707600e-02 -1.18789831e-04 9.99852565e-01 -1.63909777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.384203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.17, Y:-1.35, Z:-1.64 [[ 9.97375838e-01 7.04999874e-02 1.64678381e-02 4.61734705e+01] [-7.04923373e-02 9.97511773e-01 -1.04527700e-03 -1.34538584e+00] [-1.65005544e-02 -1.18322370e-04 9.99863850e-01 -1.64179806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.414203822000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.21, Y:-1.35, Z:-1.64 [[ 9.97254158e-01 7.25757345e-02 1.47277417e-02 4.62054010e+01] [-7.25698194e-02 9.97362895e-01 -9.36365409e-04 -1.35048733e+00] [-1.47568605e-02 -1.34995261e-04 9.99891102e-01 -1.64472839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.444203822000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.24, Y:-1.35, Z:-1.65 [[ 9.97141224e-01 7.41091301e-02 1.47382656e-02 4.62361350e+01] [-7.41033350e-02 9.97250125e-01 -9.39673050e-04 -1.35254286e+00] [-1.47673756e-02 -1.55167900e-04 9.99890944e-01 -1.64625331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.47420382200001 meters Centerline goodness [0,1] 0.9999788256717556 Centerline is valid? [True, True] Translation: X:46.27, Y:-1.35, Z:-1.65 [[ 9.96982175e-01 7.61646221e-02 1.50164324e-02 4.62674538e+01] [-7.61588032e-02 9.97095239e-01 -9.59808401e-04 -1.35375177e+00] [-1.50459167e-02 -1.86721651e-04 9.99886786e-01 -1.64833572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.50420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.30, Y:-1.36, Z:-1.65 [[ 9.96896211e-01 7.73399657e-02 1.47130638e-02 4.62984984e+01] [-7.73344749e-02 9.97004759e-01 -9.42628461e-04 -1.35543533e+00] [-1.47418975e-02 -1.98124325e-04 9.99891313e-01 -1.64982554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.534203822 meters Centerline goodness [0,1] 0.9999147048788809 Centerline is valid? [True, True] Translation: X:46.33, Y:-1.36, Z:-1.65 [[ 9.96816554e-01 7.84181144e-02 1.43998838e-02 4.63292332e+01] [-7.84129379e-02 9.96920537e-01 -9.24598351e-04 -1.35754236e+00] [-1.44280452e-02 -2.07482254e-04 9.99895889e-01 -1.65156462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.564203822 meters Centerline goodness [0,1] 0.9999364325973641 Centerline is valid? [True, True] Translation: X:46.36, Y:-1.36, Z:-1.65 [[ 9.96718347e-01 7.95797550e-02 1.48189003e-02 4.63612121e+01] [-7.95743714e-02 9.96828476e-01 -9.53509586e-04 -1.36183587e+00] [-1.48477819e-02 -2.28824181e-04 9.99889739e-01 -1.64972612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.594203822000004 meters Centerline goodness [0,1] 0.9999786798567286 Centerline is valid? [True, True] Translation: X:46.39, Y:-1.37, Z:-1.65 [[ 9.96618324e-01 8.07516404e-02 1.52016005e-02 4.63934225e+01] [-8.07460728e-02 9.96734222e-01 -9.80663667e-04 -1.36531286e+00] [-1.52311456e-02 -2.50122158e-04 9.99883968e-01 -1.64766044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.624203822000005 meters Centerline goodness [0,1] 0.9999786943923641 Centerline is valid? [True, True] Translation: X:46.42, Y:-1.37, Z:-1.65 [[ 9.96488598e-01 8.19910691e-02 1.69687787e-02 4.64249426e+01] [-8.19842338e-02 9.96633020e-01 -1.09923208e-03 -1.36707865e+00] [-1.70017723e-02 -2.95800084e-04 9.99855416e-01 -1.64767930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.65420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.46, Y:-1.37, Z:-1.65 [[ 9.96459650e-01 8.21249716e-02 1.79904059e-02 4.64570406e+01] [-8.21172942e-02 9.96621989e-01 -1.16630395e-03 -1.37274954e+00] [-1.80254168e-02 -3.15148629e-04 9.99837479e-01 -1.64567371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.68420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.49, Y:-1.38, Z:-1.64 [[ 9.96449840e-01 8.20474895e-02 1.88660100e-02 4.64888972e+01] [-8.20389676e-02 9.96628368e-01 -1.22651593e-03 -1.37675857e+00] [-1.89030333e-02 -3.25586381e-04 9.99821269e-01 -1.64497410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.714203822 meters Centerline goodness [0,1] 0.9999574178163856 Centerline is valid? [True, True] Translation: X:46.52, Y:-1.38, Z:-1.65 [[ 9.96521128e-01 8.11747968e-02 1.88757563e-02 4.65194907e+01] [-8.11660451e-02 9.96699834e-01 -1.23055628e-03 -1.38004064e+00] [-1.89133533e-02 -3.05795148e-04 9.99821080e-01 -1.64751677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.744203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.55, Y:-1.39, Z:-1.65 [[ 9.96558266e-01 8.08443146e-02 1.83253728e-02 4.65522975e+01] [-8.08359662e-02 9.96726700e-01 -1.19705871e-03 -1.38501516e+00] [-1.83621638e-02 -2.88410465e-04 9.99831360e-01 -1.64956714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.774203822000004 meters Centerline goodness [0,1] 0.9999574549554341 Centerline is valid? [True, True] Translation: X:46.59, Y:-1.39, Z:-1.65 [[ 9.96575193e-01 8.07482686e-02 1.78213589e-02 4.65850129e+01] [-8.07403002e-02 9.96734489e-01 -1.16735780e-03 -1.39058269e+00] [-1.78574252e-02 -2.75542042e-04 9.99840506e-01 -1.65179939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.804203822000005 meters Centerline goodness [0,1] 0.9999787206877474 Centerline is valid? [True, True] Translation: X:46.62, Y:-1.40, Z:-1.66 [[ 9.96627851e-01 8.06229875e-02 1.52597798e-02 4.66163165e+01] [-8.06170908e-02 9.96744641e-01 -1.00216299e-03 -1.39597204e+00] [-1.52909011e-02 -2.31415500e-04 9.99883061e-01 -1.65679595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.834203822000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.65, Y:-1.40, Z:-1.66 [[ 9.96624003e-01 8.08625551e-02 1.42071928e-02 4.66473658e+01] [-8.08574416e-02 9.96725238e-01 -9.34908544e-04 -1.39757803e+00] [-1.42362667e-02 -2.17004967e-04 9.99898636e-01 -1.66043142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.86420382200001 meters Centerline goodness [0,1] 0.9999786693969839 Centerline is valid? [True, True] Translation: X:46.68, Y:-1.40, Z:-1.66 [[ 9.96602572e-01 8.12129131e-02 1.37031789e-02 4.66794002e+01] [-8.12081654e-02 9.96696753e-01 -9.03463688e-04 -1.40034094e+00] [-1.37312868e-02 -2.12415780e-04 9.99905699e-01 -1.66191445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.894203822 meters Centerline goodness [0,1] 0.999978592224696 Centerline is valid? [True, True] Translation: X:46.71, Y:-1.40, Z:-1.66 [[ 9.96558662e-01 8.17414582e-02 1.37538101e-02 4.67121656e+01] [-8.17367006e-02 9.96653544e-01 -9.08622943e-04 -1.40339499e+00] [-1.37820558e-02 -2.18694996e-04 9.99904999e-01 -1.66236379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.924203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.74, Y:-1.40, Z:-1.66 [[ 9.96488276e-01 8.25416478e-02 1.40709761e-02 4.67434431e+01] [-8.25366847e-02 9.96587589e-01 -9.34064643e-04 -1.40455197e+00] [-1.41000594e-02 -2.30587252e-04 9.99900563e-01 -1.66384528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.954203822000004 meters Centerline goodness [0,1] 0.9999787374285046 Centerline is valid? [True, True] Translation: X:46.78, Y:-1.41, Z:-1.66 [[ 9.96289387e-01 8.48406992e-02 1.44745390e-02 4.67756475e+01] [-8.48356890e-02 9.96394491e-01 -9.60912904e-04 -1.40763080e+00] [-1.45038755e-02 -2.70610163e-04 9.99894777e-01 -1.66185007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.984203822000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.81, Y:-1.41, Z:-1.66 [[ 9.96189292e-01 8.59364400e-02 1.48937346e-02 4.68070138e+01] [-8.59312142e-02 9.96300579e-01 -9.91660461e-04 -1.40842100e+00] [-1.49238562e-02 -2.91955165e-04 9.99888590e-01 -1.66410316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.014203822000006 meters Centerline goodness [0,1] 0.9998942157153133 Centerline is valid? [True, True] Translation: X:46.84, Y:-1.41, Z:-1.66 [[ 9.96075585e-01 8.70746430e-02 1.58567063e-02 4.68394434e+01] [-8.70688205e-02 9.96201737e-01 -1.05849767e-03 -1.41028126e+00] [-1.58886467e-02 -3.26281030e-04 9.99873714e-01 -1.66238828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.04420382200001 meters Centerline goodness [0,1] 0.9999571550985433 Centerline is valid? [True, True] Translation: X:46.87, Y:-1.41, Z:-1.66 [[ 9.96035801e-01 8.73834986e-02 1.66375285e-02 4.68712856e+01] [-8.73770824e-02 9.96174686e-01 -1.11357158e-03 -1.41258238e+00] [-1.66711925e-02 -3.44581538e-04 9.99860967e-01 -1.66206913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.07420382200001 meters Centerline goodness [0,1] 0.9999364420245334 Centerline is valid? [True, True] Translation: X:46.90, Y:-1.41, Z:-1.66 [[ 9.96003581e-01 8.77619051e-02 1.65745194e-02 4.69046723e+01] [-8.77555503e-02 9.96141419e-01 -1.11173196e-03 -1.41439200e+00] [-1.66081330e-02 -3.47217053e-04 9.99862015e-01 -1.66298138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.104203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.94, Y:-1.42, Z:-1.66 [[ 9.96010936e-01 8.77309352e-02 1.62941025e-02 4.69372761e+01] [-8.77247407e-02 9.96144151e-01 -1.09590483e-03 -1.41759341e+00] [-1.63274197e-02 -3.37862725e-04 9.99866642e-01 -1.66485681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.134203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.97, Y:-1.43, Z:-1.67 [[ 9.96129333e-01 8.64855588e-02 1.57035130e-02 4.69690294e+01] [-8.64796034e-02 9.96253058e-01 -1.05917695e-03 -1.42653801e+00] [-1.57362763e-02 -3.02956348e-04 9.99876131e-01 -1.66542815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.164203822000005 meters Centerline goodness [0,1] 0.9999147830162551 Centerline is valid? [True, True] Translation: X:47.00, Y:-1.43, Z:-1.67 [[ 9.96178681e-01 8.59443696e-02 1.55434991e-02 4.69997881e+01] [-8.59384093e-02 9.96299896e-01 -1.05222634e-03 -1.42745803e+00] [-1.55764194e-02 -2.87578131e-04 9.99878639e-01 -1.66904812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.194203822000006 meters Centerline goodness [0,1] 0.9999787455631363 Centerline is valid? [True, True] Translation: X:47.03, Y:-1.43, Z:-1.67 [[ 9.96204503e-01 8.57036913e-02 1.52140135e-02 4.70328748e+01] [-8.56979534e-02 9.96320631e-01 -1.02988843e-03 -1.43155546e+00] [-1.52463007e-02 -2.77830325e-04 9.99883730e-01 -1.67078004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.22420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.07, Y:-1.44, Z:-1.67 [[ 9.96203999e-01 8.57097701e-02 1.52127619e-02 4.70660973e+01] [-8.57039918e-02 9.96320109e-01 -1.03256132e-03 -1.43657834e+00] [-1.52452812e-02 -2.75152714e-04 9.99883746e-01 -1.67063070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.25420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.10, Y:-1.44, Z:-1.67 [[ 9.96187215e-01 8.58776959e-02 1.53640781e-02 4.70981119e+01] [-8.58717717e-02 9.96305648e-01 -1.04610240e-03 -1.43965986e+00] [-1.53971546e-02 -2.77226765e-04 9.99881418e-01 -1.67186604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.284203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.13, Y:-1.44, Z:-1.67 [[ 9.96171233e-01 8.60629204e-02 1.53638922e-02 4.71305370e+01] [-8.60569763e-02 9.96289665e-01 -1.04882096e-03 -1.44207341e+00] [-1.53971517e-02 -2.77364842e-04 9.99881418e-01 -1.67288832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.314203822 meters Centerline goodness [0,1] 0.9999575281376089 Centerline is valid? [True, True] Translation: X:47.16, Y:-1.45, Z:-1.67 [[ 9.96158283e-01 8.62347081e-02 1.52397760e-02 4.71631520e+01] [-8.62288368e-02 9.96274811e-01 -1.04315666e-03 -1.44548148e+00] [-1.52729613e-02 -2.74959009e-04 9.99883324e-01 -1.67417916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.344203822000004 meters Centerline goodness [0,1] 0.9999574929332001 Centerline is valid? [True, True] Translation: X:47.20, Y:-1.45, Z:-1.67 [[ 9.96129851e-01 8.65613272e-02 1.52465385e-02 4.71956708e+01] [-8.65554458e-02 9.96246485e-01 -1.04644642e-03 -1.44881487e+00] [-1.52798922e-02 -2.77274424e-04 9.99883217e-01 -1.67491158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.374203822000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.23, Y:-1.45, Z:-1.68 [[ 9.96130201e-01 8.66416536e-02 1.47596564e-02 4.72280445e+01] [-8.66361127e-02 9.96239506e-01 -1.01559455e-03 -1.45254585e+00] [-1.47921456e-02 -2.67054848e-04 9.99890555e-01 -1.67708626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.40420382200001 meters Centerline goodness [0,1] 0.9999786930304903 Centerline is valid? [True, True] Translation: X:47.26, Y:-1.46, Z:-1.68 [[ 9.96099437e-01 8.70893323e-02 1.41901456e-02 4.72602130e+01] [-8.70842163e-02 9.96200472e-01 -9.79209422e-04 -1.45533656e+00] [-1.42215084e-02 -2.60347753e-04 9.99898835e-01 -1.67812088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.43420382200001 meters Centerline goodness [0,1] 0.9999786050492084 Centerline is valid? [True, True] Translation: X:47.29, Y:-1.46, Z:-1.68 [[ 9.96010903e-01 8.80798710e-02 1.42904496e-02 4.72927007e+01] [-8.80747501e-02 9.96113378e-01 -9.88519118e-04 -1.45710924e+00] [-1.43219767e-02 -2.74051958e-04 9.99897398e-01 -1.67878513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.464203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.32, Y:-1.46, Z:-1.68 [[ 9.95890881e-01 8.93299538e-02 1.48832665e-02 4.73245054e+01] [-8.93244984e-02 9.96002042e-01 -1.03223347e-03 -1.45810534e+00] [-1.49159732e-02 -3.01448414e-04 9.99888705e-01 -1.67884873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.494203822 meters Centerline goodness [0,1] 0.9999354005167959 Centerline is valid? [True, True] Translation: X:47.36, Y:-1.46, Z:-1.68 [[ 9.95682347e-01 9.14964916e-02 1.56542474e-02 4.73561337e+01] [-9.14906760e-02 9.95805338e-01 -1.08875696e-03 -1.46046630e+00] [-1.56882005e-02 -3.48161593e-04 9.99876872e-01 -1.67747124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.524203822000004 meters Centerline goodness [0,1] 0.9998720845947213 Centerline is valid? [True, True] Translation: X:47.39, Y:-1.46, Z:-1.68 [[ 9.95607969e-01 9.23741283e-02 1.52247325e-02 4.73868554e+01] [-9.23686946e-02 9.95724308e-01 -1.06120179e-03 -1.46165890e+00] [-1.52576638e-02 -3.49747706e-04 9.99883534e-01 -1.67918527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.554203822000005 meters Centerline goodness [0,1] 0.9998733696340383 Centerline is valid? [True, True] Translation: X:47.42, Y:-1.46, Z:-1.68 [[ 9.95543068e-01 9.31500367e-02 1.47333383e-02 4.74180127e+01] [-9.31450003e-02 9.95652022e-01 -1.02917117e-03 -1.46057836e+00] [-1.47651454e-02 -3.47752578e-04 9.99890929e-01 -1.68286325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.584203822000006 meters Centerline goodness [0,1] 0.9998934447191202 Centerline is valid? [True, True] Translation: X:47.45, Y:-1.46, Z:-1.68 [[ 9.95506940e-01 9.35845689e-02 1.44173999e-02 4.74502733e+01] [-9.35797617e-02 9.95611274e-01 -1.00917786e-03 -1.46184259e+00] [-1.44485694e-02 -3.44533288e-04 9.99895555e-01 -1.68422709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.61420382200001 meters Centerline goodness [0,1] 0.999978769479003 Centerline is valid? [True, True] Translation: X:47.48, Y:-1.46, Z:-1.69 [[ 9.95494325e-01 9.38626092e-02 1.34484316e-02 4.74813510e+01] [-9.38584238e-02 9.95585107e-01 -9.43435804e-04 -1.46113190e+00] [-1.34776115e-02 -3.23063600e-04 9.99909121e-01 -1.68788671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.644203822 meters Centerline goodness [0,1] 0.9998299247416982 Centerline is valid? [True, True] Translation: X:47.51, Y:-1.46, Z:-1.69 [[ 9.95470940e-01 9.41226663e-02 1.33615291e-02 4.75133376e+01] [-9.41185340e-02 9.95560555e-01 -9.39143147e-04 -1.46275788e+00] [-1.33906060e-02 -3.22677817e-04 9.99910290e-01 -1.68931988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.674203822 meters Centerline goodness [0,1] 0.9999784320069017 Centerline is valid? [True, True] Translation: X:47.55, Y:-1.47, Z:-1.69 [[ 9.95425275e-01 9.45377202e-02 1.38253548e-02 4.75455125e+01] [-9.45333028e-02 9.95521223e-01 -9.74147675e-04 -1.46530878e+00] [-1.38555278e-02 -3.37265230e-04 9.99903951e-01 -1.68922984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.704203822000004 meters Centerline goodness [0,1] 0.9998300909013678 Centerline is valid? [True, True] Translation: X:47.58, Y:-1.47, Z:-1.69 [[ 9.95336224e-01 9.53365943e-02 1.47219370e-02 4.75774026e+01] [-9.53316321e-02 9.95445025e-01 -1.04006712e-03 -1.46767705e+00] [-1.47540354e-02 -3.68249797e-04 9.99891085e-01 -1.68922750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.734203822000005 meters Centerline goodness [0,1] 0.9999147793851333 Centerline is valid? [True, True] Translation: X:47.61, Y:-1.47, Z:-1.69 [[ 9.95374149e-01 9.50069831e-02 1.42820644e-02 4.76083896e+01] [-9.50022445e-02 9.95476544e-01 -1.01140293e-03 -1.47108218e+00] [-1.43135505e-02 -3.50103844e-04 9.99897495e-01 -1.69137119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.764203822000006 meters Centerline goodness [0,1] 0.9998511651641435 Centerline is valid? [True, True] Translation: X:47.64, Y:-1.47, Z:-1.69 [[ 9.95402243e-01 9.48072638e-02 1.36365829e-02 4.76393532e+01] [-9.48028990e-02 9.95495592e-01 -9.67611176e-04 -1.47354759e+00] [-1.36668947e-02 -3.29625252e-04 9.99906549e-01 -1.69340234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.79420382200001 meters Centerline goodness [0,1] 0.9999367021837746 Centerline is valid? [True, True] Translation: X:47.67, Y:-1.48, Z:-1.69 [[ 9.95414698e-01 9.46780058e-02 1.36254831e-02 4.76714481e+01] [-9.46736115e-02 9.95507895e-01 -9.68611870e-04 -1.47664403e+00] [-1.36559822e-02 -3.25803200e-04 9.99906700e-01 -1.69334759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.82420382200001 meters Centerline goodness [0,1] 0.9999574965465944 Centerline is valid? [True, True] Translation: X:47.70, Y:-1.48, Z:-1.69 [[ 9.95409749e-01 9.47089184e-02 1.37714451e-02 4.77034474e+01] [-9.47044006e-02 9.95504954e-01 -9.81291980e-04 -1.48031473e+00] [-1.38024789e-02 -3.27428851e-04 9.99904688e-01 -1.69370930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.854203822 meters Centerline goodness [0,1] 0.9999786866727765 Centerline is valid? [True, True] Translation: X:47.74, Y:-1.48, Z:-1.69 [[ 9.95413768e-01 9.46323042e-02 1.40056018e-02 4.77352244e+01] [-9.46275901e-02 9.95512239e-01 -1.00039041e-03 -1.48371673e+00] [-1.40374173e-02 -3.29513960e-04 9.99901416e-01 -1.69411823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.884203822 meters Centerline goodness [0,1] 0.9999148356327713 Centerline is valid? [True, True] Translation: X:47.77, Y:-1.49, Z:-1.69 [[ 9.95389315e-01 9.48588030e-02 1.42098311e-02 4.77659831e+01] [-9.48539359e-02 9.95490681e-01 -1.01761251e-03 -1.48687077e+00] [-1.42422840e-02 -3.34937789e-04 9.99898517e-01 -1.69472798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.914203822000005 meters Centerline goodness [0,1] 0.9998727627449318 Centerline is valid? [True, True] Translation: X:47.80, Y:-1.49, Z:-1.70 [[ 9.95296119e-01 9.57663270e-02 1.46440087e-02 4.77982159e+01] [-9.57612238e-02 9.95403779e-01 -1.05090466e-03 -1.49022498e+00] [-1.46773428e-02 -3.56366866e-04 9.99892218e-01 -1.69513944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.944203822000006 meters Centerline goodness [0,1] 0.9999786939384255 Centerline is valid? [True, True] Translation: X:47.83, Y:-1.49, Z:-1.70 [[ 9.95202446e-01 9.66813362e-02 1.49937190e-02 4.78298296e+01] [-9.66760520e-02 9.95315316e-01 -1.07853911e-03 -1.49347182e+00] [-1.50277528e-02 -3.76168798e-04 9.99887006e-01 -1.69506443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.97420382200001 meters Centerline goodness [0,1] 0.9998933742776107 Centerline is valid? [True, True] Translation: X:47.86, Y:-1.49, Z:-1.70 [[ 9.95058678e-01 9.82009141e-02 1.46563284e-02 4.78611582e+01] [-9.81959761e-02 9.95166534e-01 -1.05791973e-03 -1.49324843e+00] [-1.46893763e-02 -3.86500267e-04 9.99892031e-01 -1.69726870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.00420382200001 meters Centerline goodness [0,1] 0.9993863472851158 Centerline is valid? [True, True] Translation: X:47.89, Y:-1.49, Z:-1.70 [[ 9.94634523e-01 1.02614924e-01 1.31279450e-02 4.78924700e+01] [-1.02611316e-01 9.94721074e-01 -9.49884297e-04 -1.48584709e+00] [-1.31561158e-02 -4.02287999e-04 9.99913374e-01 -1.70064324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.034203822 meters Centerline goodness [0,1] 0.9994900669287156 Centerline is valid? [True, True] Translation: X:47.92, Y:-1.48, Z:-1.70 [[ 9.94423751e-01 1.04656167e-01 1.29803902e-02 4.79232587e+01] [-1.04652811e-01 9.94508374e-01 -9.39381685e-04 -1.48351004e+00] [-1.30074188e-02 -4.24290868e-04 9.99915310e-01 -1.70224149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.064203822 meters Centerline goodness [0,1] 0.9986932864915813 Centerline is valid? [True, True] Translation: X:47.95, Y:-1.48, Z:-1.70 [[ 9.94305543e-01 1.05822473e-01 1.25734235e-02 4.79526065e+01] [-1.05819415e-01 9.94384947e-01 -9.10149903e-04 -1.48289467e+00] [-1.25991374e-02 -4.25545220e-04 9.99920537e-01 -1.70383428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.094203822000004 meters Centerline goodness [0,1] 0.9974155239437823 Centerline is valid? [True, True] Translation: X:47.98, Y:-1.48, Z:-1.70 [[ 9.94065735e-01 1.08075209e-01 1.23718734e-02 4.79832443e+01] [-1.08072427e-01 9.94142620e-01 -8.95198654e-04 -1.48424189e+00] [-1.23961555e-02 -4.47172081e-04 9.99923065e-01 -1.70433674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.124203822000005 meters Centerline goodness [0,1] 0.9955602761550717 Centerline is valid? [True, True] Translation: X:48.01, Y:-1.48, Z:-1.71 [[ 9.93976974e-01 1.08934034e-01 1.19645837e-02 4.80123174e+01] [-1.08931501e-01 9.94048882e-01 -8.65078568e-04 -1.48362762e+00] [-1.19876175e-02 -4.43451885e-04 9.99928048e-01 -1.70673630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.15420382200001 meters Centerline goodness [0,1] 0.981026950594095 Centerline is valid? [True, True] Translation: X:48.04, Y:-1.48, Z:-1.71 [[ 9.93916765e-01 1.09513825e-01 1.16698720e-02 4.80407453e+01] [-1.09511444e-01 9.93985176e-01 -8.44754336e-04 -1.47879327e+00] [-1.16921920e-02 -4.38369032e-04 9.99931548e-01 -1.71044628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.18420382200001 meters Centerline goodness [0,1] 0.9986568023367375 Centerline is valid? [True, True] Translation: X:48.07, Y:-1.49, Z:-1.71 [[ 9.93839051e-01 1.10145646e-01 1.23238725e-02 4.80705220e+01] [-1.10143033e-01 9.93915346e-01 -8.92625473e-04 -1.48661215e+00] [-1.23472048e-02 -4.70262637e-04 9.99923660e-01 -1.70610781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.214203822 meters Centerline goodness [0,1] 0.9980214628271575 Centerline is valid? [True, True] Translation: X:48.10, Y:-1.49, Z:-1.71 [[ 9.93834122e-01 1.10124019e-01 1.29011310e-02 4.80998688e+01] [-1.10121159e-01 9.93917732e-01 -9.34085294e-04 -1.48517167e+00] [-1.29255280e-02 -4.92361650e-04 9.99916341e-01 -1.70719406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.244203822 meters Centerline goodness [0,1] 0.9970227895819054 Centerline is valid? [True, True] Translation: X:48.13, Y:-1.48, Z:-1.71 [[ 9.93883297e-01 1.09653503e-01 1.31187021e-02 4.81284593e+01] [-1.09650505e-01 9.93969750e-01 -9.49717296e-04 -1.48470336e+00] [-1.31437328e-02 -4.94564155e-04 9.99913495e-01 -1.70884439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.274203822000004 meters Centerline goodness [0,1] 0.993770922496716 Centerline is valid? [True, True] Translation: X:48.16, Y:-1.48, Z:-1.71 [[ 9.93989712e-01 1.08729575e-01 1.27409902e-02 4.81569985e+01] [-1.08726681e-01 9.94071255e-01 -9.21662503e-04 -1.48379604e+00] [-1.27656641e-02 -4.69162533e-04 9.99918406e-01 -1.71162175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.304203822000005 meters Centerline goodness [0,1] 0.995899213663651 Centerline is valid? [True, True] Translation: X:48.19, Y:-1.49, Z:-1.71 [[ 9.94342358e-01 1.05534708e-01 1.20706279e-02 4.81866397e+01] [-1.05531879e-01 9.94415537e-01 -8.72793905e-04 -1.48920781e+00] [-1.20953300e-02 -4.05980096e-04 9.99926766e-01 -1.71494771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.334203822000006 meters Centerline goodness [0,1] 0.99912804916952 Centerline is valid? [True, True] Translation: X:48.22, Y:-1.50, Z:-1.71 [[ 9.94541458e-01 1.03681265e-01 1.17253206e-02 4.82169626e+01] [-1.03678472e-01 9.94610505e-01 -8.47481267e-04 -1.49717024e+00] [-1.17499950e-02 -3.72808066e-04 9.99930897e-01 -1.71469567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.36420382200001 meters Centerline goodness [0,1] 0.9992977826956633 Centerline is valid? [True, True] Translation: X:48.25, Y:-1.50, Z:-1.72 [[ 9.94711824e-01 1.02043190e-01 1.16436120e-02 4.82464057e+01] [-1.02040321e-01 9.94779907e-01 -8.41805602e-04 -1.50041953e+00] [-1.16687318e-02 -3.50763913e-04 9.99931857e-01 -1.71560939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.394203822 meters Centerline goodness [0,1] 0.9998934742314166 Centerline is valid? [True, True] Translation: X:48.28, Y:-1.51, Z:-1.71 [[ 9.95052861e-01 9.85697564e-02 1.24019209e-02 4.82770651e+01] [-9.85662391e-02 9.95130089e-01 -8.96015185e-04 -1.50587914e+00] [-1.24298447e-02 -3.30828228e-04 9.99922692e-01 -1.71354763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.424203822 meters Centerline goodness [0,1] 0.9998499367590628 Centerline is valid? [True, True] Translation: X:48.31, Y:-1.51, Z:-1.72 [[ 9.95242250e-01 9.65740127e-02 1.28966465e-02 4.83067609e+01] [-9.65700338e-02 9.95325755e-01 -9.32362241e-04 -1.50742164e+00] [-1.29264064e-02 -3.17503295e-04 9.99916400e-01 -1.71519252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.454203822000004 meters Centerline goodness [0,1] 0.9999148446980181 Centerline is valid? [True, True] Translation: X:48.34, Y:-1.51, Z:-1.72 [[ 9.95464722e-01 9.42395855e-02 1.29956547e-02 4.83374151e+01] [-9.42353569e-02 9.95549505e-01 -9.38719970e-04 -1.51276662e+00] [-1.30262822e-02 -2.90187541e-04 9.99915112e-01 -1.71625819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.484203822000005 meters Centerline goodness [0,1] 0.9999787955894827 Centerline is valid? [True, True] Translation: X:48.37, Y:-1.53, Z:-1.72 [[ 9.96012734e-01 8.83262318e-02 1.25344001e-02 4.83678057e+01] [-8.83218292e-02 9.96091579e-01 -9.05442903e-04 -1.52788495e+00] [-1.25653848e-02 -2.05228484e-04 9.99921031e-01 -1.71781231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.514203822000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.40, Y:-1.54, Z:-1.72 [[ 9.96287975e-01 8.51822543e-02 1.24199340e-02 4.83989782e+01] [-8.51777130e-02 9.96365373e-01 -8.95129026e-04 -1.53595080e+00] [-1.24510412e-02 -1.66095286e-04 9.99922469e-01 -1.71943766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.54420382200001 meters Centerline goodness [0,1] 0.9999788431430626 Centerline is valid? [True, True] Translation: X:48.43, Y:-1.54, Z:-1.72 [[ 9.96516385e-01 8.24523330e-02 1.25182912e-02 4.84309673e+01] [-8.24474775e-02 9.96595001e-01 -9.04334441e-04 -1.54315284e+00] [-1.25502309e-02 -1.30917446e-04 9.99921234e-01 -1.72061638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.57420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.46, Y:-1.55, Z:-1.72 [[ 9.96707468e-01 8.01059630e-02 1.25402483e-02 4.84613846e+01] [-8.01008755e-02 9.96786349e-01 -9.08242218e-04 -1.54948656e+00] [-1.25727039e-02 -9.92330642e-05 9.99920956e-01 -1.72204881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.604203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.49, Y:-1.56, Z:-1.72 [[ 9.96907162e-01 7.75138223e-02 1.29505629e-02 4.84931435e+01] [-7.75081524e-02 9.96991275e-01 -9.39905087e-04 -1.55651149e+00] [-1.29844538e-02 -6.67760862e-05 9.99915696e-01 -1.72169033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.634203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.53, Y:-1.56, Z:-1.72 [[ 9.96866750e-01 7.80230930e-02 1.30030915e-02 4.85256511e+01] [-7.80173986e-02 9.96951549e-01 -9.45383485e-04 -1.55851421e+00] [-1.30372139e-02 -7.20460090e-05 9.99915009e-01 -1.72140886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.664203822000005 meters Centerline goodness [0,1] 0.9999787061879818 Centerline is valid? [True, True] Translation: X:48.56, Y:-1.56, Z:-1.72 [[ 9.96738336e-01 7.96998925e-02 1.26734947e-02 4.85566632e+01] [-7.96945810e-02 9.96818900e-01 -9.24383296e-04 -1.55892172e+00] [-1.27068523e-02 -8.86405810e-05 9.99919261e-01 -1.72314997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.694203822000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.59, Y:-1.56, Z:-1.72 [[ 9.96335430e-01 8.47811281e-02 1.13079988e-02 4.85884879e+01] [-8.47772135e-02 9.96399589e-01 -8.25939872e-04 -1.55636305e+00] [-1.13373095e-02 -1.35747471e-04 9.99935721e-01 -1.72442974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.72420382200001 meters Centerline goodness [0,1] 0.9999788614792737 Centerline is valid? [True, True] Translation: X:48.62, Y:-1.55, Z:-1.73 [[ 9.96039560e-01 8.82255672e-02 1.10201717e-02 4.86196462e+01] [-8.82220419e-02 9.96100507e-01 -8.06563690e-04 -1.55242248e+00] [-1.10483582e-02 -1.68852705e-04 9.99938951e-01 -1.72693016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.75420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.65, Y:-1.55, Z:-1.73 [[ 9.95699934e-01 9.19568638e-02 1.12061030e-02 4.86513791e+01] [-9.19534032e-02 9.95762970e-01 -8.24746351e-04 -1.54967925e+00] [-1.12344635e-02 -2.09239420e-04 9.99936870e-01 -1.72550294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.784203822 meters Centerline goodness [0,1] 0.9995329681993801 Centerline is valid? [True, True] Translation: X:48.68, Y:-1.53, Z:-1.73 [[ 9.94937617e-01 9.96984502e-02 1.26236898e-02 4.86820133e+01] [-9.96946702e-02 9.95017642e-01 -9.29940274e-04 -1.53305145e+00] [-1.26535077e-02 -3.33282030e-04 9.99919886e-01 -1.72746802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.814203822 meters Centerline goodness [0,1] 0.9996786632390745 Centerline is valid? [True, True] Translation: X:48.71, Y:-1.53, Z:-1.73 [[ 9.94646250e-01 1.02565988e-01 1.26116913e-02 4.87123833e+01] [-1.02562445e-01 9.94726134e-01 -9.29085140e-04 -1.53279195e+00] [-1.26404715e-02 -3.69374854e-04 9.99920038e-01 -1.72591535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.844203822000004 meters Centerline goodness [0,1] 0.9989840409770139 Centerline is valid? [True, True] Translation: X:48.74, Y:-1.53, Z:-1.73 [[ 9.94421859e-01 1.04735079e-01 1.24791456e-02 4.87423286e+01] [-1.04731781e-01 9.94500080e-01 -9.19270563e-04 -1.52897367e+00] [-1.25067912e-02 -3.92820403e-04 9.99921710e-01 -1.72789722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.874203822000005 meters Centerline goodness [0,1] 0.996607294317218 Centerline is valid? [True, True] Translation: X:48.77, Y:-1.52, Z:-1.73 [[ 9.94295751e-01 1.05896520e-01 1.27234536e-02 4.87710046e+01] [-1.05893179e-01 9.94377069e-01 -9.37867801e-04 -1.52451812e+00] [-1.27512274e-02 -4.14808983e-04 9.99918614e-01 -1.73077114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.90420382200001 meters Centerline goodness [0,1] 0.9993216027135892 Centerline is valid? [True, True] Translation: X:48.80, Y:-1.53, Z:-1.73 [[ 9.94282475e-01 1.05895446e-01 1.37300467e-02 4.88009070e+01] [-1.05891565e-01 9.94377169e-01 -1.01145433e-03 -1.52850229e+00] [-1.37599534e-02 -4.48224811e-04 9.99905227e-01 -1.72856022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.93420382200001 meters Centerline goodness [0,1] 0.999594882729211 Centerline is valid? [True, True] Translation: X:48.83, Y:-1.53, Z:-1.73 [[ 9.94347799e-01 1.05235868e-01 1.40665127e-02 4.88308079e+01] [-1.05231733e-01 9.94447188e-01 -1.03589842e-03 -1.53209285e+00] [-1.40974176e-02 -4.50200190e-04 9.99900525e-01 -1.72823804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.964203822 meters Centerline goodness [0,1] 0.9997646605763676 Centerline is valid? [True, True] Translation: X:48.86, Y:-1.54, Z:-1.73 [[ 9.94483193e-01 1.03928415e-01 1.42148888e-02 4.88604289e+01] [-1.03924063e-01 9.94584684e-01 -1.04649908e-03 -1.53900953e+00] [-1.42466717e-02 -4.36543252e-04 9.99898416e-01 -1.72799252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.994203822 meters Centerline goodness [0,1] 0.9997237275528637 Centerline is valid? [True, True] Translation: X:48.89, Y:-1.54, Z:-1.73 [[ 9.94783943e-01 1.00985812e-01 1.43795685e-02 4.88894878e+01] [-1.00981059e-01 9.94887786e-01 -1.05806203e-03 -1.54450737e+00] [-1.44129063e-02 -3.99520930e-04 9.99896049e-01 -1.73036982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.024203822000004 meters Centerline goodness [0,1] 0.9998095802301964 Centerline is valid? [True, True] Translation: X:48.92, Y:-1.55, Z:-1.73 [[ 9.94943228e-01 9.94153427e-02 1.43025121e-02 4.89201664e+01] [-9.94104870e-02 9.95045953e-01 -1.05181738e-03 -1.55040834e+00] [-1.43362236e-02 -3.75321116e-04 9.99897161e-01 -1.73091735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.054203822000005 meters Centerline goodness [0,1] 0.9998514399711369 Centerline is valid? [True, True] Translation: X:48.95, Y:-1.56, Z:-1.73 [[ 9.95095823e-01 9.78884294e-02 1.42182394e-02 4.89514549e+01] [-9.78834754e-02 9.95197333e-01 -1.04558342e-03 -1.55575789e+00] [-1.42523044e-02 -3.51274990e-04 9.99898369e-01 -1.73221438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.084203822000006 meters Centerline goodness [0,1] 0.9998506284275441 Centerline is valid? [True, True] Translation: X:48.98, Y:-1.56, Z:-1.73 [[ 9.95228348e-01 9.65831611e-02 1.38646394e-02 4.89822997e+01] [-9.65783198e-02 9.95324866e-01 -1.01987301e-03 -1.56330536e+00] [-1.38983229e-02 -3.24017053e-04 9.99903361e-01 -1.73246433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.11420382200001 meters Centerline goodness [0,1] 0.9998293624554743 Centerline is valid? [True, True] Translation: X:49.01, Y:-1.57, Z:-1.74 [[ 9.95371055e-01 9.51939616e-02 1.32125996e-02 4.90134827e+01] [-9.51894738e-02 9.95458700e-01 -9.69553603e-04 -1.56883402e+00] [-1.32448929e-02 -2.92634809e-04 9.99912240e-01 -1.73703386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.144203822 meters Centerline goodness [0,1] 0.9996613899940743 Centerline is valid? [True, True] Translation: X:49.04, Y:-1.57, Z:-1.74 [[ 9.95382099e-01 9.50562083e-02 1.33713943e-02 4.90434704e+01] [-9.50515300e-02 9.95471865e-01 -9.86395235e-04 -1.57205410e+00] [-1.34046098e-02 -2.89131324e-04 9.99910112e-01 -1.73786126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.174203822 meters Centerline goodness [0,1] 0.9998935536064039 Centerline is valid? [True, True] Translation: X:49.08, Y:-1.58, Z:-1.74 [[ 9.95356251e-01 9.53365884e-02 1.32992106e-02 4.90750309e+01] [-9.53319863e-02 9.95445051e-01 -9.81006653e-04 -1.57594360e+00] [-1.33321592e-02 -2.91389060e-04 9.99911080e-01 -1.73774780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.204203822000004 meters Centerline goodness [0,1] 0.9998935536064039 Centerline is valid? [True, True] Translation: X:49.11, Y:-1.58, Z:-1.74 [[ 9.95353997e-01 9.53601179e-02 1.32991875e-02 4.91057771e+01] [-9.53555137e-02 9.95442797e-01 -9.81319929e-04 -1.57825860e+00] [-1.33321592e-02 -2.91390142e-04 9.99911080e-01 -1.73871729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.234203822000005 meters Centerline goodness [0,1] 0.9999358782541786 Centerline is valid? [True, True] Translation: X:49.14, Y:-1.58, Z:-1.74 [[ 9.95308040e-01 9.58581828e-02 1.31573284e-02 4.91364544e+01] [-9.58537470e-02 9.95394957e-01 -9.68794245e-04 -1.58139192e+00] [-1.31896052e-02 -2.96930524e-04 9.99912969e-01 -1.73989551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.264203822000006 meters Centerline goodness [0,1] 0.999957387876851 Centerline is valid? [True, True] Translation: X:49.17, Y:-1.59, Z:-1.74 [[ 9.95218211e-01 9.68058181e-02 1.30133112e-02 4.91671291e+01] [-9.68015035e-02 9.95303241e-01 -9.62508484e-04 -1.58922357e+00] [-1.30453672e-02 -3.01802115e-04 9.99914860e-01 -1.73865379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.29420382200001 meters Centerline goodness [0,1] 0.9999150707036393 Centerline is valid? [True, True] Translation: X:49.20, Y:-1.59, Z:-1.74 [[ 9.95184088e-01 9.72077360e-02 1.26208834e-02 4.91981528e+01] [-9.72037380e-02 9.95264069e-01 -9.31269151e-04 -1.59016999e+00] [-1.26516383e-02 -3.00012800e-04 9.99919920e-01 -1.74231852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.32420382200001 meters Centerline goodness [0,1] 0.9998503474078033 Centerline is valid? [True, True] Translation: X:49.23, Y:-1.59, Z:-1.74 [[ 9.95172693e-01 9.74287496e-02 1.17877121e-02 4.92292159e+01] [-9.74252283e-02 9.95242463e-01 -8.73953670e-04 -1.59355089e+00] [-1.18167798e-02 -2.78685710e-04 9.99930141e-01 -1.74444744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.354203822 meters Centerline goodness [0,1] 0.9998719098245165 Centerline is valid? [True, True] Translation: X:49.26, Y:-1.60, Z:-1.74 [[ 9.95093689e-01 9.80711096e-02 1.30616505e-02 4.92608034e+01] [-9.80668363e-02 9.95179359e-01 -9.68792794e-04 -1.59639294e+00] [-1.30936956e-02 -3.16875149e-04 9.99914224e-01 -1.74420140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.384203822 meters Centerline goodness [0,1] 0.9997861877271755 Centerline is valid? [True, True] Translation: X:49.29, Y:-1.60, Z:-1.75 [[ 9.95029369e-01 9.86199726e-02 1.38077958e-02 4.92915812e+01] [-9.86152421e-02 9.95125110e-01 -1.02470392e-03 -1.59673886e+00] [-1.38415405e-02 -3.42048625e-04 9.99904143e-01 -1.74546432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.414203822000005 meters Centerline goodness [0,1] 0.9998722153597137 Centerline is valid? [True, True] Translation: X:49.32, Y:-1.60, Z:-1.74 [[ 9.94819041e-01 1.00684924e-01 1.40577667e-02 4.93229985e+01] [-1.00680242e-01 9.94918289e-01 -1.04216936e-03 -1.60429504e+00] [-1.40912600e-02 -3.78569440e-04 9.99900642e-01 -1.74298507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.444203822000006 meters Centerline goodness [0,1] 0.9995754887186127 Centerline is valid? [True, True] Translation: X:49.35, Y:-1.60, Z:-1.74 [[ 9.94658863e-01 1.02247956e-01 1.41103321e-02 4.93538563e+01] [-1.02243396e-01 9.94758862e-01 -1.04610481e-03 -1.60467881e+00] [-1.41433400e-02 -4.02170845e-04 9.99899897e-01 -1.74434720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.47420382200001 meters Centerline goodness [0,1] 0.9997215737508299 Centerline is valid? [True, True] Translation: X:49.39, Y:-1.60, Z:-1.74 [[ 9.94439047e-01 1.04368686e-01 1.40769296e-02 4.93854701e+01] [-1.04364298e-01 9.94538584e-01 -1.04796434e-03 -1.60366189e+00] [-1.41094243e-02 -4.26992212e-04 9.99900366e-01 -1.74469671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.50420382200001 meters Centerline goodness [0,1] 0.9976830398517146 Centerline is valid? [True, True] Translation: X:49.42, Y:-1.60, Z:-1.75 [[ 9.93903300e-01 1.09463803e-01 1.31873222e-02 4.94160474e+01] [-1.09460392e-01 9.93990673e-01 -9.82348615e-04 -1.59679482e+00] [-1.32156069e-02 -4.67129929e-04 9.99912561e-01 -1.74758878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.534203822 meters Centerline goodness [0,1] 0.9949519691580225 Centerline is valid? [True, True] Translation: X:49.45, Y:-1.60, Z:-1.75 [[ 9.93652287e-01 1.11882590e-01 1.17225596e-02 4.94461900e+01] [-1.11880060e-01 9.93721334e-01 -8.73461861e-04 -1.59519683e+00] [-1.17466827e-02 -4.43603297e-04 9.99930907e-01 -1.75052958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.564203822 meters Centerline goodness [0,1] 0.9607652056013389 Centerline is valid? [True, True] Translation: X:49.48, Y:-1.59, Z:-1.76 [[ 9.93432323e-01 1.13948940e-01 1.03854979e-02 4.94763629e+01] [-1.13947066e-01 9.93486521e-01 -7.73917315e-04 -1.58729291e+00] [-1.04060392e-02 -4.14562538e-04 9.99945770e-01 -1.75701315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.594203822000004 meters Centerline goodness [0,1] 0.9774323718427739 Centerline is valid? [True, True] Translation: X:49.51, Y:-1.59, Z:-1.76 [[ 9.93255643e-01 1.15536609e-01 9.72214716e-03 4.95057022e+01] [-1.15535041e-01 9.93303141e-01 -7.24644696e-04 -1.59192844e+00] [-9.74076230e-03 -4.03491236e-04 9.99952476e-01 -1.75565103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.624203822000005 meters Centerline goodness [0,1] 0.9791529421765094 Centerline is valid? [True, True] Translation: X:49.54, Y:-1.59, Z:-1.75 [[ 9.93056174e-01 1.17149486e-01 1.07439568e-02 4.95360944e+01] [-1.17147668e-01 9.93114184e-01 -8.00480546e-04 -1.58876052e+00] [-1.07637518e-02 -4.63707339e-04 9.99941962e-01 -1.75424202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.65420382200001 meters Centerline goodness [0,1] 0.9958334228216748 Centerline is valid? [True, True] Translation: X:49.56, Y:-1.60, Z:-1.75 [[ 9.93083710e-01 1.16905484e-01 1.08559913e-02 4.95641091e+01] [-1.16903612e-01 9.93142936e-01 -8.09091980e-04 -1.59592565e+00] [-1.08761384e-02 -4.65608529e-04 9.99940745e-01 -1.75165816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.68420382200001 meters Centerline goodness [0,1] 0.9864928504152752 Centerline is valid? [True, True] Translation: X:49.59, Y:-1.59, Z:-1.75 [[ 9.93194917e-01 1.15922215e-01 1.12204197e-02 4.95931973e+01] [-1.15920161e-01 9.93258183e-01 -8.35403963e-04 -1.59361620e+00] [-1.12416156e-02 -4.70953895e-04 9.99936700e-01 -1.75418100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.714203822 meters Centerline goodness [0,1] 0.9885698590775601 Centerline is valid? [True, True] Translation: X:49.62, Y:-1.59, Z:-1.75 [[ 9.93529410e-01 1.12722400e-01 1.38914598e-02 4.96229807e+01] [-1.12718957e-01 9.93626373e-01 -1.03310058e-03 -1.58842055e+00] [-1.39193744e-02 -5.39415039e-04 9.99902975e-01 -1.75236747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.744203822 meters Centerline goodness [0,1] 0.9982042506443571 Centerline is valid? [True, True] Translation: X:49.65, Y:-1.59, Z:-1.75 [[ 9.93716504e-01 1.10900487e-01 1.51192520e-02 4.96531226e+01] [-1.10896202e-01 9.93831358e-01 -1.12411553e-03 -1.59396627e+00] [-1.51506517e-02 -5.59615465e-04 9.99885066e-01 -1.74985694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.774203822000004 meters Centerline goodness [0,1] 0.999555790586991 Centerline is valid? [True, True] Translation: X:49.68, Y:-1.60, Z:-1.75 [[ 9.93939056e-01 1.08812231e-01 1.56541141e-02 4.96832563e+01] [-1.08807384e-01 9.94062171e-01 -1.16350692e-03 -1.59982429e+00] [-1.56877664e-02 -5.46828229e-04 9.99876790e-01 -1.74894196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.804203822000005 meters Centerline goodness [0,1] 0.999493467845761 Centerline is valid? [True, True] Translation: X:49.71, Y:-1.60, Z:-1.75 [[ 9.94161868e-01 1.06625590e-01 1.65276413e-02 4.97131229e+01] [-1.06619885e-01 9.94299095e-01 -1.22843267e-03 -1.60221359e+00] [-1.65644012e-02 -5.40914309e-04 9.99862655e-01 -1.74948970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.834203822000006 meters Centerline goodness [0,1] 0.9998511018463371 Centerline is valid? [True, True] Translation: X:49.74, Y:-1.61, Z:-1.75 [[ 9.94491627e-01 1.03155539e-01 1.85832819e-02 4.97434392e+01] [-1.03147722e-01 9.94665089e-01 -1.38122011e-03 -1.60750523e+00] [-1.86266222e-02 -5.43211359e-04 9.99826362e-01 -1.74599480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.86420382200001 meters Centerline goodness [0,1] 0.9998516509134066 Centerline is valid? [True, True] Translation: X:49.77, Y:-1.61, Z:-1.75 [[ 9.94615178e-01 1.02029493e-01 1.81832561e-02 4.97743579e+01] [-1.02021826e-01 9.94781243e-01 -1.35117644e-03 -1.61074023e+00] [-1.82262219e-02 -5.11188393e-04 9.99833758e-01 -1.74729855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.89420382200001 meters Centerline goodness [0,1] 0.9997028294878054 Centerline is valid? [True, True] Translation: X:49.80, Y:-1.61, Z:-1.75 [[ 9.94761221e-01 1.00845288e-01 1.67433620e-02 4.98046742e+01] [-1.00838612e-01 9.94902018e-01 -1.24469020e-03 -1.60862971e+00] [-1.67835258e-02 -4.50207834e-04 9.99859045e-01 -1.75320567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.924203822 meters Centerline goodness [0,1] 0.9999572009415792 Centerline is valid? [True, True] Translation: X:49.84, Y:-1.62, Z:-1.76 [[ 9.95068200e-01 9.80118571e-02 1.52628254e-02 4.98352464e+01] [-9.80059765e-02 9.95185179e-01 -1.13458771e-03 -1.61571909e+00] [-1.53005407e-02 -3.66855957e-04 9.99882873e-01 -1.75549548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.954203822000004 meters Centerline goodness [0,1] 0.9998099060090823 Centerline is valid? [True, True] Translation: X:49.87, Y:-1.62, Z:-1.76 [[ 9.95200105e-01 9.66219262e-02 1.55227038e-02 4.98651204e+01] [-9.66156659e-02 9.95321094e-01 -1.15447045e-03 -1.61703538e+00] [-1.55616217e-02 -3.50807251e-04 9.99878849e-01 -1.75889733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.984203822000005 meters Centerline goodness [0,1] 0.9998522895125553 Centerline is valid? [True, True] Translation: X:49.90, Y:-1.62, Z:-1.76 [[ 9.95303181e-01 9.56361759e-02 1.50099818e-02 4.98958296e+01] [-9.56302104e-02 9.95416303e-01 -1.11632456e-03 -1.62406885e+00] [-1.50479416e-02 -3.24326335e-04 9.99886721e-01 -1.75872353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.014203822000006 meters Centerline goodness [0,1] 0.999894211238998 Centerline is valid? [True, True] Translation: X:49.93, Y:-1.63, Z:-1.76 [[ 9.95429783e-01 9.47038826e-02 1.22769078e-02 4.99264737e+01] [-9.46998193e-02 9.95505455e-01 -9.13194267e-04 -1.62868684e+00] [-1.23082118e-02 -2.53600184e-04 9.99924219e-01 -1.76180056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.04420382200001 meters Centerline goodness [0,1] 0.9999367742207422 Centerline is valid? [True, True] Translation: X:49.96, Y:-1.63, Z:-1.76 [[ 9.95455630e-01 9.46226908e-02 1.07067565e-02 4.99572824e+01] [-9.46195915e-02 9.95513183e-01 -7.96792325e-04 -1.62922531e+00] [-1.07341119e-02 -2.19897519e-04 9.99942364e-01 -1.76463164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.07420382200001 meters Centerline goodness [0,1] 0.9998294679399727 Centerline is valid? [True, True] Translation: X:49.99, Y:-1.63, Z:-1.77 [[ 9.95470622e-01 9.45793820e-02 9.64265436e-03 4.99856717e+01] [-9.45768579e-02 9.95517304e-01 -7.18445702e-04 -1.62707090e+00] [-9.66737942e-03 -1.96780362e-04 9.99953250e-01 -1.76856278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.104203822 meters Centerline goodness [0,1] 0.9998722344072741 Centerline is valid? [True, True] Translation: X:50.02, Y:-1.63, Z:-1.77 [[ 9.95556372e-01 9.35755917e-02 1.05412995e-02 5.00159839e+01] [-9.35725208e-02 9.95612157e-01 -7.85230901e-04 -1.62757814e+00] [-1.05685244e-02 -2.04634340e-04 9.99944131e-01 -1.76822254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.134203822 meters Centerline goodness [0,1] 0.9998941440487784 Centerline is valid? [True, True] Translation: X:50.04, Y:-1.63, Z:-1.77 [[ 9.95630868e-01 9.26818587e-02 1.13687472e-02 5.00441952e+01] [-9.26782323e-02 9.95695751e-01 -8.46532476e-04 -1.63033496e+00] [-1.13982715e-02 -2.10801534e-04 9.99935015e-01 -1.76844158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.164203822000005 meters Centerline goodness [0,1] 0.9999784510623626 Centerline is valid? [True, True] Translation: X:50.07, Y:-1.64, Z:-1.76 [[ 9.95685559e-01 9.20016490e-02 1.20816018e-02 5.00742093e+01] [-9.19975176e-02 9.95758831e-01 -8.98450927e-04 -1.63779934e+00] [-1.21130206e-02 -2.16902757e-04 9.99926611e-01 -1.76383488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.194203822000006 meters Centerline goodness [0,1] 0.9999152075295714 Centerline is valid? [True, True] Translation: X:50.10, Y:-1.64, Z:-1.76 [[ 9.95730295e-01 9.11519171e-02 1.45776579e-02 5.01036624e+01] [-9.11458083e-02 9.95836968e-01 -1.08427790e-03 -1.63684893e+00] [-1.46158046e-02 -2.49044061e-04 9.99893152e-01 -1.76343257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.22420382200001 meters Centerline goodness [0,1] 0.9999788815678324 Centerline is valid? [True, True] Translation: X:50.13, Y:-1.64, Z:-1.76 [[ 9.95735793e-01 9.09705735e-02 1.53162072e-02 5.01345396e+01] [-9.09638205e-02 9.95853547e-01 -1.13842875e-03 -1.63935338e+00] [-1.53562627e-02 -2.59646468e-04 9.99882052e-01 -1.76187620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.25420382200001 meters Centerline goodness [0,1] 0.9999577113375904 Centerline is valid? [True, True] Translation: X:50.17, Y:-1.64, Z:-1.76 [[ 9.95708313e-01 9.12689207e-02 1.53277673e-02 5.01660870e+01] [-9.12621874e-02 9.95826247e-01 -1.13964491e-03 -1.63961960e+00] [-1.53678072e-02 -2.64091662e-04 9.99881873e-01 -1.76270983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.284203822 meters Centerline goodness [0,1] 0.9999573287817367 Centerline is valid? [True, True] Translation: X:50.20, Y:-1.64, Z:-1.76 [[ 9.95679133e-01 9.16113106e-02 1.51799739e-02 5.01978096e+01] [-9.16047411e-02 9.95794807e-01 -1.12898963e-03 -1.64113195e+00] [-1.52195674e-02 -2.66446159e-04 9.99884140e-01 -1.76235169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.314203822 meters Centerline goodness [0,1] 0.999936402950903 Centerline is valid? [True, True] Translation: X:50.23, Y:-1.64, Z:-1.77 [[ 9.95577061e-01 9.27663506e-02 1.48566523e-02 5.02288413e+01] [-9.27601784e-02 9.95687866e-01 -1.10549600e-03 -1.63713373e+00] [-1.48951412e-02 -2.77499261e-04 9.99889023e-01 -1.76681952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.344203822000004 meters Centerline goodness [0,1] 0.9998931441272012 Centerline is valid? [True, True] Translation: X:50.26, Y:-1.64, Z:-1.77 [[ 9.95560078e-01 9.30487884e-02 1.42145461e-02 5.02592556e+01] [-9.30431617e-02 9.95661514e-01 -1.05808284e-03 -1.63988747e+00] [-1.42513298e-02 -2.69181268e-04 9.99898408e-01 -1.76795645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.374203822000005 meters Centerline goodness [0,1] 0.9999575461685417 Centerline is valid? [True, True] Translation: X:50.29, Y:-1.64, Z:-1.77 [[ 9.95587407e-01 9.28011908e-02 1.39159355e-02 5.02899074e+01] [-9.27957739e-02 9.95684624e-01 -1.03585528e-03 -1.64273334e+00] [-1.39520116e-02 -2.60055530e-04 9.99902632e-01 -1.76844122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.40420382200001 meters Centerline goodness [0,1] 0.9999573497110443 Centerline is valid? [True, True] Translation: X:50.32, Y:-1.64, Z:-1.77 [[ 9.95768761e-01 9.09643179e-02 1.30409574e-02 5.03197145e+01] [-9.09594061e-02 9.95854128e-01 -9.70507395e-04 -1.64448313e+00] [-1.30751728e-02 -2.19796795e-04 9.99914492e-01 -1.77208431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.43420382200001 meters Centerline goodness [0,1] 0.9999150544713202 Centerline is valid? [True, True] Translation: X:50.35, Y:-1.65, Z:-1.78 [[ 9.95947564e-01 8.91539577e-02 1.18330694e-02 5.03491484e+01] [-8.91497792e-02 9.96017841e-01 -8.81185548e-04 -1.64925662e+00] [-1.18645095e-02 -1.77300927e-04 9.99929599e-01 -1.77583444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.464203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.38, Y:-1.66, Z:-1.78 [[ 9.96179740e-01 8.66384818e-02 1.09407345e-02 5.03789953e+01] [-8.66347617e-02 9.96239808e-01 -8.14391746e-04 -1.65695317e+00] [-1.09701529e-02 -1.36567371e-04 9.99939817e-01 -1.77844310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.494203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.41, Y:-1.66, Z:-1.78 [[ 9.96412272e-01 8.38324361e-02 1.16063488e-02 5.04089668e+01] [-8.38280620e-02 9.96479859e-01 -8.63704902e-04 -1.66448586e+00] [-1.16378993e-02 -1.12331566e-04 9.99932271e-01 -1.78101722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.524203822000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.44, Y:-1.68, Z:-1.78 [[ 9.96832429e-01 7.84112782e-02 1.32958699e-02 5.04393316e+01] [-7.84050555e-02 9.96921094e-01 -9.89432014e-04 -1.67890258e+00] [-1.33325158e-02 -5.61655001e-05 9.99911116e-01 -1.77698740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.554203822000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.47, Y:-1.69, Z:-1.78 [[ 9.96999144e-01 7.62286664e-02 1.34869473e-02 5.04715139e+01] [-7.62220933e-02 9.97090362e-01 -1.00147175e-03 -1.68559158e+00] [-1.35240460e-02 -2.95368788e-05 9.99908545e-01 -1.77706859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.584203822000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.50, Y:-1.70, Z:-1.78 [[ 9.97227129e-01 7.34493554e-02 1.19685119e-02 5.05025838e+01] [-7.34439626e-02 9.97298948e-01 -8.90083193e-04 -1.69597117e+00] [-1.20015604e-02 8.60016822e-06 9.99927979e-01 -1.77990384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.61420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.53, Y:-1.70, Z:-1.78 [[ 9.97223961e-01 7.35813872e-02 1.14084196e-02 5.05347096e+01] [-7.35764785e-02 9.97289216e-01 -8.49949658e-04 -1.70226369e+00] [-1.14400343e-02 8.19882147e-06 9.99934561e-01 -1.78038050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.64420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.57, Y:-1.71, Z:-1.78 [[ 9.97140381e-01 7.47130024e-02 1.13590459e-02 5.05668102e+01] [-7.47081903e-02 9.97205078e-01 -8.47958458e-04 -1.70759520e+00] [-1.13906518e-02 -3.08014657e-06 9.99935124e-01 -1.78306458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.674203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.60, Y:-1.71, Z:-1.79 [[ 9.96995144e-01 7.65536362e-02 1.18416231e-02 5.05975951e+01] [-7.65484872e-02 9.97065464e-01 -8.88122967e-04 -1.71086472e+00] [-1.18748625e-02 -2.10040495e-05 9.99929491e-01 -1.78640469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.704203822000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.63, Y:-1.71, Z:-1.78 [[ 9.96806657e-01 7.88796778e-02 1.24291966e-02 5.06302443e+01] [-7.88741867e-02 9.96884143e-01 -9.32132536e-04 -1.71307836e+00] [-1.24639953e-02 -5.11868584e-05 9.99922320e-01 -1.78253212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.734203822000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.66, Y:-1.71, Z:-1.78 [[ 9.96350003e-01 8.43588557e-02 1.30481933e-02 5.06624609e+01] [-8.43532415e-02 9.96435431e-01 -9.81001354e-04 -1.71039026e+00] [-1.30844383e-02 -1.23236700e-04 9.99914387e-01 -1.78117138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.764203822000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.69, Y:-1.71, Z:-1.78 [[ 9.96102556e-01 8.72918572e-02 1.26423913e-02 5.06934377e+01] [-8.72867951e-02 9.96182768e-01 -9.52691397e-04 -1.70890801e+00] [-1.26772945e-02 -1.54535481e-04 9.99919628e-01 -1.78335348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.79420382200001 meters Centerline goodness [0,1] 0.9999574540503744 Centerline is valid? [True, True] Translation: X:50.72, Y:-1.70, Z:-1.79 [[ 9.95572813e-01 9.31634450e-02 1.24638473e-02 5.07248502e+01] [-9.31589273e-02 9.95650804e-01 -9.43815645e-04 -1.70410888e+00] [-1.24975687e-02 -2.21481447e-04 9.99921878e-01 -1.78517280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.82420382200001 meters Centerline goodness [0,1] 0.9999575569797546 Centerline is valid? [True, True] Translation: X:50.76, Y:-1.70, Z:-1.78 [[ 9.95305784e-01 9.58765573e-02 1.31940008e-02 5.07561394e+01] [-9.58717336e-02 9.95393195e-01 -9.99070120e-04 -1.70450396e+00] [-1.32290060e-02 -2.70551458e-04 9.99912456e-01 -1.78472660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.854203822 meters Centerline goodness [0,1] 0.9998731286475514 Centerline is valid? [True, True] Translation: X:50.79, Y:-1.71, Z:-1.79 [[ 9.95049965e-01 9.84165026e-02 1.37752835e-02 5.07860818e+01] [-9.84114912e-02 9.95145261e-01 -1.04282970e-03 -1.70583482e+00] [-1.38110398e-02 -3.17978537e-04 9.99904572e-01 -1.78518173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.884203822 meters Centerline goodness [0,1] 0.9996399678088864 Centerline is valid? [True, True] Translation: X:50.82, Y:-1.71, Z:-1.79 [[ 9.94665539e-01 1.02473768e-01 1.18149323e-02 5.08164074e+01] [-1.02470351e-01 9.94735656e-01 -8.95768403e-04 -1.70818492e+00] [-1.18445272e-02 -3.19690300e-04 9.99929800e-01 -1.78985604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.914203822000005 meters Centerline goodness [0,1] 0.9995291297461582 Centerline is valid? [True, True] Translation: X:50.85, Y:-1.71, Z:-1.79 [[ 9.94497423e-01 1.04245220e-01 1.03831748e-02 5.08470012e+01] [-1.04242674e-01 9.94551580e-01 -7.87539296e-04 -1.70938654e+00] [-1.04087001e-02 -2.99164109e-04 9.99945783e-01 -1.79325486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.944203822000006 meters Centerline goodness [0,1] 0.9987697528900201 Centerline is valid? [True, True] Translation: X:50.88, Y:-1.71, Z:-1.80 [[ 9.94303208e-01 1.06180002e-01 9.32407961e-03 5.08773205e+01] [-1.06178032e-01 9.94346884e-01 -7.07468211e-04 -1.70864467e+00] [-9.34648848e-03 -2.86574508e-04 9.99956280e-01 -1.79582725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.97420382200001 meters Centerline goodness [0,1] 0.9847939516558407 Centerline is valid? [True, True] Translation: X:50.91, Y:-1.70, Z:-1.80 [[ 9.93829446e-01 1.10606030e-01 8.32694123e-03 5.09070743e+01] [-1.10604614e-01 9.93864287e-01 -6.31845237e-04 -1.69951582e+00] [-8.34573539e-03 -2.93051714e-04 9.99965131e-01 -1.80047525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.00420382200001 meters Centerline goodness [0,1] 0.9922948860240758 Centerline is valid? [True, True] Translation: X:50.94, Y:-1.70, Z:-1.80 [[ 9.93552971e-01 1.13031435e-01 8.74002954e-03 5.09368224e+01] [-1.13029968e-01 9.93591358e-01 -6.63209343e-04 -1.70270259e+00] [-8.75898132e-03 -3.28951646e-04 9.99961585e-01 -1.79859286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.034203822 meters Centerline goodness [0,1] 0.981938616855871 Centerline is valid? [True, True] Translation: X:50.97, Y:-1.70, Z:-1.80 [[ 9.93276951e-01 1.15417629e-01 8.92577221e-03 5.09657591e+01] [-1.15416195e-01 9.93316990e-01 -6.77343276e-04 -1.70090875e+00] [-8.94429855e-03 -3.57389200e-04 9.99959935e-01 -1.80025213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.064203822 meters Centerline goodness [0,1] 0.9654675343946749 Centerline is valid? [True, True] Translation: X:51.00, Y:-1.70, Z:-1.80 [[ 9.92896895e-01 1.18618229e-01 9.24504546e-03 5.09950070e+01] [-1.18616839e-01 9.92939855e-01 -7.00545962e-04 -1.69879351e+00] [-9.26287162e-03 -4.01048155e-04 9.99957018e-01 -1.80106747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.094203822000004 meters Centerline goodness [0,1] 0.9654675343946749 Centerline is valid? [True, True] Translation: X:51.02, Y:-1.70, Z:-1.80 [[ 9.92902321e-01 1.18572808e-01 9.24498374e-03 5.10232796e+01] [-1.18571408e-01 9.92945280e-01 -7.01360998e-04 -1.70084453e+00] [-9.26292531e-03 -3.99807773e-04 9.99957018e-01 -1.80195880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.124203822000005 meters Centerline goodness [0,1] 0.9795054056354814 Centerline is valid? [True, True] Translation: X:51.05, Y:-1.70, Z:-1.80 [[ 9.92812086e-01 1.19272223e-01 9.91460663e-03 5.10518128e+01] [-1.19270653e-01 9.92861494e-01 -7.51625322e-04 -1.70441968e+00] [-9.93347917e-03 -4.36298901e-04 9.99950567e-01 -1.79938757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.15420382200001 meters Centerline goodness [0,1] 0.9710773527420447 Centerline is valid? [True, True] Translation: X:51.08, Y:-1.70, Z:-1.80 [[ 9.92750653e-01 1.19656274e-01 1.13365149e-02 5.10802218e+01] [-1.19654252e-01 9.92815251e-01 -8.58900658e-04 -1.69936230e+00] [-1.13578377e-02 -5.03788023e-04 9.99935371e-01 -1.79990806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.18420382200001 meters Centerline goodness [0,1] 0.9717927509490785 Centerline is valid? [True, True] Translation: X:51.11, Y:-1.70, Z:-1.80 [[ 9.92703183e-01 1.19983896e-01 1.20106444e-02 5.11091266e+01] [-1.19981663e-01 9.92775692e-01 -9.08910542e-04 -1.69762754e+00] [-1.20329305e-02 -5.38778699e-04 9.99927457e-01 -1.79989062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.214203822 meters Centerline goodness [0,1] 0.9881393624907339 Centerline is valid? [True, True] Translation: X:51.14, Y:-1.70, Z:-1.80 [[ 9.92810864e-01 1.19131741e-01 1.15851854e-02 5.11381402e+01] [-1.19129610e-01 9.92878325e-01 -8.76266173e-04 -1.70024112e+00] [-1.16070706e-02 -5.10172052e-04 9.99932506e-01 -1.80052497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.244203822 meters Centerline goodness [0,1] 0.9810501213643913 Centerline is valid? [True, True] Translation: X:51.17, Y:-1.70, Z:-1.80 [[ 9.92936677e-01 1.18114572e-01 1.12117875e-02 5.11664635e+01] [-1.18112518e-01 9.92999856e-01 -8.47539559e-04 -1.70115130e+00] [-1.12334101e-02 -4.82699340e-04 9.99936787e-01 -1.80357252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.274203822000004 meters Centerline goodness [0,1] 0.9727121394104137 Centerline is valid? [True, True] Translation: X:51.19, Y:-1.70, Z:-1.81 [[ 9.93096135e-01 1.16829259e-01 1.05351885e-02 5.11942692e+01] [-1.16827375e-01 9.93151917e-01 -7.96214042e-04 -1.70215493e+00] [-1.05560637e-02 -4.40081326e-04 9.99944186e-01 -1.80724408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.304203822000005 meters Centerline goodness [0,1] 0.9659839374495389 Centerline is valid? [True, True] Translation: X:51.22, Y:-1.71, Z:-1.81 [[ 9.93542522e-01 1.13244063e-01 7.00275682e-03 5.12232496e+01] [-1.13243146e-01 9.93567165e-01 -5.28590930e-04 -1.70904537e+00] [-7.01756902e-03 -2.67836650e-04 9.99975341e-01 -1.81468229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.334203822000006 meters Centerline goodness [0,1] 0.9837632550299772 Centerline is valid? [True, True] Translation: X:51.25, Y:-1.72, Z:-1.82 [[ 9.93804574e-01 1.10982206e-01 5.95134969e-03 5.12519687e+01] [-1.10981501e-01 9.93822371e-01 -4.49506975e-04 -1.71552184e+00] [-5.96447173e-03 -2.13767636e-04 9.99982190e-01 -1.81588373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.36420382200001 meters Centerline goodness [0,1] 0.9918888582985662 Centerline is valid? [True, True] Translation: X:51.28, Y:-1.72, Z:-1.82 [[ 9.94032734e-01 1.08924499e-01 5.86329205e-03 5.12803845e+01] [-1.08923778e-01 9.94050006e-01 -4.42970206e-04 -1.71907914e+00] [-5.87665580e-03 -1.98325039e-04 9.99982713e-01 -1.81626293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.39420382200001 meters Centerline goodness [0,1] 0.9996787802214275 Centerline is valid? [True, True] Translation: X:51.31, Y:-1.72, Z:-1.81 [[ 9.94486299e-01 1.04650264e-01 6.73223259e-03 5.13110859e+01] [-1.04649229e-01 9.94509066e-01 -5.06744337e-04 -1.72244241e+00] [-6.74829727e-03 -2.00572651e-04 9.99977210e-01 -1.81294839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.424203822 meters Centerline goodness [0,1] 0.9995737607092622 Centerline is valid? [True, True] Translation: X:51.34, Y:-1.72, Z:-1.81 [[ 9.94709641e-01 1.02419611e-01 7.93435063e-03 5.13403537e+01] [-1.02418096e-01 9.94741261e-01 -5.98090613e-04 -1.72036328e+00] [-7.95388215e-03 -2.17694584e-04 9.99968344e-01 -1.81442488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.454203822000004 meters Centerline goodness [0,1] 0.9999358508318009 Centerline is valid? [True, True] Translation: X:51.37, Y:-1.73, Z:-1.81 [[ 9.94914860e-01 1.00272003e-01 9.48404649e-03 5.13703014e+01] [-1.00269747e-01 9.94960033e-01 -7.14267051e-04 -1.72703834e+00] [-9.50786820e-03 -2.40328036e-04 9.99954770e-01 -1.81012616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.484203822000005 meters Centerline goodness [0,1] 0.9997888245977109 Centerline is valid? [True, True] Translation: X:51.40, Y:-1.73, Z:-1.81 [[ 9.95207179e-01 9.71383731e-02 1.12609031e-02 5.13996451e+01] [-9.71349917e-02 9.95270855e-01 -8.48118864e-04 -1.72795884e+00] [-1.12900335e-02 -2.49773745e-04 9.99936234e-01 -1.81320213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.514203822000006 meters Centerline goodness [0,1] 0.9998727411555103 Centerline is valid? [True, True] Translation: X:51.43, Y:-1.73, Z:-1.81 [[ 9.95358419e-01 9.55094206e-02 1.18138820e-02 5.14294153e+01] [-9.55055911e-02 9.95428496e-01 -8.89190654e-04 -1.73405120e+00] [-1.18448008e-02 -2.43228375e-04 9.99929818e-01 -1.81154054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.54420382200001 meters Centerline goodness [0,1] 0.9999786493584132 Centerline is valid? [True, True] Translation: X:51.46, Y:-1.74, Z:-1.81 [[ 9.95541841e-01 9.35172675e-02 1.22867512e-02 5.14599100e+01] [-9.35129782e-02 9.95617632e-01 -9.24404011e-04 -1.73828708e+00] [-1.23193539e-02 -2.28687828e-04 9.99924088e-01 -1.81100907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.57420382200001 meters Centerline goodness [0,1] 0.9999574459031043 Centerline is valid? [True, True] Translation: X:51.49, Y:-1.74, Z:-1.81 [[ 9.95973880e-01 8.87282289e-02 1.27801361e-02 5.14907763e+01] [-8.87231967e-02 9.96055857e-01 -9.61303385e-04 -1.74294569e+00] [-1.28150241e-02 -1.76461466e-04 9.99917869e-01 -1.81092938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.604203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.52, Y:-1.75, Z:-1.81 [[ 9.96192845e-01 8.62573035e-02 1.26290226e-02 5.15216972e+01] [-8.62521921e-02 9.96272883e-01 -9.49856151e-04 -1.74699366e+00] [-1.26638848e-02 -1.43040980e-04 9.99919800e-01 -1.81180070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.634203822 meters Centerline goodness [0,1] 0.9999784950861271 Centerline is valid? [True, True] Translation: X:51.55, Y:-1.75, Z:-1.81 [[ 9.96390961e-01 8.40126874e-02 1.21211428e-02 5.15528611e+01] [-8.40078098e-02 9.96464679e-01 -9.11905780e-04 -1.75162433e+00] [-1.21549024e-02 -1.09655986e-04 9.99926120e-01 -1.81216950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.664203822000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.58, Y:-1.76, Z:-1.81 [[ 9.96554164e-01 8.20750010e-02 1.19788612e-02 5.15837442e+01] [-8.20700937e-02 9.96626152e-01 -9.01487985e-04 -1.75603732e+00] [-1.20124360e-02 -8.47246565e-05 9.99927844e-01 -1.81378673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.694203822000006 meters Centerline goodness [0,1] 0.9999788842434224 Centerline is valid? [True, True] Translation: X:51.61, Y:-1.76, Z:-1.82 [[ 9.96773137e-01 7.96904839e-02 9.63019457e-03 5.16142131e+01] [-7.96872148e-02 9.96819655e-01 -7.23308307e-04 -1.76247859e+00] [-9.65720802e-03 -4.64290940e-05 9.99953367e-01 -1.82097251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.72420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.64, Y:-1.77, Z:-1.82 [[ 9.96806622e-01 7.93998874e-02 8.49799240e-03 5.16447819e+01] [-7.93973113e-02 9.96842844e-01 -6.40611954e-04 -1.76629680e+00] [-8.52202744e-03 -3.61515100e-05 9.99963686e-01 -1.82309337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.75420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.68, Y:-1.77, Z:-1.82 [[ 9.96771479e-01 7.98350964e-02 8.54261864e-03 5.16755156e+01] [-7.98325060e-02 9.96808084e-01 -6.44346130e-04 -1.76825379e+00] [-8.56679275e-03 -3.97128089e-05 9.99963304e-01 -1.82101221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.784203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.71, Y:-1.76, Z:-1.82 [[ 9.96550410e-01 8.24623946e-02 9.33987972e-03 5.17057932e+01] [-8.24594109e-02 9.96594175e-01 -7.04748988e-04 -1.76322646e+00] [-9.36618501e-03 -6.78430867e-05 9.99956134e-01 -1.82235525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.814203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.74, Y:-1.76, Z:-1.82 [[ 9.96406656e-01 8.40266357e-02 1.06442411e-02 5.17354148e+01] [-8.40228517e-02 9.96463504e-01 -8.02980942e-04 -1.76242088e+00] [-1.06740696e-02 -9.42639407e-05 9.99943026e-01 -1.82165378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.844203822000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.76, Y:-1.76, Z:-1.82 [[ 9.96259275e-01 8.56289438e-02 1.16250336e-02 5.17647474e+01] [-8.56245414e-02 9.96327089e-01 -8.76796599e-04 -1.76253142e+00] [-1.16574150e-02 -1.21871426e-04 9.99932043e-01 -1.82064163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.874203822000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.80, Y:-1.76, Z:-1.81 [[ 9.96032868e-01 8.79179380e-02 1.37463387e-02 5.17955372e+01] [-8.79120063e-02 9.96127705e-01 -1.03635698e-03 -1.76147295e+00] [-1.37842232e-02 -1.76222606e-04 9.99904978e-01 -1.81492287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.90420382200001 meters Centerline goodness [0,1] 0.9999783965953034 Centerline is valid? [True, True] Translation: X:51.83, Y:-1.76, Z:-1.81 [[ 9.95948314e-01 8.87328365e-02 1.46095381e-02 5.18265721e+01] [-8.87262301e-02 9.96055442e-01 -1.10101836e-03 -1.76190131e+00] [-1.46496064e-02 -1.99691855e-04 9.99892669e-01 -1.81363350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.93420382200001 meters Centerline goodness [0,1] 0.9999788050274475 Centerline is valid? [True, True] Translation: X:51.86, Y:-1.76, Z:-1.82 [[ 9.95852469e-01 8.97904011e-02 1.46813791e-02 5.18566763e+01] [-8.97838465e-02 9.95960660e-01 -1.10629806e-03 -1.76063411e+00] [-1.47214110e-02 -2.16441037e-04 9.99891611e-01 -1.81760624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.964203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.89, Y:-1.76, Z:-1.82 [[ 9.95754818e-01 9.09398902e-02 1.42224979e-02 5.18873104e+01] [-9.09338322e-02 9.95856358e-01 -1.07339401e-03 -1.76244561e+00] [-1.42611793e-02 -2.24468978e-04 9.99898279e-01 -1.81879062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.994203822 meters Centerline goodness [0,1] 0.9999364460638929 Centerline is valid? [True, True] Translation: X:51.92, Y:-1.76, Z:-1.82 [[ 9.95523279e-01 9.36081421e-02 1.30735213e-02 5.19174057e+01] [-9.36032505e-02 9.95609089e-01 -9.86894050e-04 -1.75769117e+00] [-1.31084979e-02 -2.41248085e-04 9.99914051e-01 -1.82260292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.024203822000004 meters Centerline goodness [0,1] 0.9999362366894089 Centerline is valid? [True, True] Translation: X:51.95, Y:-1.76, Z:-1.82 [[ 9.95414482e-01 9.47040794e-02 1.34590631e-02 5.19468683e+01] [-9.46989947e-02 9.95505433e-01 -1.01603363e-03 -1.75686314e+00] [-1.34947930e-02 -2.63185163e-04 9.99908906e-01 -1.82350495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.054203822000005 meters Centerline goodness [0,1] 0.9999575515748366 Centerline is valid? [True, True] Translation: X:51.98, Y:-1.76, Z:-1.82 [[ 9.95317899e-01 9.56689725e-02 1.37741611e-02 5.19767423e+01] [-9.56637439e-02 9.95413164e-01 -1.03948496e-03 -1.75838608e+00] [-1.38104278e-02 -2.83069834e-04 9.99904591e-01 -1.82361288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.084203822000006 meters Centerline goodness [0,1] 0.9999787825422758 Centerline is valid? [True, True] Translation: X:52.01, Y:-1.76, Z:-1.83 [[ 9.95269616e-01 9.63345150e-02 1.25719219e-02 5.20060022e+01] [-9.63302152e-02 9.95348979e-01 -9.48531307e-04 -1.76119988e+00] [-1.26048260e-02 -2.67011557e-04 9.99920520e-01 -1.82523510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.11420382200001 meters Centerline goodness [0,1] 0.9999360613810742 Centerline is valid? [True, True] Translation: X:52.04, Y:-1.76, Z:-1.82 [[ 9.95270276e-01 9.63744493e-02 1.22083647e-02 5.20351593e+01] [-9.63704007e-02 9.95345115e-01 -9.20856419e-04 -1.76476943e+00] [-1.22402832e-02 -2.60023980e-04 9.99925051e-01 -1.82375720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.14420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.06, Y:-1.77, Z:-1.83 [[ 9.95344156e-01 9.54074639e-02 1.36903836e-02 5.20638869e+01] [-9.54022889e-02 9.95438264e-01 -1.03207855e-03 -1.76542174e+00] [-1.37263997e-02 -2.78820581e-04 9.99905750e-01 -1.82519942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.174203822 meters Centerline goodness [0,1] 0.9998732117574963 Centerline is valid? [True, True] Translation: X:52.09, Y:-1.77, Z:-1.82 [[ 9.95398142e-01 9.46942711e-02 1.46810849e-02 5.20930956e+01] [-9.46882452e-02 9.95506359e-01 -1.10657941e-03 -1.77078407e+00] [-1.47199001e-02 -2.88639079e-04 9.99891615e-01 -1.82420034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.204203822000004 meters Centerline goodness [0,1] 0.9999787672250886 Centerline is valid? [True, True] Translation: X:52.12, Y:-1.78, Z:-1.82 [[ 9.95481485e-01 9.36861763e-02 1.54762135e-02 5.21237443e+01] [-9.36793704e-02 9.95601736e-01 -1.16572451e-03 -1.77554943e+00] [-1.55173573e-02 -2.89344769e-04 9.99879557e-01 -1.82332523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.234203822000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.15, Y:-1.78, Z:-1.82 [[ 9.95563166e-01 9.25627533e-02 1.69150390e-02 5.21528319e+01] [-9.25544581e-02 9.95706809e-01 -1.27427168e-03 -1.77833118e+00] [-1.69603696e-02 -2.96944318e-04 9.99856118e-01 -1.82275182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.264203822000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.18, Y:-1.79, Z:-1.82 [[ 9.95778553e-01 9.00214705e-02 1.79222869e-02 5.21843647e+01] [-9.00117940e-02 9.95939788e-01 -1.34749823e-03 -1.78746034e+00] [-1.79708224e-02 -2.71407352e-04 9.99838475e-01 -1.82080670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.29420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.22, Y:-1.80, Z:-1.82 [[ 9.95923422e-01 8.86423037e-02 1.67056741e-02 5.22171976e+01] [-8.86336681e-02 9.96063497e-01 -1.25807635e-03 -1.79511886e+00] [-1.67514309e-02 -2.27737466e-04 9.99859659e-01 -1.82343749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.32420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.25, Y:-1.81, Z:-1.83 [[ 9.96155739e-01 8.62981926e-02 1.50454578e-02 5.22489685e+01] [-8.62908856e-02 9.96269338e-01 -1.13538010e-03 -1.80654119e+00] [-1.50873095e-02 -1.67270472e-04 9.99886166e-01 -1.82771356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.354203822 meters Centerline goodness [0,1] 0.9999786543715847 Centerline is valid? [True, True] Translation: X:52.28, Y:-1.81, Z:-1.83 [[ 9.96192037e-01 8.58768253e-02 1.50531122e-02 5.22796693e+01] [-8.58694084e-02 9.96305749e-01 -1.13955787e-03 -1.81031137e+00] [-1.50953639e-02 -1.57383367e-04 9.99886046e-01 -1.83027804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.384203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.31, Y:-1.82, Z:-1.83 [[ 9.96177050e-01 8.60647487e-02 1.49714174e-02 5.23120347e+01] [-8.60574009e-02 9.96289533e-01 -1.13552786e-03 -1.81578711e+00] [-1.50135954e-02 -1.57214477e-04 9.99887277e-01 -1.82992138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.414203822000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.34, Y:-1.82, Z:-1.83 [[ 9.96147874e-01 8.64829703e-02 1.44951340e-02 5.23440892e+01] [-8.64760930e-02 9.96253317e-01 -1.10173176e-03 -1.82027616e+00] [-1.45361064e-02 -1.55994810e-04 9.99894333e-01 -1.83158476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.444203822000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.37, Y:-1.82, Z:-1.83 [[ 9.96076491e-01 8.73733960e-02 1.40539393e-02 5.23749149e+01] [-8.73669849e-02 9.96175619e-01 -1.07066455e-03 -1.82225012e+00] [-1.40937393e-02 -1.61386509e-04 9.99900665e-01 -1.83454623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.47420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.41, Y:-1.82, Z:-1.84 [[ 9.95841747e-01 9.01706237e-02 1.29797134e-02 5.24066677e+01] [-9.01653547e-02 9.95926315e-01 -9.91753460e-04 -1.82349332e+00] [-1.30162652e-02 -1.82690966e-04 9.99915268e-01 -1.83603793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.50420382200001 meters Centerline goodness [0,1] 0.9999786416061512 Centerline is valid? [True, True] Translation: X:52.44, Y:-1.83, Z:-1.84 [[ 9.95709323e-01 9.16455262e-02 1.28078608e-02 5.24375787e+01] [-9.16404881e-02 9.95791674e-01 -9.80932960e-04 -1.82624429e+00] [-1.28438593e-02 -1.96994523e-04 9.99917495e-01 -1.83781890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.534203822 meters Centerline goodness [0,1] 0.9999147757537019 Centerline is valid? [True, True] Translation: X:52.47, Y:-1.83, Z:-1.84 [[ 9.95429271e-01 9.46811766e-02 1.24916516e-02 5.24680413e+01] [-9.46766165e-02 9.95507620e-01 -9.57231987e-04 -1.82644414e+00] [-1.25261662e-02 -2.29810570e-04 9.99921518e-01 -1.84386356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.564203822 meters Centerline goodness [0,1] 0.9999360790914709 Centerline is valid? [True, True] Translation: X:52.50, Y:-1.83, Z:-1.84 [[ 9.95270330e-01 9.63707627e-02 1.22330205e-02 5.24996021e+01] [-9.63665179e-02 9.95345476e-01 -9.37339747e-04 -1.82947735e+00] [-1.22664137e-02 -2.45947150e-04 9.99924734e-01 -1.84367267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.594203822000004 meters Centerline goodness [0,1] 0.9999575082858843 Centerline is valid? [True, True] Translation: X:52.53, Y:-1.83, Z:-1.85 [[ 9.95134889e-01 9.78201748e-02 1.17374149e-02 5.25302025e+01] [-9.78163596e-02 9.95204074e-01 -9.00066902e-04 -1.83136126e+00] [-1.17691678e-02 -2.52423221e-04 9.99930709e-01 -1.84544956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.624203822000005 meters Centerline goodness [0,1] 0.9999351883857587 Centerline is valid? [True, True] Translation: X:52.56, Y:-1.84, Z:-1.85 [[ 9.94929255e-01 1.00046612e-01 1.03175752e-02 5.25606552e+01] [-1.00043786e-01 9.94982721e-01 -7.90929085e-04 -1.83642248e+00] [-1.03449388e-02 -2.45290796e-04 9.99946460e-01 -1.84620715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.65420382200001 meters Centerline goodness [0,1] 0.9997667415920947 Centerline is valid? [True, True] Translation: X:52.59, Y:-1.83, Z:-1.85 [[ 9.94794166e-01 1.01432952e-01 9.79406222e-03 5.25903773e+01] [-1.01430467e-01 9.94842347e-01 -7.51428723e-04 -1.83394146e+00] [-9.81976749e-03 -2.45899392e-04 9.99951755e-01 -1.85063369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.68420382200001 meters Centerline goodness [0,1] 0.9997445395325073 Centerline is valid? [True, True] Translation: X:52.62, Y:-1.83, Z:-1.85 [[ 9.94674742e-01 1.02641379e-01 9.32225135e-03 5.26201476e+01] [-1.02639179e-01 9.94718396e-01 -7.15380202e-04 -1.83344650e+00] [-9.34644252e-03 -2.45257605e-04 9.99956291e-01 -1.85174698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.714203822 meters Centerline goodness [0,1] 0.9990862145908154 Centerline is valid? [True, True] Translation: X:52.65, Y:-1.83, Z:-1.85 [[ 9.94357221e-01 1.05559603e-01 1.05302783e-02 5.26489758e+01] [-1.05556958e-01 9.94412930e-01 -8.08224316e-04 -1.82835761e+00] [-1.05567608e-02 -3.07880458e-04 9.99944228e-01 -1.85118694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.744203822 meters Centerline goodness [0,1] 0.9994476194522934 Centerline is valid? [True, True] Translation: X:52.68, Y:-1.83, Z:-1.85 [[ 9.94220537e-01 1.06728830e-01 1.15965684e-02 5.26781538e+01] [-1.06725710e-01 9.94288103e-01 -8.89374374e-04 -1.82924500e+00] [-1.16252519e-02 -3.53417730e-04 9.99932362e-01 -1.84903304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.774203822000004 meters Centerline goodness [0,1] 0.9996193134953366 Centerline is valid? [True, True] Translation: X:52.71, Y:-1.83, Z:-1.85 [[ 9.94127719e-01 1.07510333e-01 1.23128329e-02 5.27074310e+01] [-1.07506888e-01 9.94203892e-01 -9.43201015e-04 -1.83093588e+00] [-1.23428702e-02 -3.86052077e-04 9.99923749e-01 -1.84922385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.804203822000005 meters Centerline goodness [0,1] 0.9997845802546261 Centerline is valid? [True, True] Translation: X:52.74, Y:-1.84, Z:-1.85 [[ 9.94116863e-01 1.07647216e-01 1.19891199e-02 5.27367636e+01] [-1.07643964e-01 9.94189084e-01 -9.18162592e-04 -1.83682950e+00] [-1.20182898e-02 -3.77795467e-04 9.99927706e-01 -1.84822853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.834203822000006 meters Centerline goodness [0,1] 0.9994852215692163 Centerline is valid? [True, True] Translation: X:52.77, Y:-1.83, Z:-1.85 [[ 9.94225924e-01 1.06664555e-01 1.17253928e-02 5.27659425e+01] [-1.06661379e-01 9.94294999e-01 -8.97639166e-04 -1.83301989e+00] [-1.17542457e-02 -3.58190431e-04 9.99930852e-01 -1.85264018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.86420382200001 meters Centerline goodness [0,1] 0.9995778453225261 Centerline is valid? [True, True] Translation: X:52.80, Y:-1.84, Z:-1.85 [[ 9.94290964e-01 1.06025224e-01 1.20054878e-02 5.27957873e+01] [-1.06021851e-01 9.94363376e-01 -9.18841078e-04 -1.83591932e+00] [-1.20352378e-02 -3.59248661e-04 9.99927509e-01 -1.85261500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.89420382200001 meters Centerline goodness [0,1] 0.999744702578504 Centerline is valid? [True, True] Translation: X:52.83, Y:-1.84, Z:-1.85 [[ 9.94414519e-01 1.04841936e-01 1.21627704e-02 5.28257907e+01] [-1.04838392e-01 9.94488837e-01 -9.30363732e-04 -1.84012306e+00] [-1.21932805e-02 -3.49958087e-04 9.99925598e-01 -1.85200251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.924203822 meters Centerline goodness [0,1] 0.9998516100311619 Centerline is valid? [True, True] Translation: X:52.85, Y:-1.84, Z:-1.85 [[ 9.94778849e-01 1.01343204e-01 1.20248222e-02 5.28546686e+01] [-1.01339483e-01 9.94851478e-01 -9.19901322e-04 -1.84278391e+00] [-1.20561379e-02 -3.03490889e-04 9.99927276e-01 -1.85475432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.954203822000004 meters Centerline goodness [0,1] 0.999893235394602 Centerline is valid? [True, True] Translation: X:52.88, Y:-1.85, Z:-1.86 [[ 9.94995789e-01 9.92307512e-02 1.16892492e-02 5.28838378e+01] [-9.92270926e-02 9.95064412e-01 -8.93971736e-04 -1.84854962e+00] [-1.17202654e-02 -2.70392105e-04 9.99931279e-01 -1.85598552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.984203822000005 meters Centerline goodness [0,1] 0.99991522010979 Centerline is valid? [True, True] Translation: X:52.91, Y:-1.85, Z:-1.86 [[ 9.95168262e-01 9.75505025e-02 1.11368867e-02 5.29128356e+01] [-9.75470789e-02 9.95230547e-01 -8.51496590e-04 -1.85135165e+00] [-1.11668338e-02 -2.38988387e-04 9.99937620e-01 -1.85924398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.014203822000006 meters Centerline goodness [0,1] 0.99991522010979 Centerline is valid? [True, True] Translation: X:52.94, Y:-1.85, Z:-1.86 [[ 9.95170514e-01 9.75275191e-02 1.11369079e-02 5.29419164e+01] [-9.75240972e-02 9.95232800e-01 -8.51219075e-04 -1.85352735e+00] [-1.11668333e-02 -2.39008767e-04 9.99937620e-01 -1.86016097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.04420382200001 meters Centerline goodness [0,1] 0.9998725817069803 Centerline is valid? [True, True] Translation: X:52.97, Y:-1.86, Z:-1.86 [[ 9.95348367e-01 9.57569003e-02 1.05945542e-02 5.29718153e+01] [-9.57537080e-02 9.95404728e-01 -8.09317831e-04 -1.85782554e+00] [-1.06233671e-02 -2.08914666e-04 9.99943549e-01 -1.86164969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.07420382200001 meters Centerline goodness [0,1] 0.9999570326766494 Centerline is valid? [True, True] Translation: X:53.00, Y:-1.86, Z:-1.86 [[ 9.95435272e-01 9.48960129e-02 1.01669475e-02 5.30018908e+01] [-9.48930319e-02 9.95487172e-01 -7.76298635e-04 -1.86380452e+00] [-1.01947335e-02 -1.92017430e-04 9.99948014e-01 -1.86100395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.104203822 meters Centerline goodness [0,1] 0.9999570372916309 Centerline is valid? [True, True] Translation: X:53.03, Y:-1.87, Z:-1.87 [[ 9.95544060e-01 9.38681366e-02 8.98879927e-03 5.30311674e+01] [-9.38657671e-02 9.95584626e-01 -6.86061250e-04 -1.86500769e+00] [-9.01350965e-03 -1.60736337e-04 9.99959365e-01 -1.86660895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.134203822 meters Centerline goodness [0,1] 0.9999365079365079 Centerline is valid? [True, True] Translation: X:53.06, Y:-1.87, Z:-1.87 [[ 9.95695157e-01 9.23393422e-02 8.03739281e-03 5.30596608e+01] [-9.23373905e-02 9.95727588e-01 -6.14369119e-04 -1.86629364e+00] [-8.05978419e-03 -1.30427522e-04 9.99967511e-01 -1.87084897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.164203822000005 meters Centerline goodness [0,1] 0.9999572941578408 Centerline is valid? [True, True] Translation: X:53.09, Y:-1.87, Z:-1.87 [[ 9.95737614e-01 9.18358221e-02 8.53144968e-03 5.30891994e+01] [-9.18336068e-02 9.95774153e-01 -6.51878931e-04 -1.87027390e+00] [-8.55526291e-03 -1.34373423e-04 9.99963394e-01 -1.86729393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.194203822000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.12, Y:-1.87, Z:-1.87 [[ 9.95742177e-01 9.17127131e-02 9.28953980e-03 5.31187860e+01] [-9.17100865e-02 9.95785497e-01 -7.09233002e-04 -1.87008688e+00] [-9.31543469e-03 -1.45731286e-04 9.99956600e-01 -1.86931075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.22420382200001 meters Centerline goodness [0,1] 0.9999577443958505 Centerline is valid? [True, True] Translation: X:53.15, Y:-1.87, Z:-1.87 [[ 9.95718424e-01 9.19729539e-02 9.26260437e-03 5.31486964e+01] [-9.19703525e-02 9.95761495e-01 -7.07315761e-04 -1.87051982e+00] [-9.28839869e-03 -1.47597654e-04 9.99956851e-01 -1.86924032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.25420382200001 meters Centerline goodness [0,1] 0.9999576064607754 Centerline is valid? [True, True] Translation: X:53.18, Y:-1.87, Z:-1.87 [[ 9.95687949e-01 9.22555048e-02 9.71750964e-03 5.31773967e+01] [-9.22526574e-02 9.95735355e-01 -7.41813602e-04 -1.87089460e+00] [-9.74450429e-03 -1.57851223e-04 9.99952509e-01 -1.86982920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.284203822 meters Centerline goodness [0,1] 0.9999575731862537 Centerline is valid? [True, True] Translation: X:53.21, Y:-1.87, Z:-1.87 [[ 9.95663747e-01 9.24306867e-02 1.05010493e-02 5.32073546e+01] [-9.24273749e-02 9.95719106e-01 -8.01286621e-04 -1.87342101e+00] [-1.05301589e-02 -1.72772378e-04 9.99944541e-01 -1.86804768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.314203822 meters Centerline goodness [0,1] 0.9999785024829633 Centerline is valid? [True, True] Translation: X:53.24, Y:-1.87, Z:-1.87 [[ 9.95656838e-01 9.25259634e-02 1.03153998e-02 5.32375654e+01] [-9.25227804e-02 9.95710257e-01 -7.86380887e-04 -1.87453275e+00] [-1.03439100e-02 -1.71443963e-04 9.99946486e-01 -1.86676000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.344203822000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.27, Y:-1.87, Z:-1.87 [[ 9.95660371e-01 9.25636987e-02 9.61180399e-03 5.32676016e+01] [-9.25609344e-02 9.95706752e-01 -7.33011690e-04 -1.87248883e+00] [-9.63838841e-03 -1.59846867e-04 9.99953537e-01 -1.87176296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.374203822000005 meters Centerline goodness [0,1] 0.9999785204914512 Centerline is valid? [True, True] Translation: X:53.30, Y:-1.87, Z:-1.87 [[ 9.95655771e-01 9.26394975e-02 9.35463874e-03 5.32966955e+01] [-9.26368783e-02 9.95699703e-01 -7.13840985e-04 -1.87484808e+00] [-9.38054089e-03 -1.55844634e-04 9.99955990e-01 -1.87094480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.40420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.33, Y:-1.88, Z:-1.87 [[ 9.95690868e-01 9.22165805e-02 9.78764434e-03 5.33265111e+01] [-9.22136995e-02 9.95738960e-01 -7.46197546e-04 -1.87749592e+00] [-9.81475059e-03 -1.59572812e-04 9.99951821e-01 -1.87155839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.43420382200001 meters Centerline goodness [0,1] 0.9999574721442545 Centerline is valid? [True, True] Translation: X:53.36, Y:-1.88, Z:-1.87 [[ 9.95728403e-01 9.17705534e-02 1.01544350e-02 5.33552821e+01] [-9.17674321e-02 9.95780166e-01 -7.73877444e-04 -1.87849791e+00] [-1.01826042e-02 -1.61274676e-04 9.99948143e-01 -1.87266578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.46420382200001 meters Centerline goodness [0,1] 0.9999787387847089 Centerline is valid? [True, True] Translation: X:53.39, Y:-1.88, Z:-1.87 [[ 9.95786262e-01 9.10363427e-02 1.10501382e-02 5.33853177e+01] [-9.10326051e-02 9.95847557e-01 -8.41789445e-04 -1.88030959e+00] [-1.10808865e-02 -1.67680502e-04 9.99938591e-01 -1.87180621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.494203822 meters Centerline goodness [0,1] 0.9999574621945254 Centerline is valid? [True, True] Translation: X:53.42, Y:-1.88, Z:-1.87 [[ 9.95858078e-01 9.00843471e-02 1.23084577e-02 5.34150580e+01] [-9.00796448e-02 9.95934124e-01 -9.37029680e-04 -1.88161601e+00] [-1.23428248e-02 -1.75592923e-04 9.99923809e-01 -1.87179028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.524203822000004 meters Centerline goodness [0,1] 0.999978835978836 Centerline is valid? [True, True] Translation: X:53.44, Y:-1.89, Z:-1.87 [[ 9.96156656e-01 8.65857069e-02 1.32224312e-02 5.34440788e+01] [-8.65799746e-02 9.96244395e-01 -1.00641644e-03 -1.88592484e+00] [-1.32599143e-02 -1.42249325e-04 9.99912073e-01 -1.87362175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.554203822000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.48, Y:-1.89, Z:-1.87 [[ 9.96349534e-01 8.43673914e-02 1.30288098e-02 5.34755497e+01] [-8.43616494e-02 9.96434710e-01 -9.90658597e-04 -1.89273842e+00] [-1.30659376e-02 -1.12089653e-04 9.99914631e-01 -1.87154647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.584203822000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.51, Y:-1.90, Z:-1.87 [[ 9.96527198e-01 8.21667201e-02 1.34971705e-02 5.35064609e+01] [-8.21603777e-02 9.96618594e-01 -1.02466698e-03 -1.89796800e+00] [-1.35357246e-02 -8.78241082e-05 9.99908384e-01 -1.87279937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.61420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.54, Y:-1.91, Z:-1.87 [[ 9.97011887e-01 7.59610527e-02 1.40433263e-02 5.35379034e+01] [-7.59535395e-02 9.97110785e-01 -1.06834125e-03 -1.91132875e+00] [-1.40839044e-02 -1.49141258e-06 9.99900817e-01 -1.87301640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.64420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.57, Y:-1.92, Z:-1.87 [[ 9.97253910e-01 7.28628273e-02 1.32532167e-02 5.35689845e+01] [-7.28558345e-02 9.97341971e-01 -1.01032327e-03 -1.91959494e+00] [-1.32916043e-02 4.19746638e-05 9.99911662e-01 -1.87448142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.674203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.60, Y:-1.93, Z:-1.88 [[ 9.97562994e-01 6.85517031e-02 1.29899069e-02 5.35989411e+01] [-6.85445777e-02 9.97647560e-01 -9.93476643e-04 -1.92972010e+00] [-1.30274535e-02 1.00667847e-04 9.99915134e-01 -1.87674013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.704203822000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.63, Y:-1.94, Z:-1.88 [[ 9.97641207e-01 6.73255377e-02 1.33900402e-02 5.36312502e+01] [-6.73178665e-02 9.97731055e-01 -1.02330647e-03 -1.93528418e+00] [-1.34285536e-02 1.19503759e-04 9.99909826e-01 -1.87596439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.734203822000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.66, Y:-1.94, Z:-1.88 [[ 9.97696122e-01 6.64976570e-02 1.34353660e-02 5.36616645e+01] [-6.64898149e-02 9.97786572e-01 -1.03001981e-03 -1.94190150e+00] [-1.34741217e-02 1.34331769e-04 9.99909211e-01 -1.87762557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.764203822000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.69, Y:-1.94, Z:-1.88 [[ 9.97666541e-01 6.71388068e-02 1.24037747e-02 5.36940233e+01] [-6.71321569e-02 9.97743638e-01 -9.52176338e-04 -1.94454767e+00] [-1.24397152e-02 1.17262326e-04 9.99922617e-01 -1.87682238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.79420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.73, Y:-1.95, Z:-1.88 [[ 9.97615309e-01 6.80364350e-02 1.16076735e-02 5.37251512e+01] [-6.80306500e-02 9.97682832e-01 -8.92960072e-04 -1.94744067e+00] [-1.16415304e-02 1.01153063e-04 9.99932230e-01 -1.88080888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.82420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.76, Y:-1.95, Z:-1.88 [[ 9.97558293e-01 6.90333254e-02 1.05760270e-02 5.37568840e+01] [-6.90285688e-02 9.97614351e-01 -8.14557012e-04 -1.94977413e+00] [-1.06070278e-02 8.25200982e-05 9.99943740e-01 -1.88219724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.854203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.79, Y:-1.95, Z:-1.88 [[ 9.97464052e-01 7.04216550e-02 1.03080748e-02 5.37900338e+01] [-7.04171994e-02 9.97517311e-01 -7.94997833e-04 -1.95248792e+00] [-1.03384681e-02 6.71160024e-05 9.99946554e-01 -1.88320282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.884203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.82, Y:-1.95, Z:-1.89 [[ 9.97172101e-01 7.43328470e-02 1.10647493e-02 5.38217187e+01] [-7.43279188e-02 9.97233487e-01 -8.56527384e-04 -1.95373405e+00] [-1.10978066e-02 3.16854272e-05 9.99938417e-01 -1.88553941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.914203822000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.85, Y:-1.96, Z:-1.88 [[ 9.97013772e-01 7.64232832e-02 1.10914479e-02 5.38549459e+01] [-7.64184444e-02 9.97075464e-01 -8.60033629e-04 -1.95570876e+00] [-1.11247371e-02 9.87417938e-06 9.99938118e-01 -1.88473183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.944203822000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.89, Y:-1.96, Z:-1.89 [[ 9.96847000e-01 7.85717956e-02 1.10694306e-02 5.38869231e+01] [-7.85670818e-02 9.96908458e-01 -8.60729682e-04 -1.95825236e+00] [-1.11028381e-02 -1.16770594e-05 9.99938362e-01 -1.89067778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.97420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.92, Y:-1.96, Z:-1.89 [[ 9.96490030e-01 8.29543338e-02 1.12337764e-02 5.39193374e+01] [-8.29497297e-02 9.96553348e-01 -8.75972276e-04 -1.95884403e+00] [-1.12677232e-02 -5.89410756e-05 9.99936515e-01 -1.88834803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.00420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.95, Y:-1.96, Z:-1.89 [[ 9.96308828e-01 8.49533669e-02 1.23144468e-02 5.39505965e+01] [-8.49479228e-02 9.96384925e-01 -9.65426367e-04 -1.95924284e+00] [-1.23519454e-02 -8.42238651e-05 9.99923708e-01 -1.88789040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.034203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.98, Y:-1.96, Z:-1.89 [[ 9.95911821e-01 8.93777955e-02 1.30864224e-02 5.39821659e+01] [-8.93720247e-02 9.95997785e-01 -1.02629359e-03 -1.95750580e+00] [-1.31257756e-02 -1.47462147e-04 9.99913842e-01 -1.88574855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.064203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.01, Y:-1.96, Z:-1.89 [[ 9.95710422e-01 9.16381861e-02 1.27748949e-02 5.40126852e+01] [-9.16328662e-02 9.95792354e-01 -1.00237097e-03 -1.95545929e+00] [-1.28129981e-02 -1.72529016e-04 9.99917895e-01 -1.88953750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.094203822000004 meters Centerline goodness [0,1] 0.99995720002568 Centerline is valid? [True, True] Translation: X:54.04, Y:-1.96, Z:-1.89 [[ 9.95516245e-01 9.37741654e-02 1.24020872e-02 5.40438395e+01] [-9.37693182e-02 9.95593475e-01 -9.73035318e-04 -1.95620526e+00] [-1.24386826e-02 -1.94262792e-04 9.99922618e-01 -1.89022769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.124203822000005 meters Centerline goodness [0,1] 0.9999789207419899 Centerline is valid? [True, True] Translation: X:54.07, Y:-1.96, Z:-1.89 [[ 9.95193576e-01 9.70912744e-02 1.27683255e-02 5.40747197e+01] [-9.70864026e-02 9.95275452e-01 -1.00230587e-03 -1.95864863e+00] [-1.28053161e-02 -2.42142430e-04 9.99917979e-01 -1.89086493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.15420382200001 meters Centerline goodness [0,1] 0.9999360859005496 Centerline is valid? [True, True] Translation: X:54.11, Y:-1.96, Z:-1.89 [[ 9.95069844e-01 9.83635632e-02 1.26733914e-02 5.41062326e+01] [-9.83588676e-02 9.95150513e-01 -9.94784331e-04 -1.96091280e+00] [-1.27097825e-02 -2.56660538e-04 9.99919195e-01 -1.89198052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.18420382200001 meters Centerline goodness [0,1] 0.9999153851035475 Centerline is valid? [True, True] Translation: X:54.14, Y:-1.96, Z:-1.89 [[ 9.94938420e-01 9.96618165e-02 1.28476930e-02 5.41375653e+01] [-9.96570951e-02 9.95021329e-01 -1.00877277e-03 -1.96187591e+00] [-1.28842647e-02 -2.76696971e-04 9.99916956e-01 -1.89234126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.21420382200001 meters Centerline goodness [0,1] 0.9998938135791196 Centerline is valid? [True, True] Translation: X:54.17, Y:-1.96, Z:-1.89 [[ 9.94848531e-01 1.00573716e-01 1.27015175e-02 5.41684500e+01] [-1.00569172e-01 9.94929569e-01 -9.97574806e-04 -1.96369637e+00] [-1.27374451e-02 -2.84945269e-04 9.99918835e-01 -1.89235463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.244203822 meters Centerline goodness [0,1] 0.9998931989063568 Centerline is valid? [True, True] Translation: X:54.20, Y:-1.97, Z:-1.90 [[ 9.94882590e-01 1.00387840e-01 1.14417784e-02 5.41985036e+01] [-1.00384136e-01 9.94948349e-01 -8.99073923e-04 -1.96552005e+00] [-1.14742346e-02 -2.54100038e-04 9.99934137e-01 -1.89658688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.274203822000004 meters Centerline goodness [0,1] 0.9999576181394363 Centerline is valid? [True, True] Translation: X:54.23, Y:-1.97, Z:-1.90 [[ 9.94946488e-01 9.96800713e-02 1.20569261e-02 5.42288663e+01] [-9.96759010e-02 9.95019506e-01 -9.47803930e-04 -1.96952904e+00] [-1.20913538e-02 -2.58770784e-04 9.99926863e-01 -1.89681893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.304203822000005 meters Centerline goodness [0,1] 0.9999367462258582 Centerline is valid? [True, True] Translation: X:54.26, Y:-1.97, Z:-1.90 [[ 9.95038770e-01 9.86582836e-02 1.28214418e-02 5.42593434e+01] [-9.86534857e-02 9.95121336e-01 -1.00768886e-03 -1.97238392e+00] [-1.28583072e-02 -2.62190443e-04 9.99917294e-01 -1.89911723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.334203822000006 meters Centerline goodness [0,1] 0.9999575019655341 Centerline is valid? [True, True] Translation: X:54.29, Y:-1.98, Z:-1.90 [[ 9.95232528e-01 9.66814146e-02 1.28420860e-02 5.42903421e+01] [-9.66764432e-02 9.95315351e-01 -1.00879791e-03 -1.98346161e+00] [-1.28794573e-02 -2.37538697e-04 9.99917028e-01 -1.89764824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.36420382200001 meters Centerline goodness [0,1] 0.9999786397812713 Centerline is valid? [True, True] Translation: X:54.32, Y:-1.99, Z:-1.89 [[ 9.95258026e-01 9.62943786e-02 1.37424587e-02 5.43226349e+01] [-9.62886416e-02 9.95352868e-01 -1.08004901e-03 -1.99018694e+00] [-1.37825983e-02 -2.48315237e-04 9.99904985e-01 -1.89461951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.39420382200001 meters Centerline goodness [0,1] 0.9999786598378148 Centerline is valid? [True, True] Translation: X:54.35, Y:-1.99, Z:-1.89 [[ 9.95265245e-01 9.60130704e-02 1.51189735e-02 5.43534273e+01] [-9.60060863e-02 9.95380037e-01 -1.18874953e-03 -1.99314623e+00] [-1.51632598e-02 -2.68392377e-04 9.99884995e-01 -1.89388178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.424203822 meters Centerline goodness [0,1] 0.9999787451113756 Centerline is valid? [True, True] Translation: X:54.38, Y:-2.00, Z:-1.90 [[ 9.95311633e-01 9.55384953e-02 1.50714792e-02 5.43847112e+01] [-9.55314779e-02 9.95425702e-01 -1.18651730e-03 -1.99646414e+00] [-1.51158958e-02 -2.58846210e-04 9.99885715e-01 -1.89608040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.454203822000004 meters Centerline goodness [0,1] 0.9999787870431259 Centerline is valid? [True, True] Translation: X:54.42, Y:-2.00, Z:-1.90 [[ 9.95332892e-01 9.54913705e-02 1.39223748e-02 5.44162714e+01] [-9.54853801e-02 9.95430229e-01 -1.09589001e-03 -2.00014271e+00] [-1.39634007e-02 -2.38607869e-04 9.99902478e-01 -1.89885121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.484203822000005 meters Centerline goodness [0,1] 0.99995766747804 Centerline is valid? [True, True] Translation: X:54.45, Y:-2.00, Z:-1.90 [[ 9.95321726e-01 9.56560669e-02 1.35859830e-02 5.44474814e+01] [-9.56503308e-02 9.95414418e-01 -1.07286160e-03 -2.00324357e+00] [-1.36263091e-02 -2.31661309e-04 9.99907131e-01 -1.90150214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.514203822000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.48, Y:-2.01, Z:-1.90 [[ 9.95178162e-01 9.71000474e-02 1.38566766e-02 5.44787545e+01] [-9.70942167e-02 9.95274593e-01 -1.09449292e-03 -2.01052824e+00] [-1.38974735e-02 -2.56187711e-04 9.99903393e-01 -1.90052930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.54420382200001 meters Centerline goodness [0,1] 0.9999574757611839 Centerline is valid? [True, True] Translation: X:54.51, Y:-2.01, Z:-1.90 [[ 9.95066699e-01 9.83802523e-02 1.27902497e-02 5.45103270e+01] [-9.83753705e-02 9.95148865e-01 -1.01180445e-03 -2.01434948e+00] [-1.28277441e-02 -2.51432642e-04 9.99917689e-01 -1.90220130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.57420382200001 meters Centerline goodness [0,1] 0.9999148881843521 Centerline is valid? [True, True] Translation: X:54.54, Y:-2.01, Z:-1.91 [[ 9.94717753e-01 1.02118620e-01 1.04105727e-02 5.45403115e+01] [-1.02115560e-01 9.94772200e-01 -8.26447565e-04 -2.01283303e+00] [-1.04405440e-02 -2.40999394e-04 9.99945467e-01 -1.90827317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.604203822 meters Centerline goodness [0,1] 0.9998507430862066 Centerline is valid? [True, True] Translation: X:54.57, Y:-2.01, Z:-1.91 [[ 9.94463652e-01 1.04572949e-01 1.03220252e-02 5.45709921e+01] [-1.04570067e-01 9.94517184e-01 -8.20017569e-04 -2.01473021e+00] [-1.03511831e-02 -2.63897197e-04 9.99946390e-01 -1.90807864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.634203822 meters Centerline goodness [0,1] 0.9997248560785642 Centerline is valid? [True, True] Translation: X:54.60, Y:-2.01, Z:-1.91 [[ 9.94195615e-01 1.07066079e-01 1.05798310e-02 5.46005447e+01] [-1.07063175e-01 9.94251863e-01 -8.42191666e-04 -2.01110734e+00] [-1.06091869e-02 -2.95407032e-04 9.99943677e-01 -1.91085591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.664203822000005 meters Centerline goodness [0,1] 0.9996191926884996 Centerline is valid? [True, True] Translation: X:54.63, Y:-2.01, Z:-1.91 [[ 9.93923199e-01 1.09531853e-01 1.09291865e-02 5.46314120e+01] [-1.09528907e-01 9.93983230e-01 -8.69613384e-04 -2.01039858e+00] [-1.09586785e-02 -3.32732936e-04 9.99939897e-01 -1.91017445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.694203822000006 meters Centerline goodness [0,1] 0.9992742331419301 Centerline is valid? [True, True] Translation: X:54.66, Y:-2.01, Z:-1.91 [[ 9.93510820e-01 1.13180520e-01 1.12437298e-02 5.46616420e+01] [-1.13177633e-01 9.93574367e-01 -8.94747284e-04 -2.00701514e+00] [-1.12727497e-02 -3.83597617e-04 9.99936387e-01 -1.91032392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.72420382200001 meters Centerline goodness [0,1] 0.9987921681640957 Centerline is valid? [True, True] Translation: X:54.69, Y:-2.01, Z:-1.91 [[ 9.93382762e-01 1.14267249e-01 1.15622136e-02 5.46901398e+01] [-1.14264263e-01 9.93449964e-01 -9.20622323e-04 -2.00861287e+00] [-1.15916776e-02 -4.06617471e-04 9.99932732e-01 -1.91081157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.75420382200001 meters Centerline goodness [0,1] 0.9984518482387122 Centerline is valid? [True, True] Translation: X:54.72, Y:-2.01, Z:-1.91 [[ 9.93297109e-01 1.15022823e-01 1.14281644e-02 5.47192708e+01] [-1.15019962e-01 9.93362764e-01 -9.09550612e-04 -2.01099527e+00] [-1.14569320e-02 -4.11013033e-04 9.99934283e-01 -1.91153495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.784203822 meters Centerline goodness [0,1] 0.994228451829771 Centerline is valid? [True, True] Translation: X:54.75, Y:-2.01, Z:-1.91 [[ 9.93216759e-01 1.15703268e-01 1.15422872e-02 5.47484088e+01] [-1.15700399e-01 9.93283733e-01 -9.18213432e-04 -2.00716037e+00] [-1.15710064e-02 -4.23462273e-04 9.99932964e-01 -1.91344075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.814203822 meters Centerline goodness [0,1] 0.9893192612137203 Centerline is valid? [True, True] Translation: X:54.78, Y:-2.00, Z:-1.92 [[ 9.93188354e-01 1.15940008e-01 1.16106892e-02 5.47768282e+01] [-1.15937121e-01 9.93256125e-01 -9.23680787e-04 -2.00431417e+00] [-1.16394797e-02 -4.28720879e-04 9.99932167e-01 -1.91560465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.844203822000004 meters Centerline goodness [0,1] 0.9834662066934516 Centerline is valid? [True, True] Translation: X:54.81, Y:-2.00, Z:-1.92 [[ 9.93187283e-01 1.15995329e-01 1.11401800e-02 5.48059227e+01] [-1.15992688e-01 9.93249673e-01 -8.85048616e-04 -2.00303877e+00] [-1.11676417e-02 -4.13160399e-04 9.99937555e-01 -1.91933872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.874203822000005 meters Centerline goodness [0,1] 0.9982139783095197 Centerline is valid? [True, True] Translation: X:54.83, Y:-2.01, Z:-1.92 [[ 9.93231085e-01 1.15762944e-01 9.53690245e-03 5.48346102e+01] [-1.15760999e-01 9.93276808e-01 -7.57506465e-04 -2.01400533e+00] [-9.56047521e-03 -3.51622390e-04 9.99954236e-01 -1.91736004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.90420382200001 meters Centerline goodness [0,1] 0.9982139783095197 Centerline is valid? [True, True] Translation: X:54.86, Y:-2.02, Z:-1.92 [[ 9.93236686e-01 1.15714883e-01 9.53687880e-03 5.48628681e+01] [-1.15712934e-01 9.93282408e-01 -7.57804838e-04 -2.01616008e+00] [-9.56050324e-03 -3.50860658e-04 9.99954236e-01 -1.91825117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.93420382200001 meters Centerline goodness [0,1] 0.9958777782499681 Centerline is valid? [True, True] Translation: X:54.89, Y:-2.01, Z:-1.92 [[ 9.93333223e-01 1.15019951e-01 7.71484849e-03 5.48918475e+01] [-1.15018657e-01 9.93363143e-01 -6.12649109e-04 -2.01468449e+00] [-7.73411302e-03 -2.78786798e-04 9.99970052e-01 -1.92430836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.96420382200001 meters Centerline goodness [0,1] 0.9948520496075219 Centerline is valid? [True, True] Translation: X:54.92, Y:-2.02, Z:-1.93 [[ 9.93418402e-01 1.14245434e-01 8.23764764e-03 5.49200276e+01] [-1.14243933e-01 9.93452513e-01 -6.54043436e-04 -2.01661816e+00] [-8.25843323e-03 -2.91362482e-04 9.99965856e-01 -1.92564059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.994203822 meters Centerline goodness [0,1] 0.9985150930188159 Centerline is valid? [True, True] Translation: X:54.95, Y:-2.02, Z:-1.92 [[ 9.93747048e-01 1.11259090e-01 9.39252041e-03 5.49497101e+01] [-1.11257018e-01 9.93791387e-01 -7.44453813e-04 -2.02382432e+00] [-9.41703314e-03 -3.05185037e-04 9.99955612e-01 -1.92368723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.024203822000004 meters Centerline goodness [0,1] 0.9991915753643229 Centerline is valid? [True, True] Translation: X:54.98, Y:-2.03, Z:-1.92 [[ 9.93950505e-01 1.09390572e-01 9.80285153e-03 5.49795450e+01] [-1.09388225e-01 9.93998799e-01 -7.76870271e-04 -2.02581648e+00] [-9.82900493e-03 -3.00145927e-04 9.99951649e-01 -1.92426730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.054203822000005 meters Centerline goodness [0,1] 0.9989371200204072 Centerline is valid? [True, True] Translation: X:55.01, Y:-2.02, Z:-1.93 [[ 9.94182278e-01 1.07184508e-01 1.06339248e-02 5.50083722e+01] [-1.07181627e-01 9.94239101e-01 -8.42093618e-04 -2.02382229e+00] [-1.06629232e-02 -3.02566813e-04 9.99943104e-01 -1.92659128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.084203822000006 meters Centerline goodness [0,1] 0.9998509401418199 Centerline is valid? [True, True] Translation: X:55.04, Y:-2.03, Z:-1.93 [[ 9.94435505e-01 1.04818554e-01 1.05402773e-02 5.50380845e+01] [-1.04815591e-01 9.94491325e-01 -8.34687239e-04 -2.02964225e+00] [-1.05697051e-02 -2.74742765e-04 9.99944101e-01 -1.92615480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.11420382200001 meters Centerline goodness [0,1] 0.9998507844474761 Centerline is valid? [True, True] Translation: X:55.07, Y:-2.04, Z:-1.93 [[ 9.94931305e-01 1.00091447e-01 9.66436029e-03 5.50678013e+01] [-1.00088735e-01 9.94978221e-01 -7.64987920e-04 -2.04160087e+00] [-9.69239676e-03 -2.06183172e-04 9.99953006e-01 -1.92735520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.14420382200001 meters Centerline goodness [0,1] 0.9998721472863261 Centerline is valid? [True, True] Translation: X:55.10, Y:-2.05, Z:-1.93 [[ 9.95126766e-01 9.80902988e-02 1.00504691e-02 5.50970732e+01] [-9.80872622e-02 9.95177500e-01 -7.95804953e-04 -2.04620926e+00] [-1.00800615e-02 -1.93896191e-04 9.99949176e-01 -1.92918840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.174203822 meters Centerline goodness [0,1] 0.9999156296140055 Centerline is valid? [True, True] Translation: X:55.13, Y:-2.05, Z:-1.93 [[ 9.95454062e-01 9.46410970e-02 1.06899046e-02 5.51282185e+01] [-9.46374749e-02 9.95511443e-01 -8.45310887e-04 -2.05418492e+00] [-1.07219235e-02 -1.70197426e-04 9.99942504e-01 -1.92897100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.204203822000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.16, Y:-2.06, Z:-1.93 [[ 9.95603627e-01 9.30835867e-02 1.04337789e-02 5.51596861e+01] [-9.30800445e-02 9.95658287e-01 -8.25641253e-04 -2.05923414e+00] [-1.04653321e-02 -1.49165182e-04 9.99945226e-01 -1.92923838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.234203822000005 meters Centerline goodness [0,1] 0.9999786187727175 Centerline is valid? [True, True] Translation: X:55.19, Y:-2.06, Z:-1.93 [[ 9.95710912e-01 9.19298896e-02 1.04247669e-02 5.51919440e+01] [-9.19263204e-02 9.95765472e-01 -8.22045975e-04 -2.06412995e+00] [-1.04561936e-02 -1.39790319e-04 9.99945323e-01 -1.92647234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.264203822000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.22, Y:-2.06, Z:-1.93 [[ 9.95789922e-01 9.09129392e-02 1.17161853e-02 5.52232148e+01] [-9.09083116e-02 9.95858834e-01 -9.28044650e-04 -2.06237790e+00] [-1.17520379e-02 -1.40961112e-04 9.99930932e-01 -1.92853087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.29420382200001 meters Centerline goodness [0,1] 0.9999578094675555 Centerline is valid? [True, True] Translation: X:55.25, Y:-2.07, Z:-1.93 [[ 9.95781721e-01 9.09500544e-02 1.21182044e-02 5.52544924e+01] [-9.09451031e-02 9.95855444e-01 -9.60174173e-04 -2.06553924e+00] [-1.21553077e-02 -1.45967459e-04 9.99926111e-01 -1.92986612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.32420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.29, Y:-2.07, Z:-1.93 [[ 9.95762470e-01 9.11828451e-02 1.19495246e-02 5.52861990e+01] [-9.11780294e-02 9.95834157e-01 -9.48308388e-04 -2.07048631e+00] [-1.19862142e-02 -1.45244201e-04 9.99928152e-01 -1.93060482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.354203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.32, Y:-2.07, Z:-1.93 [[ 9.95658320e-01 9.20183075e-02 1.40406943e-02 5.53177647e+01] [-9.20116965e-02 9.95757299e-01 -1.11748164e-03 -2.07491265e+00] [-1.40839526e-02 -1.79278208e-04 9.99900800e-01 -1.92853367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.384203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.35, Y:-2.08, Z:-1.93 [[ 9.95550201e-01 9.29732863e-02 1.53546691e-02 5.53500887e+01] [-9.29654477e-02 9.95668582e-01 -1.22502998e-03 -2.07799583e+00] [-1.54020567e-02 -2.07874844e-04 9.99881360e-01 -1.92579696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.414203822000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.38, Y:-2.08, Z:-1.92 [[ 9.95480974e-01 9.36985731e-02 1.54339793e-02 5.53829211e+01] [-9.36907084e-02 9.95600587e-01 -1.23343537e-03 -2.08132039e+00] [-1.54816500e-02 -2.18159007e-04 9.99880128e-01 -1.92436823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.444203822000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.41, Y:-2.08, Z:-1.93 [[ 9.95429539e-01 9.45099134e-02 1.37079605e-02 5.54141726e+01] [-9.45037495e-02 9.95523900e-01 -1.09817704e-03 -2.08136605e+00] [-1.37503909e-02 -2.02295807e-04 9.99905438e-01 -1.93033571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.47420382200001 meters Centerline goodness [0,1] 0.9999577461813112 Centerline is valid? [True, True] Translation: X:55.45, Y:-2.08, Z:-1.93 [[ 9.95400857e-01 9.49166529e-02 1.29600504e-02 5.54453466e+01] [-9.49111526e-02 9.95485204e-01 -1.04018684e-03 -2.08481659e+00] [-1.30002695e-02 -1.94650455e-04 9.99915474e-01 -1.93348144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.50420382200001 meters Centerline goodness [0,1] 0.9999787134403337 Centerline is valid? [True, True] Translation: X:55.48, Y:-2.09, Z:-1.94 [[ 9.95371481e-01 9.52816763e-02 1.25306667e-02 5.54775343e+01] [-9.52765442e-02 9.95450333e-01 -1.00725504e-03 -2.08972737e+00] [-1.25696293e-02 -1.91285683e-04 9.99920981e-01 -1.93557333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.534203822 meters Centerline goodness [0,1] 0.9999786475348579 Centerline is valid? [True, True] Translation: X:55.51, Y:-2.10, Z:-1.93 [[ 9.95307926e-01 9.59458162e-02 1.25113222e-02 5.55094940e+01] [-9.59407282e-02 9.95386539e-01 -1.00762496e-03 -2.09612615e+00] [-1.25502791e-02 -1.97448261e-04 9.99921223e-01 -1.93481873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.564203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.54, Y:-2.10, Z:-1.94 [[ 9.95170216e-01 9.73554689e-02 1.25759002e-02 5.55399897e+01] [-9.73503785e-02 9.95249651e-01 -1.01776146e-03 -2.09945457e+00] [-1.26152449e-02 -2.11422745e-04 9.99920402e-01 -1.93619956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.594203822000004 meters Centerline goodness [0,1] 0.9999789198532821 Centerline is valid? [True, True] Translation: X:55.57, Y:-2.10, Z:-1.94 [[ 9.95048631e-01 9.85806085e-02 1.26524672e-02 5.55708255e+01] [-9.85755813e-02 9.95129042e-01 -1.02187770e-03 -2.10014619e+00] [-1.26915748e-02 -2.30406296e-04 9.99919432e-01 -1.93740643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.624203822000005 meters Centerline goodness [0,1] 0.9999572530831213 Centerline is valid? [True, True] Translation: X:55.60, Y:-2.10, Z:-1.94 [[ 9.94939012e-01 9.97061097e-02 1.24520812e-02 5.56026944e+01] [-9.97013082e-02 9.95016902e-01 -1.00732819e-03 -2.10113280e+00] [-1.24904680e-02 -2.39258672e-04 9.99921962e-01 -1.93881519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.65420382200001 meters Centerline goodness [0,1] 0.9999571835327867 Centerline is valid? [True, True] Translation: X:55.63, Y:-2.11, Z:-1.94 [[ 9.94707787e-01 1.01892305e-01 1.32051819e-02 5.56340212e+01] [-1.01887032e-01 9.94795397e-01 -1.07321877e-03 -2.10580478e+00] [-1.32458069e-02 -2.77897718e-04 9.99912232e-01 -1.93704869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.68420382200001 meters Centerline goodness [0,1] 0.9999152434631521 Centerline is valid? [True, True] Translation: X:55.67, Y:-2.11, Z:-1.94 [[ 9.94558749e-01 1.03293773e-01 1.35384800e-02 5.56652860e+01] [-1.03288388e-01 9.94650845e-01 -1.09828474e-03 -2.10832931e+00] [-1.35795065e-02 -3.06059073e-04 9.99907747e-01 -1.93839830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.71420382200001 meters Centerline goodness [0,1] 0.9998939262150752 Centerline is valid? [True, True] Translation: X:55.70, Y:-2.11, Z:-1.94 [[ 9.94313546e-01 1.05555664e-01 1.40916306e-02 5.56958369e+01] [-1.05549990e-01 9.94413336e-01 -1.14788692e-03 -2.11146105e+00] [-1.41340714e-02 -3.46011952e-04 9.99900049e-01 -1.93868177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.744203822 meters Centerline goodness [0,1] 0.9998307845252449 Centerline is valid? [True, True] Translation: X:55.73, Y:-2.11, Z:-1.94 [[ 9.94193189e-01 1.06662636e-01 1.42472578e-02 5.57277070e+01] [-1.06656978e-01 9.94295201e-01 -1.15851540e-03 -2.11437329e+00] [-1.42895503e-02 -3.67781348e-04 9.99897832e-01 -1.93952909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.774203822000004 meters Centerline goodness [0,1] 0.999936593820011 Centerline is valid? [True, True] Translation: X:55.76, Y:-2.12, Z:-1.94 [[ 9.94099854e-01 1.07494526e-01 1.45054159e-02 5.57584350e+01] [-1.07488711e-01 9.94205602e-01 -1.18218827e-03 -2.11680131e+00] [-1.45484445e-02 -3.83955260e-04 9.99894092e-01 -1.94066338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.804203822000005 meters Centerline goodness [0,1] 0.9998317489694625 Centerline is valid? [True, True] Translation: X:55.79, Y:-2.12, Z:-1.94 [[ 9.94087680e-01 1.07630481e-01 1.43305522e-02 5.57904759e+01] [-1.07624780e-01 9.94190895e-01 -1.17065317e-03 -2.12336964e+00] [-1.43733025e-02 -3.78590636e-04 9.99896627e-01 -1.94242822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.834203822000006 meters Centerline goodness [0,1] 0.9999144787479689 Centerline is valid? [True, True] Translation: X:55.82, Y:-2.13, Z:-1.94 [[ 9.94127318e-01 1.07305053e-01 1.40178647e-02 5.58218225e+01] [-1.07299556e-01 9.94226077e-01 -1.14582625e-03 -2.13030988e+00] [-1.40598796e-02 -3.65013487e-04 9.99901088e-01 -1.94274469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.86420382200001 meters Centerline goodness [0,1] 0.9998941306004913 Centerline is valid? [True, True] Translation: X:55.85, Y:-2.14, Z:-1.94 [[ 9.94212655e-01 1.06456952e-01 1.44261614e-02 5.58528924e+01] [-1.06451002e-01 9.94317247e-01 -1.18193948e-03 -2.13618792e+00] [-1.44700067e-02 -3.60580137e-04 9.99895239e-01 -1.94375691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.89420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.88, Y:-2.15, Z:-1.95 [[ 9.94515644e-01 1.03590682e-01 1.44084544e-02 5.58834627e+01] [-1.03584382e-01 9.94619964e-01 -1.18486160e-03 -2.14814119e+00] [-1.44536770e-02 -3.14127435e-04 9.99895491e-01 -1.94512986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.924203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.92, Y:-2.16, Z:-1.94 [[ 9.94637111e-01 1.02513863e-01 1.37085841e-02 5.59153758e+01] [-1.02508072e-01 9.94731535e-01 -1.12630019e-03 -2.15881961e+00] [-1.37518223e-02 -2.84980563e-04 9.99905399e-01 -1.94463390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.954203822000004 meters Centerline goodness [0,1] 0.9999369323915237 Centerline is valid? [True, True] Translation: X:55.95, Y:-2.16, Z:-1.95 [[ 9.94713532e-01 1.01768514e-01 1.37171049e-02 5.59461092e+01] [-1.01762627e-01 9.94808069e-01 -1.12831461e-03 -2.16025407e+00] [-1.37607136e-02 -2.73538818e-04 9.99905279e-01 -1.94984576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.984203822000005 meters Centerline goodness [0,1] 0.9999788131104472 Centerline is valid? [True, True] Translation: X:55.98, Y:-2.17, Z:-1.95 [[ 9.94738830e-01 1.01479713e-01 1.40188195e-02 5.59782810e+01] [-1.01473531e-01 9.94837571e-01 -1.15341817e-03 -2.16810426e+00] [-1.40634969e-02 -2.75189273e-04 9.99901066e-01 -1.94776067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.014203822000006 meters Centerline goodness [0,1] 0.999936450102739 Centerline is valid? [True, True] Translation: X:56.01, Y:-2.17, Z:-1.95 [[ 9.94681039e-01 1.02107707e-01 1.35516191e-02 5.60098484e+01] [-1.02101960e-01 9.94773312e-01 -1.11703600e-03 -2.17473613e+00] [-1.35948470e-02 -2.72552343e-04 9.99907549e-01 -1.95024932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.04420382200001 meters Centerline goodness [0,1] 0.9999156580778475 Centerline is valid? [True, True] Translation: X:56.04, Y:-2.18, Z:-1.95 [[ 9.94573005e-01 1.03251059e-01 1.27967698e-02 5.60405194e+01] [-1.03245972e-01 9.94655291e-01 -1.05924138e-03 -2.17591088e+00] [-1.28377426e-02 -2.67722064e-04 9.99917557e-01 -1.95377372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.07420382200001 meters Centerline goodness [0,1] 0.9999147884623578 Centerline is valid? [True, True] Translation: X:56.07, Y:-2.18, Z:-1.95 [[ 9.94433062e-01 1.04636471e-01 1.24134931e-02 5.60721862e+01] [-1.04631822e-01 9.94510498e-01 -1.02508523e-03 -2.18054070e+00] [-1.24526105e-02 -2.79467769e-04 9.99922424e-01 -1.95296916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.104203822 meters Centerline goodness [0,1] 0.99987335626992 Centerline is valid? [True, True] Translation: X:56.10, Y:-2.18, Z:-1.96 [[ 9.94114415e-01 1.07622001e-01 1.24110758e-02 5.61038694e+01] [-1.07617558e-01 9.94191836e-01 -1.02719185e-03 -2.17638996e+00] [-1.24495386e-02 -3.14503449e-04 9.99922452e-01 -1.95531681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.134203822 meters Centerline goodness [0,1] 0.9997464610183816 Centerline is valid? [True, True] Translation: X:56.14, Y:-2.18, Z:-1.96 [[ 9.93924140e-01 1.09365422e-01 1.24100354e-02 5.61355748e+01] [-1.09361092e-01 9.94001556e-01 -1.02903902e-03 -2.17627657e+00] [-1.24481358e-02 -3.34388305e-04 9.99922463e-01 -1.95668580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.164203822000005 meters Centerline goodness [0,1] 0.9996403486502496 Centerline is valid? [True, True] Translation: X:56.17, Y:-2.18, Z:-1.96 [[ 9.93609882e-01 1.12159863e-01 1.26319710e-02 5.61680341e+01] [-1.12155552e-01 9.93690106e-01 -1.05141476e-03 -2.17801423e+00] [-1.26701912e-02 -3.72049592e-04 9.99919661e-01 -1.95629384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.194203822000006 meters Centerline goodness [0,1] 0.999345936365938 Centerline is valid? [True, True] Translation: X:56.20, Y:-2.18, Z:-1.96 [[ 9.93458903e-01 1.13454887e-01 1.29381735e-02 5.61993090e+01] [-1.13450490e-01 9.93543069e-01 -1.07562013e-03 -2.18006080e+00] [-1.29766670e-02 -3.99257734e-04 9.99915720e-01 -1.95684680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.22420382200001 meters Centerline goodness [0,1] 0.9992186015078879 Centerline is valid? [True, True] Translation: X:56.23, Y:-2.18, Z:-1.96 [[ 9.93345048e-01 1.14423220e-01 1.31507708e-02 5.62300289e+01] [-1.14418705e-01 9.93432008e-01 -1.09771313e-03 -2.18136952e+00] [-1.31900005e-02 -4.14286261e-04 9.99912922e-01 -1.95750019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.25420382200001 meters Centerline goodness [0,1] 0.9992126151816305 Centerline is valid? [True, True] Translation: X:56.26, Y:-2.18, Z:-1.96 [[ 9.93233164e-01 1.15344131e-01 1.35504243e-02 5.62619117e+01] [-1.15339452e-01 9.93325494e-01 -1.12892841e-03 -2.18401522e+00] [-1.35901972e-02 -4.41609376e-04 9.99907551e-01 -1.95750975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.284203822 meters Centerline goodness [0,1] 0.9986492190797805 Centerline is valid? [True, True] Translation: X:56.29, Y:-2.18, Z:-1.96 [[ 9.93215359e-01 1.15290696e-01 1.52087751e-02 5.62932819e+01] [-1.15284744e-01 9.93331674e-01 -1.27040137e-03 -2.18394128e+00] [-1.52538235e-02 -4.91557591e-04 9.99883533e-01 -1.95796396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.314203822 meters Centerline goodness [0,1] 0.9992197714141116 Centerline is valid? [True, True] Translation: X:56.32, Y:-2.19, Z:-1.96 [[ 9.93297391e-01 1.14483151e-01 1.59342827e-02 5.63243495e+01] [-1.14476471e-01 9.93425065e-01 -1.33370517e-03 -2.18767385e+00] [-1.59822026e-02 -4.99334588e-04 9.99872152e-01 -1.95805206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.344203822000004 meters Centerline goodness [0,1] 0.9997246812656191 Centerline is valid? [True, True] Translation: X:56.36, Y:-2.20, Z:-1.96 [[ 9.93562343e-01 1.12013877e-01 1.69340314e-02 5.63553497e+01] [-1.12005901e-01 9.93706525e-01 -1.42171627e-03 -2.19872712e+00] [-1.69867095e-02 -4.84147692e-04 9.99855598e-01 -1.95508494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.374203822000005 meters Centerline goodness [0,1] 0.9999788628196998 Centerline is valid? [True, True] Translation: X:56.39, Y:-2.21, Z:-1.95 [[ 9.93716968e-01 1.10636538e-01 1.69157693e-02 5.63868504e+01] [-1.10628402e-01 9.93860827e-01 -1.41884499e-03 -2.20741732e+00] [-1.69688966e-02 -4.61434190e-04 9.99855911e-01 -1.95448677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.40420382200001 meters Centerline goodness [0,1] 0.9999365576162582 Centerline is valid? [True, True] Translation: X:56.42, Y:-2.21, Z:-1.96 [[ 9.93884768e-01 1.09162019e-01 1.66349350e-02 5.64178956e+01] [-1.09153896e-01 9.94023879e-01 -1.39818672e-03 -2.21099901e+00] [-1.66881515e-02 -4.26131477e-04 9.99860652e-01 -1.95680253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.43420382200001 meters Centerline goodness [0,1] 0.9999154119438335 Centerline is valid? [True, True] Translation: X:56.45, Y:-2.22, Z:-1.96 [[ 9.94054559e-01 1.07638516e-01 1.64159621e-02 5.64502661e+01] [-1.07630333e-01 9.94190020e-01 -1.38373326e-03 -2.21686310e+00] [-1.64695287e-02 -3.91349120e-04 9.99864292e-01 -1.95744612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.46420382200001 meters Centerline goodness [0,1] 0.9998728032053592 Centerline is valid? [True, True] Translation: X:56.48, Y:-2.22, Z:-1.96 [[ 9.94349685e-01 1.04959035e-01 1.58840967e-02 5.64808781e+01] [-1.04951041e-01 9.94476489e-01 -1.33832986e-03 -2.22239648e+00] [-1.59368305e-02 -3.36284609e-04 9.99872944e-01 -1.96082770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.494203822 meters Centerline goodness [0,1] 0.9999574087482431 Centerline is valid? [True, True] Translation: X:56.51, Y:-2.23, Z:-1.96 [[ 9.94474187e-01 1.03760030e-01 1.59670941e-02 5.65128919e+01] [-1.03751761e-01 9.94602311e-01 -1.34759172e-03 -2.23052858e+00] [-1.60207349e-02 -3.16468955e-04 9.99871610e-01 -1.96123920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.524203822000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.54, Y:-2.24, Z:-1.96 [[ 9.94664148e-01 1.02117698e-01 1.46699567e-02 5.65445517e+01] [-1.02110510e-01 9.94772288e-01 -1.24013525e-03 -2.24162941e+00] [-1.47199061e-02 -2.64438683e-04 9.99891621e-01 -1.96429851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.554203822000005 meters Centerline goodness [0,1] 0.9999359945382006 Centerline is valid? [True, True] Translation: X:56.58, Y:-2.25, Z:-1.97 [[ 9.94724289e-01 1.01700603e-01 1.34378806e-02 5.65757352e+01] [-1.01694507e-01 9.94815024e-01 -1.13799568e-03 -2.24675008e+00] [-1.34839404e-02 -2.34566703e-04 9.99909060e-01 -1.96812891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.584203822000006 meters Centerline goodness [0,1] 0.9999366687777074 Centerline is valid? [True, True] Translation: X:56.61, Y:-2.25, Z:-1.97 [[ 9.94761278e-01 1.01396766e-01 1.29882868e-02 5.66076872e+01] [-1.01391025e-01 9.94846042e-01 -1.10138776e-03 -2.25160890e+00] [-1.30330229e-02 -2.21277815e-04 9.99915042e-01 -1.97083434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.61420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.64, Y:-2.26, Z:-1.97 [[ 9.94795720e-01 1.01067127e-01 1.29194524e-02 5.66398644e+01] [-1.01061387e-01 9.94879586e-01 -1.09806902e-03 -2.25685736e+00] [-1.29642781e-02 -2.13303414e-04 9.99915937e-01 -1.97202565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.64420382200001 meters Centerline goodness [0,1] 0.999936565665109 Centerline is valid? [True, True] Translation: X:56.67, Y:-2.26, Z:-1.97 [[ 9.94851530e-01 1.00514936e-01 1.29298737e-02 5.66714342e+01] [-1.00509114e-01 9.94935529e-01 -1.10091556e-03 -2.26342063e+00] [-1.29750492e-02 -2.04322618e-04 9.99915800e-01 -1.97123862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.674203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.70, Y:-2.27, Z:-1.97 [[ 9.94897480e-01 1.00047872e-01 1.30164272e-02 5.67030479e+01] [-1.00041907e-01 9.94982605e-01 -1.11028372e-03 -2.27187984e+00] [-1.30622002e-02 -1.97569718e-04 9.99914666e-01 -1.97002731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.704203822000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.73, Y:-2.28, Z:-1.97 [[ 9.94948741e-01 9.94852139e-02 1.34050159e-02 5.67335291e+01] [-9.94787993e-02 9.95039022e-01 -1.14612204e-03 -2.27873078e+00] [-1.34525361e-02 -1.93182206e-04 9.99909492e-01 -1.97201360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.734203822000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.76, Y:-2.29, Z:-1.97 [[ 9.95113608e-01 9.76710733e-02 1.44661059e-02 5.67648263e+01] [-9.76633756e-02 9.95218734e-01 -1.23929973e-03 -2.29436385e+00] [-1.45179833e-02 -1.79564706e-04 9.99894592e-01 -1.96921455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.764203822000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.80, Y:-2.30, Z:-1.97 [[ 9.95165467e-01 9.71131218e-02 1.46538167e-02 5.67956086e+01] [-9.71051220e-02 9.95273336e-01 -1.25814293e-03 -2.30059975e+00] [-1.47067352e-02 -1.70900262e-04 9.99891836e-01 -1.97109416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.79420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.83, Y:-2.31, Z:-1.97 [[ 9.95182424e-01 9.70268830e-02 1.40615394e-02 5.68285164e+01] [-9.70194880e-02 9.95281748e-01 -1.20872231e-03 -2.30709036e+00] [-1.41124721e-02 -1.61344155e-04 9.99900401e-01 -1.97307401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.82420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.86, Y:-2.31, Z:-1.97 [[ 9.95164076e-01 9.72149245e-02 1.40613105e-02 5.68608710e+01] [-9.72075107e-02 9.95263399e-01 -1.21137558e-03 -2.31007848e+00] [-1.41124715e-02 -1.61347535e-04 9.99900401e-01 -1.97409621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.854203822 meters Centerline goodness [0,1] 0.9999788976112096 Centerline is valid? [True, True] Translation: X:56.89, Y:-2.32, Z:-1.98 [[ 9.95091358e-01 9.81638286e-02 1.25320515e-02 5.68915669e+01] [-9.81579846e-02 9.95170256e-01 -1.08205560e-03 -2.31920878e+00] [-1.25777436e-02 -1.53376734e-04 9.99920885e-01 -1.97846651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.884203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.92, Y:-2.32, Z:-1.98 [[ 9.95003931e-01 9.91242861e-02 1.18976188e-02 5.69227284e+01] [-9.91190678e-02 9.95075048e-01 -1.02891136e-03 -2.32359342e+00] [-1.19410137e-02 -1.55510038e-04 9.99928691e-01 -1.98066819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.914203822000005 meters Centerline goodness [0,1] 0.9999787451113756 Centerline is valid? [True, True] Translation: X:56.95, Y:-2.33, Z:-1.98 [[ 9.94742324e-01 1.01685492e-01 1.21560197e-02 5.69547636e+01] [-1.01680215e-01 9.94816579e-01 -1.05300073e-03 -2.32761393e+00] [-1.22000848e-02 -1.88562303e-04 9.99925558e-01 -1.98012420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.944203822000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.99, Y:-2.33, Z:-1.98 [[ 9.94586945e-01 1.03147571e-01 1.25454242e-02 5.69871925e+01] [-1.03142039e-01 9.94666042e-01 -1.08890511e-03 -2.33100427e+00] [-1.25908253e-02 -2.10949821e-04 9.99920710e-01 -1.97986656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.97420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.02, Y:-2.34, Z:-1.98 [[ 9.94423719e-01 1.04718379e-01 1.24711243e-02 5.70189437e+01] [-1.04713013e-01 9.94501890e-01 -1.08428803e-03 -2.33720718e+00] [-1.25161016e-02 -2.27647271e-04 9.99921645e-01 -1.97783259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.00420382200001 meters Centerline goodness [0,1] 0.999957274999466 Centerline is valid? [True, True] Translation: X:57.05, Y:-2.34, Z:-1.98 [[ 9.94039464e-01 1.08373414e-01 1.18636604e-02 5.70496168e+01] [-1.08368777e-01 9.94110224e-01 -1.03492363e-03 -2.34045109e+00] [-1.19059443e-02 -2.56895432e-04 9.99929089e-01 -1.97953910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.03420382200001 meters Centerline goodness [0,1] 0.9997676874340021 Centerline is valid? [True, True] Translation: X:57.08, Y:-2.34, Z:-1.98 [[ 9.93763959e-01 1.10857039e-01 1.19962603e-02 5.70804521e+01] [-1.10852466e-01 9.93836321e-01 -1.04753462e-03 -2.33983377e+00] [-1.20384458e-02 -2.88812881e-04 9.99927494e-01 -1.98185088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.064203822 meters Centerline goodness [0,1] 0.9997017024268638 Centerline is valid? [True, True] Translation: X:57.11, Y:-2.34, Z:-1.98 [[ 9.93475406e-01 1.13429658e-01 1.18460986e-02 5.71125072e+01] [-1.13425361e-01 9.93545980e-01 -1.03612007e-03 -2.33958244e+00] [-1.18871704e-02 -3.14288215e-04 9.99929296e-01 -1.98260814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.094203822000004 meters Centerline goodness [0,1] 0.9999151805593842 Centerline is valid? [True, True] Translation: X:57.14, Y:-2.34, Z:-1.98 [[ 9.93157869e-01 1.16112793e-01 1.24605854e-02 5.71443328e+01] [-1.16108267e-01 9.93235967e-01 -1.08851933e-03 -2.33959212e+00] [-1.25026926e-02 -3.65705432e-04 9.99921771e-01 -1.98242939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.124203822000005 meters Centerline goodness [0,1] 0.998089577584377 Centerline is valid? [True, True] Translation: X:57.17, Y:-2.34, Z:-1.99 [[ 9.92763369e-01 1.19462628e-01 1.22300542e-02 5.71748237e+01] [-1.19458466e-01 9.92838619e-01 -1.07288241e-03 -2.33643586e+00] [-1.22706394e-02 -3.95865147e-04 9.99924635e-01 -1.98644704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.15420382200001 meters Centerline goodness [0,1] 0.9997229090289027 Centerline is valid? [True, True] Translation: X:57.21, Y:-2.34, Z:-1.99 [[ 9.92682472e-01 1.20198557e-01 1.15679335e-02 5.72059797e+01] [-1.20194915e-01 9.92749796e-01 -1.01205365e-03 -2.34465393e+00] [-1.16057110e-02 -3.85758865e-04 9.99932577e-01 -1.98510145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.18420382200001 meters Centerline goodness [0,1] 0.9987555105570672 Centerline is valid? [True, True] Translation: X:57.24, Y:-2.35, Z:-1.99 [[ 9.92678882e-01 1.20245037e-01 1.13915732e-02 5.72378004e+01] [-1.20241481e-01 9.92744171e-01 -9.99063469e-04 -2.34535638e+00] [-1.14290504e-02 -3.77990427e-04 9.99934615e-01 -1.98907630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.21420382200001 meters Centerline goodness [0,1] 0.9990673619059731 Centerline is valid? [True, True] Translation: X:57.27, Y:-2.35, Z:-1.99 [[ 9.92785831e-01 1.19430453e-01 1.06141872e-02 5.72691830e+01] [-1.19427318e-01 9.92842510e-01 -9.31021235e-04 -2.35156217e+00] [-1.06494086e-02 -3.43319217e-04 9.99943235e-01 -1.99118473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.244203822 meters Centerline goodness [0,1] 0.9995312666453606 Centerline is valid? [True, True] Translation: X:57.30, Y:-2.36, Z:-1.99 [[ 9.92928687e-01 1.18272886e-01 1.02052588e-02 5.73007611e+01] [-1.18269912e-01 9.92981079e-01 -8.96603851e-04 -2.35842408e+00] [-1.02396728e-02 -3.16711375e-04 9.99947523e-01 -1.99260449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.274203822000004 meters Centerline goodness [0,1] 0.9998070450013936 Centerline is valid? [True, True] Translation: X:57.33, Y:-2.37, Z:-1.99 [[ 9.93178654e-01 1.16040228e-01 1.14379725e-02 5.73320806e+01] [-1.16036286e-01 9.93244462e-01 -1.00992147e-03 -2.36701232e+00] [-1.14778943e-02 -3.24187404e-04 9.99934074e-01 -1.98898634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.304203822000005 meters Centerline goodness [0,1] 0.9996399983058744 Centerline is valid? [True, True] Translation: X:57.36, Y:-2.37, Z:-1.99 [[ 9.93270742e-01 1.15166612e-01 1.22427214e-02 5.73637387e+01] [-1.15162051e-01 9.93346132e-01 -1.07923922e-03 -2.36568722e+00] [-1.22855523e-02 -3.37920171e-04 9.99924473e-01 -1.99172326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.334203822000006 meters Centerline goodness [0,1] 0.9998285212097828 Centerline is valid? [True, True] Translation: X:57.40, Y:-2.37, Z:-1.99 [[ 9.93347935e-01 1.14477040e-01 1.24453779e-02 5.73951307e+01] [-1.14472250e-01 9.93425838e-01 -1.09889417e-03 -2.37322176e+00] [-1.24893582e-02 -3.33066162e-04 9.99921949e-01 -1.98932267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.36420382200001 meters Centerline goodness [0,1] 0.9999359275554227 Centerline is valid? [True, True] Translation: X:57.43, Y:-2.38, Z:-1.99 [[ 9.93482201e-01 1.13068591e-01 1.44433628e-02 5.74253830e+01] [-1.13061921e-01 9.93587119e-01 -1.28014860e-03 -2.37768016e+00] [-1.44954839e-02 -3.61189502e-04 9.99894870e-01 -1.98695164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.39420382200001 meters Centerline goodness [0,1] 0.9998733268589284 Centerline is valid? [True, True] Translation: X:57.46, Y:-2.38, Z:-1.99 [[ 9.93505771e-01 1.12715961e-01 1.55369103e-02 5.74575608e+01] [-1.12708202e-01 9.93627176e-01 -1.37686805e-03 -2.38305250e+00] [-1.55930914e-02 -3.83210887e-04 9.99878347e-01 -1.98633608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.424203822 meters Centerline goodness [0,1] 0.9999367968651245 Centerline is valid? [True, True] Translation: X:57.49, Y:-2.39, Z:-1.99 [[ 9.93559705e-01 1.12193972e-01 1.58626772e-02 5.74885451e+01] [-1.12185772e-01 9.93686252e-01 -1.40864316e-03 -2.38877370e+00] [-1.59205655e-02 -3.79995608e-04 9.99873188e-01 -1.98716293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.454203822000004 meters Centerline goodness [0,1] 0.9999787102680378 Centerline is valid? [True, True] Translation: X:57.52, Y:-2.40, Z:-1.99 [[ 9.93793067e-01 1.10194792e-01 1.52462230e-02 5.75199701e+01] [-1.10186952e-01 9.93909954e-01 -1.35583868e-03 -2.39799417e+00] [-1.53027792e-02 -3.32511760e-04 9.99882850e-01 -1.98897823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.484203822000005 meters Centerline goodness [0,1] 0.9999155244873392 Centerline is valid? [True, True] Translation: X:57.55, Y:-2.40, Z:-1.99 [[ 9.93943329e-01 1.08881363e-01 1.48831000e-02 5.75502769e+01] [-1.08873707e-01 9.94054705e-01 -1.32606192e-03 -2.40347490e+00] [-1.49389991e-02 -3.02347871e-04 9.99888361e-01 -1.99165779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.514203822000006 meters Centerline goodness [0,1] 0.9999574250681199 Centerline is valid? [True, True] Translation: X:57.58, Y:-2.42, Z:-2.00 [[ 9.94312555e-01 1.05728720e-01 1.28054609e-02 5.75813460e+01] [-1.05722779e-01 9.94394987e-01 -1.14197079e-03 -2.41513841e+00] [-1.28544253e-02 -2.18353010e-04 9.99917355e-01 -1.99527235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.54420382200001 meters Centerline goodness [0,1] 0.9999572895978815 Centerline is valid? [True, True] Translation: X:57.61, Y:-2.42, Z:-2.00 [[ 9.94449459e-01 1.04526016e-01 1.20244098e-02 5.76130151e+01] [-1.04520669e-01 9.94522135e-01 -1.07397053e-03 -2.42227313e+00] [-1.20707996e-02 -1.88789950e-04 9.99927127e-01 -1.99731557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.57420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.64, Y:-2.43, Z:-2.00 [[ 9.94504699e-01 1.04035670e-01 1.17039879e-02 5.76440939e+01] [-1.04030552e-01 9.94573551e-01 -1.04693913e-03 -2.42821730e+00] [-1.17493958e-02 -1.76386434e-04 9.99930958e-01 -2.00010648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.604203822 meters Centerline goodness [0,1] 0.9999358124010441 Centerline is valid? [True, True] Translation: X:57.68, Y:-2.44, Z:-2.00 [[ 9.94431684e-01 1.04979134e-01 9.21990975e-03 5.76755801e+01] [-1.04975968e-01 9.94474414e-01 -8.28046865e-04 -2.43911212e+00] [-9.25589199e-03 -1.44432913e-04 9.99957153e-01 -2.00356934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.634203822 meters Centerline goodness [0,1] 0.9999359398688903 Centerline is valid? [True, True] Translation: X:57.71, Y:-2.44, Z:-2.01 [[ 9.94257647e-01 1.06725846e-01 7.83103989e-03 5.77066526e+01] [-1.06723621e-01 9.94288477e-01 -7.02683695e-04 -2.44278377e+00] [-7.86130723e-03 -1.37108292e-04 9.99969090e-01 -2.00675447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.664203822000005 meters Centerline goodness [0,1] 0.9999148138683023 Centerline is valid? [True, True] Translation: X:57.74, Y:-2.44, Z:-2.01 [[ 9.93988755e-01 1.09228253e-01 7.45272456e-03 5.77373530e+01] [-1.09226304e-01 9.94016683e-01 -6.69185939e-04 -2.44403129e+00] [-7.48122656e-03 -1.48870262e-04 9.99972004e-01 -2.00845976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.694203822000006 meters Centerline goodness [0,1] 0.9997658279047984 Centerline is valid? [True, True] Translation: X:57.77, Y:-2.44, Z:-2.01 [[ 9.93647796e-01 1.12228537e-01 8.29530935e-03 5.77691376e+01] [-1.12226232e-01 9.93682403e-01 -7.44233611e-04 -2.44078848e+00] [-8.32642718e-03 -1.91445226e-04 9.99965316e-01 -2.01029163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.72420382200001 meters Centerline goodness [0,1] 0.999597338193532 Centerline is valid? [True, True] Translation: X:57.80, Y:-2.44, Z:-2.01 [[ 9.92954262e-01 1.18172781e-01 8.77650842e-03 5.78009770e+01] [-1.18170394e-01 9.92993017e-01 -7.91910466e-04 -2.43775054e+00] [-8.80859383e-03 -2.50792586e-04 9.99961172e-01 -2.00704621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.75420382200001 meters Centerline goodness [0,1] 0.994938216465684 Centerline is valid? [True, True] Translation: X:57.83, Y:-2.43, Z:-2.01 [[ 9.92611283e-01 1.21021551e-01 8.75362243e-03 5.78324597e+01] [-1.21019310e-01 9.92649841e-01 -7.87143480e-04 -2.43322243e+00] [-8.78454324e-03 -2.78029848e-04 9.99961377e-01 -2.01089938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.78420382200001 meters Centerline goodness [0,1] 0.99744 Centerline is valid? [True, True] Translation: X:57.86, Y:-2.44, Z:-2.01 [[ 9.92221992e-01 1.24086010e-01 9.90864770e-03 5.78646880e+01] [-1.24083248e-01 9.92271407e-01 -8.95414781e-04 -2.43728838e+00] [-9.94317624e-03 -3.41046951e-04 9.99950507e-01 -2.00699413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.814203822 meters Centerline goodness [0,1] 0.9965283693985346 Centerline is valid? [True, True] Translation: X:57.90, Y:-2.44, Z:-2.01 [[ 9.92119209e-01 1.24885654e-01 1.01512876e-02 5.78958699e+01] [-1.24882814e-01 9.92171076e-01 -9.15653479e-04 -2.43825668e+00] [-1.01861659e-02 -3.59283958e-04 9.99948055e-01 -2.00863380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.844203822000004 meters Centerline goodness [0,1] 0.9945204899824401 Centerline is valid? [True, True] Translation: X:57.93, Y:-2.44, Z:-2.01 [[ 9.92062394e-01 1.25330505e-01 1.02210610e-02 5.79268801e+01] [-1.25327633e-01 9.92114979e-01 -9.23537220e-04 -2.43997123e+00] [-1.02562151e-02 -3.64774840e-04 9.99947337e-01 -2.01026827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.874203822000005 meters Centerline goodness [0,1] 0.9979144054991593 Centerline is valid? [True, True] Translation: X:57.96, Y:-2.45, Z:-2.01 [[ 9.92017777e-01 1.25715224e-01 9.81894726e-03 5.79589042e+01] [-1.25712584e-01 9.92066307e-01 -8.88109212e-04 -2.44567349e+00] [-9.85269560e-03 -3.53345103e-04 9.99951399e-01 -2.00988372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.90420382200001 meters Centerline goodness [0,1] 0.9910330891639303 Centerline is valid? [True, True] Translation: X:57.99, Y:-2.44, Z:-2.01 [[ 9.91961366e-01 1.26139297e-01 1.00759958e-02 5.79901445e+01] [-1.26136503e-01 9.92012473e-01 -9.14771217e-04 -2.44262711e+00] [-1.01109021e-02 -3.63533178e-04 9.99948817e-01 -2.01391804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.93420382200001 meters Centerline goodness [0,1] 0.990643101143621 Centerline is valid? [True, True] Translation: X:58.02, Y:-2.45, Z:-2.02 [[ 9.91968648e-01 1.26114816e-01 9.65683871e-03 5.80225749e+01] [-1.26112261e-01 9.92015590e-01 -8.75548060e-04 -2.44515435e+00] [-9.69015413e-03 -3.49329537e-04 9.99952988e-01 -2.01561063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.96420382200001 meters Centerline goodness [0,1] 0.989436545327784 Centerline is valid? [True, True] Translation: X:58.05, Y:-2.45, Z:-2.02 [[ 9.92023014e-01 1.25746870e-01 8.83539272e-03 5.80539604e+01] [-1.25744704e-01 9.92062309e-01 -8.02463493e-04 -2.44805545e+00] [-8.86616738e-03 -3.14941589e-04 9.99960645e-01 -2.01872506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.994203822 meters Centerline goodness [0,1] 0.9864414691591165 Centerline is valid? [True, True] Translation: X:58.09, Y:-2.45, Z:-2.02 [[ 9.92137472e-01 1.24939526e-01 7.30422302e-03 5.80862073e+01] [-1.24938021e-01 9.92164326e-01 -6.63750848e-04 -2.44994055e+00] [-7.32991823e-03 -2.54043084e-04 9.99973104e-01 -2.02280098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.024203822000004 meters Centerline goodness [0,1] 0.9981322455989695 Centerline is valid? [True, True] Translation: X:58.12, Y:-2.46, Z:-2.02 [[ 9.92162481e-01 1.24767468e-01 6.83296331e-03 5.81182990e+01] [-1.24766145e-01 9.92185982e-01 -6.21177652e-04 -2.45872743e+00] [-6.85707317e-03 -2.36213330e-04 9.99976462e-01 -2.02011468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.054203822000005 meters Centerline goodness [0,1] 0.9991548196948682 Centerline is valid? [True, True] Translation: X:58.15, Y:-2.46, Z:-2.02 [[ 9.92147707e-01 1.24874004e-01 7.02922184e-03 5.81501990e+01] [-1.24872593e-01 9.92172578e-01 -6.41047024e-04 -2.46189998e+00] [-7.05425127e-03 -2.41743821e-04 9.99975089e-01 -2.02031580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.084203822000006 meters Centerline goodness [0,1] 0.9910361527677471 Centerline is valid? [True, True] Translation: X:58.18, Y:-2.46, Z:-2.03 [[ 9.92128348e-01 1.25019689e-01 7.17070757e-03 5.81827776e+01] [-1.25018216e-01 9.92154230e-01 -6.54997654e-04 -2.45851385e+00] [-7.19633545e-03 -2.46627329e-04 9.99974076e-01 -2.02590965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.11420382200001 meters Centerline goodness [0,1] 0.9972257197123284 Centerline is valid? [True, True] Translation: X:58.22, Y:-2.46, Z:-2.02 [[ 9.92151213e-01 1.24818476e-01 7.50456243e-03 5.82150082e+01] [-1.24816842e-01 9.92179562e-01 -6.87523470e-04 -2.46477747e+00] [-7.53168910e-03 -2.54568538e-04 9.99971604e-01 -2.02394001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.14420382200001 meters Centerline goodness [0,1] 0.9990614134260543 Centerline is valid? [True, True] Translation: X:58.25, Y:-2.47, Z:-2.02 [[ 9.92370333e-01 1.22939800e-01 9.32350711e-03 5.82459235e+01] [-1.22937141e-01 9.92414087e-01 -8.60022445e-04 -2.46974992e+00] [-9.35851078e-03 -2.92744545e-04 9.99956165e-01 -2.02093209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.174203822 meters Centerline goodness [0,1] 0.9979319658985397 Centerline is valid? [True, True] Translation: X:58.28, Y:-2.47, Z:-2.02 [[ 9.92549123e-01 1.21452729e-01 9.77106522e-03 5.82761938e+01] [-1.21449742e-01 9.92597174e-01 -9.00591856e-04 -2.46868922e+00] [-9.80811106e-03 -2.92811698e-04 9.99951856e-01 -2.02333277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.204203822000004 meters Centerline goodness [0,1] 0.9997875504567665 Centerline is valid? [True, True] Translation: X:58.31, Y:-2.47, Z:-2.02 [[ 9.92771446e-01 1.19595582e-01 1.00872676e-02 5.83071559e+01] [-1.19592286e-01 9.92822652e-01 -9.31431350e-04 -2.47490644e+00] [-1.01262629e-02 -2.81660947e-04 9.99948688e-01 -2.02095944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.234203822000005 meters Centerline goodness [0,1] 0.9998509940823365 Centerline is valid? [True, True] Translation: X:58.34, Y:-2.48, Z:-2.02 [[ 9.93421038e-01 1.13967911e-01 1.12230149e-02 5.83369481e+01] [-1.13963465e-01 9.93484400e-01 -1.03698101e-03 -2.48305144e+00] [-1.12680727e-02 -2.48854905e-04 9.99936482e-01 -2.02002685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.264203822000006 meters Centerline goodness [0,1] 0.9999786100832068 Centerline is valid? [True, True] Translation: X:58.37, Y:-2.49, Z:-2.02 [[ 9.93798370e-01 1.10579235e-01 1.17060579e-02 5.83673491e+01] [-1.10574166e-01 9.93867287e-01 -1.08138719e-03 -2.49076082e+00] [-1.17538470e-02 -2.19706760e-04 9.99930897e-01 -2.02092467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.29420382200001 meters Centerline goodness [0,1] 0.9999787771387338 Centerline is valid? [True, True] Translation: X:58.40, Y:-2.50, Z:-2.02 [[ 9.94166793e-01 1.07264689e-01 1.12549339e-02 5.83993039e+01] [-1.07259803e-01 9.94230484e-01 -1.03859804e-03 -2.50013603e+00] [-1.13014033e-02 -1.74662311e-04 9.99936122e-01 -2.02144426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.32420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.43, Y:-2.51, Z:-2.03 [[ 9.94822894e-01 1.01156804e-01 9.73195340e-03 5.84291556e+01] [-1.01152867e-01 9.94870490e-01 -8.97187534e-04 -2.51232311e+00] [-9.77278987e-03 -9.18722903e-05 9.99952241e-01 -2.02636912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.354203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.46, Y:-2.52, Z:-2.02 [[ 9.95047848e-01 9.88795511e-02 1.01298521e-02 5.84604735e+01] [-9.88751531e-02 9.95099407e-01 -9.35281827e-04 -2.52088276e+00] [-1.01726901e-02 -7.09405080e-05 9.99948254e-01 -2.02356402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.384203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.49, Y:-2.53, Z:-2.02 [[ 9.95292544e-01 9.62730032e-02 1.11472251e-02 5.84908572e+01] [-9.62674834e-02 9.95354965e-01 -1.03194254e-03 -2.52681940e+00] [-1.11947940e-02 -4.60305849e-05 9.99937335e-01 -2.02329295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.414203822000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.52, Y:-2.53, Z:-2.02 [[ 9.95275645e-01 9.64348037e-02 1.12569951e-02 5.85239097e+01] [-9.64291728e-02 9.95339302e-01 -1.04318712e-03 -2.52909844e+00] [-1.13051292e-02 -4.72439889e-05 9.99936094e-01 -2.02271638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.444203822000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.56, Y:-2.53, Z:-2.02 [[ 9.95196538e-01 9.71445259e-02 1.21157667e-02 5.85550593e+01] [-9.71380120e-02 9.95270284e-01 -1.12634822e-03 -2.53110893e+00] [-1.21678811e-02 -5.59636434e-05 9.99925967e-01 -2.02343014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.47420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.59, Y:-2.53, Z:-2.03 [[ 9.94920466e-01 9.99134631e-02 1.22705077e-02 5.85860368e+01] [-9.99069520e-02 9.94996127e-01 -1.14399915e-03 -2.53096966e+00] [-1.23234085e-02 -8.77208543e-05 9.99924060e-01 -2.02567198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.50420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.62, Y:-2.53, Z:-2.03 [[ 9.94741851e-01 1.01737176e-01 1.17557269e-02 5.86179977e+01] [-1.01731332e-01 9.94811307e-01 -1.09556756e-03 -2.53025441e+00] [-1.18061900e-02 -1.06118859e-04 9.99930299e-01 -2.02656862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.53420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.65, Y:-2.53, Z:-2.03 [[ 9.94499390e-01 1.04037843e-01 1.21281109e-02 5.86502427e+01] [-1.04031768e-01 9.94573330e-01 -1.13241674e-03 -2.52798733e+00] [-1.21801098e-02 -1.35521064e-04 9.99925811e-01 -2.02680442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.564203822 meters Centerline goodness [0,1] 0.9999566160520608 Centerline is valid? [True, True] Translation: X:58.68, Y:-2.52, Z:-2.02 [[ 9.93985340e-01 1.08720717e-01 1.31510344e-02 5.86826013e+01] [-1.08713949e-01 9.94072313e-01 -1.23055229e-03 -2.52281142e+00] [-1.32068657e-02 -2.06549952e-04 9.99912764e-01 -2.02317994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.594203822000004 meters Centerline goodness [0,1] 0.9998945570341002 Centerline is valid? [True, True] Translation: X:58.71, Y:-2.52, Z:-2.03 [[ 9.93714969e-01 1.11236377e-01 1.25311020e-02 5.87140603e+01] [-1.11230392e-01 9.93793951e-01 -1.17572398e-03 -2.51607540e+00] [-1.25841166e-02 -2.25504876e-04 9.99920791e-01 -2.02962007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.624203822000005 meters Centerline goodness [0,1] 0.9999786425184742 Centerline is valid? [True, True] Translation: X:58.75, Y:-2.51, Z:-2.03 [[ 9.93158928e-01 1.16189218e-01 1.16365918e-02 5.87457809e+01] [-1.16184373e-01 9.93227061e-01 -1.09379617e-03 -2.51028658e+00] [-1.16848652e-02 -2.65676693e-04 9.99931694e-01 -2.02988956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.65420382200001 meters Centerline goodness [0,1] 0.9998716357879424 Centerline is valid? [True, True] Translation: X:58.78, Y:-2.51, Z:-2.03 [[ 9.92882855e-01 1.18483157e-01 1.20573128e-02 5.87784287e+01] [-1.18478152e-01 9.92956015e-01 -1.13101792e-03 -2.51100458e+00] [-1.21063878e-02 -3.05559837e-04 9.99926668e-01 -2.02850706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.68420382200001 meters Centerline goodness [0,1] 0.9998295515074038 Centerline is valid? [True, True] Translation: X:58.81, Y:-2.51, Z:-2.03 [[ 9.92656607e-01 1.20287368e-01 1.27987913e-02 5.88093696e+01] [-1.20281828e-01 9.92739055e-01 -1.20453758e-03 -2.51070609e+00] [-1.28507506e-02 -3.43769834e-04 9.99917367e-01 -2.02892442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.71420382200001 meters Centerline goodness [0,1] 0.9998295515074038 Centerline is valid? [True, True] Translation: X:58.84, Y:-2.51, Z:-2.03 [[ 9.92633766e-01 1.20475710e-01 1.27988619e-02 5.88417075e+01] [-1.20470195e-01 9.92716215e-01 -1.20379237e-03 -2.51393829e+00] [-1.28506655e-02 -3.46956443e-04 9.99917367e-01 -2.02994660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.744203822 meters Centerline goodness [0,1] 0.9999147048788809 Centerline is valid? [True, True] Translation: X:58.87, Y:-2.51, Z:-2.03 [[ 9.92478618e-01 1.21767740e-01 1.26019723e-02 5.88730032e+01] [-1.21762459e-01 9.92558558e-01 -1.18828377e-03 -2.51075451e+00] [-1.26528901e-02 -3.55100904e-04 9.99919886e-01 -2.03102086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.774203822000004 meters Centerline goodness [0,1] 0.9998275750587322 Centerline is valid? [True, True] Translation: X:58.91, Y:-2.51, Z:-2.03 [[ 9.92497029e-01 1.21681327e-01 1.19709119e-02 5.89056485e+01] [-1.21676545e-01 9.92569162e-01 -1.12972659e-03 -2.51059064e+00] [-1.20194246e-02 -3.35328909e-04 9.99927708e-01 -2.03399754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.804203822000005 meters Centerline goodness [0,1] 0.9998294679399727 Centerline is valid? [True, True] Translation: X:58.94, Y:-2.51, Z:-2.04 [[ 9.92614806e-01 1.20794874e-01 1.11554837e-02 5.89368299e+01] [-1.20790625e-01 9.92677445e-01 -1.05639509e-03 -2.51117259e+00] [-1.12014041e-02 -2.98884435e-04 9.99937218e-01 -2.03752463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.834203822000006 meters Centerline goodness [0,1] 0.9999571899481998 Centerline is valid? [True, True] Translation: X:58.97, Y:-2.52, Z:-2.04 [[ 9.92882558e-01 1.18554312e-01 1.13622594e-02 5.89678855e+01] [-1.18549731e-01 9.92947531e-01 -1.07824331e-03 -2.51520345e+00] [-1.14099578e-02 -2.76423810e-04 9.99934866e-01 -2.03793854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.86420382200001 meters Centerline goodness [0,1] 0.9998509623573497 Centerline is valid? [True, True] Translation: X:59.00, Y:-2.52, Z:-2.04 [[ 9.92976981e-01 1.17685108e-01 1.21215273e-02 5.89994796e+01] [-1.17679854e-01 9.93050922e-01 -1.14828630e-03 -2.51622198e+00] [-1.21724301e-02 -2.86237701e-04 9.99925872e-01 -2.03989312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.89420382200001 meters Centerline goodness [0,1] 0.9998284917997642 Centerline is valid? [True, True] Translation: X:59.03, Y:-2.53, Z:-2.03 [[ 9.93301305e-01 1.14743546e-01 1.36541479e-02 5.90301745e+01] [-1.14736526e-01 9.93395109e-01 -1.29894878e-03 -2.52605169e+00] [-1.37130097e-02 -2.76381972e-04 9.99905934e-01 -2.03437069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.924203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.06, Y:-2.53, Z:-2.04 [[ 9.93501018e-01 1.12860154e-01 1.47754318e-02 5.90613138e+01] [-1.12851752e-01 9.93610845e-01 -1.40386966e-03 -2.52954222e+00] [-1.48394702e-02 -2.72687431e-04 9.99889852e-01 -2.03593330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.954203822000004 meters Centerline goodness [0,1] 0.9999783965953034 Centerline is valid? [True, True] Translation: X:59.09, Y:-2.54, Z:-2.03 [[ 9.93712028e-01 1.10886601e-01 1.55102465e-02 5.90929471e+01] [-1.10877065e-01 9.93833033e-01 -1.47605809e-03 -2.53755172e+00] [-1.55782704e-02 -2.52953932e-04 9.99878619e-01 -2.03249694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.984203822000005 meters Centerline goodness [0,1] 0.9999787147995999 Centerline is valid? [True, True] Translation: X:59.12, Y:-2.54, Z:-2.04 [[ 9.93933130e-01 1.08888411e-01 1.54999016e-02 5.91244235e+01] [-1.08878602e-01 9.94053955e-01 -1.47778361e-03 -2.53940683e+00] [-1.55686520e-02 -2.18789543e-04 9.99878777e-01 -2.03790904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.014203822000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.16, Y:-2.55, Z:-2.04 [[ 9.94557951e-01 1.03293068e-01 1.36023857e-02 5.91554680e+01] [-1.03284966e-01 9.94650958e-01 -1.29865024e-03 -2.55471984e+00] [-1.36637675e-02 -1.13339020e-04 9.99906640e-01 -2.04015551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.04420382200001 meters Centerline goodness [0,1] 0.9999568444674607 Centerline is valid? [True, True] Translation: X:59.19, Y:-2.56, Z:-2.04 [[ 9.94879905e-01 1.00080166e-01 1.40689515e-02 5.91863470e+01] [-1.00071142e-01 9.94979374e-01 -1.34575611e-03 -2.56384681e+00] [-1.41330001e-02 -6.90303300e-05 9.99900122e-01 -2.04083456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.07420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.22, Y:-2.57, Z:-2.04 [[ 9.95133912e-01 9.72894405e-02 1.55968422e-02 5.92175722e+01] [-9.72779561e-02 9.95256130e-01 -1.49510945e-03 -2.57269906e+00] [-1.56683112e-02 -2.93948138e-05 9.99877244e-01 -2.03938622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.104203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.25, Y:-2.58, Z:-2.04 [[ 9.95487520e-01 9.35934375e-02 1.56482128e-02 5.92494813e+01] [-9.35813708e-02 9.95610500e-01 -1.50319477e-03 -2.58339480e+00] [-1.57202141e-02 3.20304358e-05 9.99876429e-01 -2.04009803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.134203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.28, Y:-2.59, Z:-2.04 [[ 9.95587961e-01 9.25990800e-02 1.51665073e-02 5.92799547e+01] [-9.25875916e-02 9.95703474e-01 -1.45941193e-03 -2.58944341e+00] [-1.52364842e-02 4.87425633e-05 9.99883917e-01 -2.04263465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.164203822000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.31, Y:-2.59, Z:-2.04 [[ 9.95587493e-01 9.25581324e-02 1.54446311e-02 5.93120020e+01] [-9.25462119e-02 9.95707281e-01 -1.48629287e-03 -2.59408633e+00] [-1.55159001e-02 5.03924924e-05 9.99879620e-01 -2.04349502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.194203822000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.34, Y:-2.59, Z:-2.04 [[ 9.95247316e-01 9.58660104e-02 1.71022663e-02 5.93444277e+01] [-9.58518189e-02 9.95394248e-01 -1.64947721e-03 -2.59324008e+00] [-1.71816263e-02 2.35443201e-06 9.99852385e-01 -2.04036939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.22420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.38, Y:-2.59, Z:-2.04 [[ 9.94957019e-01 9.89304648e-02 1.65315914e-02 5.93758269e+01] [-9.89175802e-02 9.95094348e-01 -1.59728194e-03 -2.59324782e+00] [-1.66085130e-02 -4.60381414e-05 9.99862068e-01 -2.04275446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.25420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.41, Y:-2.59, Z:-2.05 [[ 9.94201133e-01 1.06561032e-01 1.44517475e-02 5.94082041e+01] [-1.06551967e-01 9.94306152e-01 -1.39799552e-03 -2.58831170e+00] [-1.45184333e-02 -1.49973392e-04 9.99894591e-01 -2.04717429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.28420382200001 meters Centerline goodness [0,1] 0.9999785204914512 Centerline is valid? [True, True] Translation: X:59.44, Y:-2.58, Z:-2.05 [[ 9.93741568e-01 1.10852583e-01 1.37622850e-02 5.94402142e+01] [-1.10844746e-01 9.93836840e-01 -1.33322098e-03 -2.58496205e+00] [-1.38252568e-02 -2.00599875e-04 9.99904406e-01 -2.04923253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.314203822 meters Centerline goodness [0,1] 0.9999786265415607 Centerline is valid? [True, True] Translation: X:59.47, Y:-2.58, Z:-2.05 [[ 9.93267104e-01 1.15148701e-01 1.26978815e-02 5.94705034e+01] [-1.15142338e-01 9.93348237e-01 -1.23349926e-03 -2.57872998e+00] [-1.27554540e-02 -2.36869524e-04 9.99918618e-01 -2.05326701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.344203822000004 meters Centerline goodness [0,1] 0.9998929382039313 Centerline is valid? [True, True] Translation: X:59.50, Y:-2.57, Z:-2.05 [[ 9.92823950e-01 1.19038039e-01 1.14258578e-02 5.95020464e+01] [-1.19033132e-01 9.92889661e-01 -1.11095253e-03 -2.57494586e+00] [-1.14768617e-02 -2.57075366e-04 9.99934106e-01 -2.05459977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.374203822000005 meters Centerline goodness [0,1] 0.9996818393925253 Centerline is valid? [True, True] Translation: X:59.53, Y:-2.56, Z:-2.06 [[ 9.92050670e-01 1.25333391e-01 1.12698634e-02 5.95326699e+01] [-1.25329010e-01 9.92114628e-01 -1.09694502e-03 -2.56006687e+00] [-1.13184801e-02 -3.24215781e-04 9.99935891e-01 -2.05782783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.40420382200001 meters Centerline goodness [0,1] 0.9994024116956568 Centerline is valid? [True, True] Translation: X:59.56, Y:-2.56, Z:-2.06 [[ 9.91726670e-01 1.27834356e-01 1.16871715e-02 5.95646264e+01] [-1.27829857e-01 9.91795463e-01 -1.13426317e-03 -2.55813050e+00] [-1.17362815e-02 -3.69090427e-04 9.99931059e-01 -2.05813172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.43420382200001 meters Centerline goodness [0,1] 0.9909269301373621 Centerline is valid? [True, True] Translation: X:59.60, Y:-2.55, Z:-2.06 [[ 9.91477253e-01 1.29731457e-01 1.19417977e-02 5.95959281e+01] [-1.29726857e-01 9.91549087e-01 -1.16227680e-03 -2.55194444e+00] [-1.19916625e-02 -3.96800877e-04 9.99928019e-01 -2.06229117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.46420382200001 meters Centerline goodness [0,1] 0.9981754921928038 Centerline is valid? [True, True] Translation: X:59.63, Y:-2.56, Z:-2.06 [[ 9.91372245e-01 1.30492803e-01 1.23571705e-02 5.96282473e+01] [-1.30487942e-01 9.91449167e-01 -1.20226793e-03 -2.55506669e+00] [-1.24083937e-02 -4.20566687e-04 9.99922924e-01 -2.06007921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.494203822 meters Centerline goodness [0,1] 0.9994868395732216 Centerline is valid? [True, True] Translation: X:59.66, Y:-2.56, Z:-2.06 [[ 9.91557469e-01 1.29090687e-01 1.22221472e-02 5.96603691e+01] [-1.29085802e-01 9.91632713e-01 -1.19100543e-03 -2.55832735e+00] [-1.22736287e-02 -3.96755346e-04 9.99924597e-01 -2.06024730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.524203822000004 meters Centerline goodness [0,1] 0.9999352051835854 Centerline is valid? [True, True] Translation: X:59.69, Y:-2.56, Z:-2.06 [[ 9.91860343e-01 1.26700247e-01 1.26533803e-02 5.96916376e+01] [-1.26694755e-01 9.91940979e-01 -1.23793360e-03 -2.56313645e+00] [-1.27082530e-02 -3.75259684e-04 9.99919176e-01 -2.05925020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.554203822000005 meters Centerline goodness [0,1] 0.9999141851883635 Centerline is valid? [True, True] Translation: X:59.72, Y:-2.57, Z:-2.06 [[ 9.92800475e-01 1.19031253e-01 1.33708132e-02 5.97208940e+01] [-1.19024411e-01 9.92890465e-01 -1.30915764e-03 -2.56819012e+00] [-1.34315836e-02 -2.91720827e-04 9.99909750e-01 -2.06088707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.584203822000006 meters Centerline goodness [0,1] 0.9998947058080276 Centerline is valid? [True, True] Translation: X:59.75, Y:-2.57, Z:-2.07 [[ 9.93331084e-01 1.14582405e-01 1.28152537e-02 5.97510380e+01] [-1.14575759e-01 9.93413722e-01 -1.25395162e-03 -2.57302162e+00] [-1.28745296e-02 -2.22728297e-04 9.99917095e-01 -2.06688693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.61420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.78, Y:-2.60, Z:-2.06 [[ 9.94415023e-01 1.04737654e-01 1.29917304e-02 5.97798824e+01] [-1.04729976e-01 9.94499882e-01 -1.27176448e-03 -2.59577510e+00] [-1.30534759e-02 -9.59619023e-05 9.99914795e-01 -2.06350846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.64420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.81, Y:-2.61, Z:-2.06 [[ 9.94867762e-01 1.00196929e-01 1.40964956e-02 5.98110626e+01] [-1.00187470e-01 9.94967624e-01 -1.37739459e-03 -2.60597691e+00] [-1.41635675e-02 -4.19667522e-05 9.99899691e-01 -2.06210519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.674203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.84, Y:-2.61, Z:-2.06 [[ 9.95259876e-01 9.60654407e-02 1.51397114e-02 5.98431525e+01] [-9.60540069e-02 9.95375020e-01 -1.48226501e-03 -2.61313881e+00] [-1.52120850e-02 2.10089402e-05 9.99884289e-01 -2.06083081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.704203822000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.87, Y:-2.62, Z:-2.06 [[ 9.95813139e-01 8.99555839e-02 1.62537805e-02 5.98747887e+01] [-8.99415388e-02 9.95945770e-01 -1.59453395e-03 -2.61885375e+00] [-1.63313212e-02 1.25967827e-04 9.99866627e-01 -2.06073166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.734203822000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.91, Y:-2.62, Z:-2.06 [[ 9.95924265e-01 8.86241577e-02 1.67516582e-02 5.99064487e+01] [-8.86090022e-02 9.96065126e-01 -1.64625089e-03 -2.62497714e+00] [-1.68316401e-02 1.55193495e-04 9.99858326e-01 -2.06387596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.764203822000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.94, Y:-2.63, Z:-2.06 [[ 9.95959220e-01 8.82041833e-02 1.68894704e-02 5.99388740e+01] [-8.81886658e-02 9.96102402e-01 -1.66281017e-03 -2.62880508e+00] [-1.69703088e-02 1.66631261e-04 9.99855980e-01 -2.06217754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.79420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.97, Y:-2.63, Z:-2.06 [[ 9.95851216e-01 8.95381750e-02 1.62256362e-02 5.99715084e+01] [-8.95239828e-02 9.95983381e-01 -1.60037649e-03 -2.63292968e+00] [-1.63037588e-02 1.41153292e-04 9.99867075e-01 -2.06360716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.82420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.00, Y:-2.63, Z:-2.07 [[ 9.95700374e-01 9.13578088e-02 1.53138855e-02 6.00047366e+01] [-9.13453409e-02 9.95818126e-01 -1.51311883e-03 -2.63313587e+00] [-1.53880800e-02 1.07760896e-04 9.99881591e-01 -2.06591342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.854203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.04, Y:-2.62, Z:-2.07 [[ 9.95232717e-01 9.66053190e-02 1.33884940e-02 6.00390315e+01] [-9.65962391e-02 9.95322768e-01 -1.32472360e-03 -2.62415785e+00] [-1.34538483e-02 2.51300931e-05 9.99909493e-01 -2.06987703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.884203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.07, Y:-2.62, Z:-2.07 [[ 9.94897839e-01 1.00053028e-01 1.29492158e-02 6.00712662e+01] [-1.00044792e-01 9.94982106e-01 -1.28386429e-03 -2.61968986e+00] [-1.30126925e-02 -1.81877982e-05 9.99915331e-01 -2.07309131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.914203822000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.10, Y:-2.61, Z:-2.07 [[ 9.94547979e-01 1.03392220e-01 1.35781717e-02 6.01043238e+01] [-1.03383423e-01 9.94640661e-01 -1.35010508e-03 -2.61487047e+00] [-1.36449920e-02 -6.10135791e-05 9.99906901e-01 -2.07368861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.944203822000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.14, Y:-2.61, Z:-2.08 [[ 9.94195736e-01 1.06614851e-01 1.44261211e-02 6.01367893e+01] [-1.06605245e-01 9.94300388e-01 -1.43542356e-03 -2.60977998e+00] [-1.44969353e-02 -1.10808194e-04 9.99894908e-01 -2.07678531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.97420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.17, Y:-2.61, Z:-2.07 [[ 9.93660121e-01 1.11526195e-01 1.41941033e-02 6.01696541e+01] [-1.11517331e-01 9.93761479e-01 -1.41696226e-03 -2.60799836e+00] [-1.42635815e-02 -1.74909618e-04 9.99898255e-01 -2.07457970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.00420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.20, Y:-2.61, Z:-2.07 [[ 9.93433229e-01 1.13518187e-01 1.42842848e-02 6.02014812e+01] [-1.13509435e-01 9.93535897e-01 -1.42458619e-03 -2.60962206e+00] [-1.43536661e-02 -2.06169832e-04 9.99896960e-01 -2.07493049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.03420382200001 meters Centerline goodness [0,1] 0.9999787021063616 Centerline is valid? [True, True] Translation: X:60.23, Y:-2.61, Z:-2.07 [[ 9.93254529e-01 1.14937491e-01 1.53236570e-02 6.02339064e+01] [-1.14927545e-01 9.93372697e-01 -1.53105724e-03 -2.60919355e+00] [-1.53980784e-02 -2.40380738e-04 9.99881414e-01 -2.07461403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.064203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.27, Y:-2.60, Z:-2.08 [[ 9.93037860e-01 1.16729438e-01 1.58128851e-02 6.02661320e+01] [-1.16719018e-01 9.93163714e-01 -1.58342763e-03 -2.60348176e+00] [-1.58896163e-02 -2.73260823e-04 9.99873715e-01 -2.07518945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.094203822000004 meters Centerline goodness [0,1] 0.9999788355309107 Centerline is valid? [True, True] Translation: X:60.30, Y:-2.60, Z:-2.08 [[ 9.93047503e-01 1.16735394e-01 1.51493948e-02 6.02975536e+01] [-1.16725783e-01 9.93163018e-01 -1.52015983e-03 -2.60408532e+00] [-1.52232752e-02 -2.58734046e-04 9.99884086e-01 -2.07842041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.124203822000005 meters Centerline goodness [0,1] 0.999978918075642 Centerline is valid? [True, True] Translation: X:60.33, Y:-2.61, Z:-2.08 [[ 9.93142032e-01 1.16080463e-01 1.39366270e-02 6.03281609e+01] [-1.16072250e-01 9.93239787e-01 -1.39952698e-03 -2.60539145e+00] [-1.40048702e-02 -2.27726576e-04 9.99901901e-01 -2.08351551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.15420382200001 meters Centerline goodness [0,1] 0.9999786406937503 Centerline is valid? [True, True] Translation: X:60.36, Y:-2.61, Z:-2.08 [[ 9.93219080e-01 1.15559011e-01 1.27269078e-02 6.03596797e+01] [-1.15552126e-01 9.93300596e-01 -1.27748724e-03 -2.61183300e+00] [-1.27892702e-02 -2.01796549e-04 9.99918194e-01 -2.08330515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.18420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.39, Y:-2.61, Z:-2.09 [[ 9.93282644e-01 1.15112035e-01 1.17817209e-02 6.03921524e+01] [-1.15106084e-01 9.93352499e-01 -1.18421040e-03 -2.61467575e+00] [-1.18397188e-02 -1.79892121e-04 9.99929892e-01 -2.08540032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.21420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.42, Y:-2.62, Z:-2.09 [[ 9.93359812e-01 1.14358116e-01 1.25898463e-02 6.04247953e+01] [-1.14351203e-01 9.93439575e-01 -1.26999383e-03 -2.61720604e+00] [-1.26524856e-02 -1.78103236e-04 9.99919938e-01 -2.08534815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.244203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.45, Y:-2.62, Z:-2.08 [[ 9.93599430e-01 1.11979067e-01 1.48614111e-02 6.04549998e+01] [-1.11969138e-01 9.93710551e-01 -1.50117458e-03 -2.62103690e+00] [-1.49360411e-02 -1.72453177e-04 9.99888436e-01 -2.08364464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.274203822000004 meters Centerline goodness [0,1] 0.9999788837975379 Centerline is valid? [True, True] Translation: X:60.49, Y:-2.63, Z:-2.09 [[ 9.93735141e-01 1.10834063e-01 1.43624184e-02 6.04857083e+01] [-1.10824686e-01 9.93838914e-01 -1.44959456e-03 -2.62542580e+00] [-1.44345948e-02 -1.51197460e-04 9.99895804e-01 -2.08577560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.304203822000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.52, Y:-2.63, Z:-2.09 [[ 9.94043512e-01 1.08131808e-01 1.36017520e-02 6.05170901e+01] [-1.08123149e-01 9.94136560e-01 -1.37248726e-03 -2.63411348e+00] [-1.36704085e-02 -1.06352208e-04 9.99906550e-01 -2.08501443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.334203822000006 meters Centerline goodness [0,1] 0.9999788632664708 Centerline is valid? [True, True] Translation: X:60.55, Y:-2.64, Z:-2.09 [[ 9.94159696e-01 1.07012662e-01 1.39567129e-02 6.05482616e+01] [-1.07003382e-01 9.94257654e-01 -1.41212637e-03 -2.63756951e+00] [-1.40276840e-02 -8.95363531e-05 9.99901603e-01 -2.08774467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.36420382200001 meters Centerline goodness [0,1] 0.9999362583660895 Centerline is valid? [True, True] Translation: X:60.58, Y:-2.64, Z:-2.09 [[ 9.94200408e-01 1.06504366e-01 1.49120038e-02 6.05794631e+01] [-1.06493703e-01 9.94312231e-01 -1.50957336e-03 -2.64085949e+00] [-1.49879639e-02 -8.72160516e-05 9.99887670e-01 -2.08744589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.39420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.61, Y:-2.64, Z:-2.08 [[ 9.94205659e-01 1.06180930e-01 1.67546481e-02 6.06121118e+01] [-1.06167356e-01 9.94346822e-01 -1.70006412e-03 -2.64350601e+00] [-1.68404455e-02 -8.85833301e-05 9.99858186e-01 -2.08392905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.424203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.64, Y:-2.65, Z:-2.08 [[ 9.94230121e-01 1.06011566e-01 1.63711299e-02 6.06446871e+01] [-1.05998583e-01 9.94364893e-01 -1.66118300e-03 -2.64791745e+00] [-1.64549814e-02 -8.37183964e-05 9.99864604e-01 -2.08475862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.454203822000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.68, Y:-2.65, Z:-2.09 [[ 9.94308835e-01 1.05448417e-01 1.51846241e-02 6.06762126e+01] [-1.05437139e-01 9.94424772e-01 -1.54366224e-03 -2.65470905e+00] [-1.52627431e-02 -6.61463064e-05 9.99883515e-01 -2.08774486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.484203822000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.71, Y:-2.66, Z:-2.09 [[ 9.94264182e-01 1.05794119e-01 1.56952361e-02 6.07083259e+01] [-1.05782069e-01 9.94388053e-01 -1.59829492e-03 -2.65904029e+00] [-1.57762454e-02 -7.11471450e-05 9.99875545e-01 -2.08699156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.514203822000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.74, Y:-2.66, Z:-2.09 [[ 9.94193845e-01 1.06494161e-01 1.54140485e-02 6.07397309e+01] [-1.06482586e-01 9.94313325e-01 -1.57203294e-03 -2.66133079e+00] [-1.54938061e-02 -7.84222763e-05 9.99879961e-01 -2.09101131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.54420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.77, Y:-2.66, Z:-2.09 [[ 9.94106109e-01 1.07476484e-01 1.42073631e-02 6.07714842e+01] [-1.07466718e-01 9.94207623e-01 -1.45127803e-03 -2.66431603e+00] [-1.42810469e-02 -8.40943304e-05 9.99898017e-01 -2.09016764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.57420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.80, Y:-2.66, Z:-2.09 [[ 9.93713693e-01 1.11127946e-01 1.35527302e-02 6.08033744e+01] [-1.11119366e-01 9.93806099e-01 -1.38675569e-03 -2.66023494e+00] [-1.36228933e-02 -1.27932684e-04 9.99907196e-01 -2.09333923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.60420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.84, Y:-2.66, Z:-2.09 [[ 9.93479009e-01 1.13124448e-01 1.42238392e-02 6.08363605e+01] [-1.13115176e-01 9.93580814e-01 -1.45725379e-03 -2.66115003e+00] [-1.42973848e-02 -1.61181023e-04 9.99897774e-01 -2.09182378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.634203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.87, Y:-2.66, Z:-2.09 [[ 9.93455933e-01 1.13326958e-01 1.42235434e-02 6.08686702e+01] [-1.13317666e-01 9.93557736e-01 -1.46013264e-03 -2.66465188e+00] [-1.42973839e-02 -1.61201295e-04 9.99897774e-01 -2.09284598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.664203822000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.90, Y:-2.66, Z:-2.10 [[ 9.93036477e-01 1.16907100e-01 1.45356348e-02 6.09002013e+01] [-1.16897723e-01 9.93142832e-01 -1.49597009e-03 -2.66119155e+00] [-1.46108510e-02 -2.13629743e-04 9.99893233e-01 -2.09704159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.694203822000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.93, Y:-2.66, Z:-2.10 [[ 9.92877824e-01 1.18284550e-01 1.42264553e-02 6.09317510e+01] [-1.18275674e-01 9.92979715e-01 -1.46661282e-03 -2.66394634e+00] [-1.43000591e-02 -2.26476250e-04 9.99897723e-01 -2.09829643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.72420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.96, Y:-2.67, Z:-2.10 [[ 9.92772330e-01 1.19209480e-01 1.38636383e-02 6.09631301e+01] [-1.19201115e-01 9.92869098e-01 -1.43110741e-03 -2.66867342e+00] [-1.39353797e-02 -2.31797309e-04 9.99902871e-01 -2.09815414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.75420382200001 meters Centerline goodness [0,1] 0.9999786934844676 Centerline is valid? [True, True] Translation: X:61.00, Y:-2.67, Z:-2.10 [[ 9.92701624e-01 1.19787465e-01 1.39444889e-02 6.09954477e+01] [-1.19779033e-01 9.92799530e-01 -1.44130613e-03 -2.67160539e+00] [-1.40167324e-02 -2.39470463e-04 9.99901732e-01 -2.09963256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.78420382200001 meters Centerline goodness [0,1] 0.9999788341870212 Centerline is valid? [True, True] Translation: X:61.03, Y:-2.67, Z:-2.10 [[ 9.92763273e-01 1.19016812e-01 1.60025965e-02 6.10267010e+01] [-1.19005525e-01 9.92892206e-01 -1.65918319e-03 -2.67452490e+00] [-1.60863240e-02 -2.57221258e-04 9.99870574e-01 -2.09858663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.814203822 meters Centerline goodness [0,1] 0.9999574911262726 Centerline is valid? [True, True] Translation: X:61.06, Y:-2.68, Z:-2.10 [[ 9.92903716e-01 1.17736815e-01 1.67407574e-02 6.10588443e+01] [-1.17724248e-01 9.93044804e-01 -1.73760875e-03 -2.68147016e+00] [-1.68289027e-02 -2.45514889e-04 9.99858354e-01 -2.09766837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.844203822000004 meters Centerline goodness [0,1] 0.9999787320019566 Centerline is valid? [True, True] Translation: X:61.09, Y:-2.69, Z:-2.10 [[ 9.93210047e-01 1.14943662e-01 1.79375761e-02 6.10896300e+01] [-1.14928761e-01 9.93371990e-01 -1.86278133e-03 -2.69027340e+00] [-1.80328005e-02 -2.11410260e-04 9.99837373e-01 -2.09680370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.874203822000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.12, Y:-2.70, Z:-2.10 [[ 9.93319322e-01 1.13963202e-01 1.81414726e-02 6.11209967e+01] [-1.13947750e-01 9.93484953e-01 -1.88653424e-03 -2.69790212e+00] [-1.82382755e-02 -1.93249071e-04 9.99833650e-01 -2.09577202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.90420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.15, Y:-2.71, Z:-2.10 [[ 9.93429208e-01 1.13090980e-01 1.75738136e-02 6.11535485e+01] [-1.13076301e-01 9.93584622e-01 -1.82994290e-03 -2.70586689e+00] [-1.76680210e-02 -1.69263112e-04 9.99843894e-01 -2.09752572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.93420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.18, Y:-2.71, Z:-2.10 [[ 9.93566842e-01 1.12060871e-01 1.63490499e-02 6.11838372e+01] [-1.12047956e-01 9.93701335e-01 -1.70673324e-03 -2.71498596e+00] [-1.64373307e-02 -1.36124073e-04 9.99864889e-01 -2.10494274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.96420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.22, Y:-2.72, Z:-2.10 [[ 9.93464703e-01 1.12948288e-01 1.64489564e-02 6.12163260e+01] [-1.12935333e-01 9.93600856e-01 -1.71737776e-03 -2.71964701e+00] [-1.65376721e-02 -1.51514181e-04 9.99863232e-01 -2.10412909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.994203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.25, Y:-2.72, Z:-2.11 [[ 9.93286467e-01 1.14610647e-01 1.56969354e-02 6.12484622e+01] [-1.14599009e-01 9.93410475e-01 -1.64185969e-03 -2.72135261e+00] [-1.57816746e-02 -1.68016225e-04 9.99875448e-01 -2.10527051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.024203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.28, Y:-2.72, Z:-2.11 [[ 9.92710299e-01 1.19763383e-01 1.35275502e-02 6.12799141e+01] [-1.19755165e-01 9.92802441e-01 -1.41885678e-03 -2.71790531e+00] [-1.36001119e-02 -2.11480262e-04 9.99907492e-01 -2.10920664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.054203822 meters Centerline goodness [0,1] 0.9999577238522026 Centerline is valid? [True, True] Translation: X:61.31, Y:-2.72, Z:-2.11 [[ 9.92301457e-01 1.23211202e-01 1.25227058e-02 6.13109945e+01] [-1.23204442e-01 9.92380442e-01 -1.31281240e-03 -2.71700720e+00] [-1.25890415e-02 -2.40147322e-04 9.99920726e-01 -2.11226039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.08420382199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.34, Y:-2.72, Z:-2.11 [[ 9.91873298e-01 1.26699240e-01 1.16044815e-02 6.13425266e+01] [-1.26693651e-01 9.91941145e-01 -1.21848874e-03 -2.71949700e+00] [-1.16653443e-02 -2.61627676e-04 9.99931923e-01 -2.11264931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.114203822 meters Centerline goodness [0,1] 0.9996800477795316 Centerline is valid? [True, True] Translation: X:61.37, Y:-2.71, Z:-2.11 [[ 9.90894582e-01 1.34118352e-01 1.18403897e-02 6.13729905e+01] [-1.34113051e-01 9.90965257e-01 -1.24423975e-03 -2.71148344e+00] [-1.19002903e-02 -3.55040358e-04 9.99929126e-01 -2.11438996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.144203822 meters Centerline goodness [0,1] 0.9985380116959064 Centerline is valid? [True, True] Translation: X:61.40, Y:-2.71, Z:-2.12 [[ 9.90400118e-01 1.37685281e-01 1.22625145e-02 6.14040615e+01] [-1.37679879e-01 9.90475943e-01 -1.28765017e-03 -2.70771068e+00] [-1.23230160e-02 -4.13012627e-04 9.99923983e-01 -2.11510590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.174203822 meters Centerline goodness [0,1] 0.9975786924939467 Centerline is valid? [True, True] Translation: X:61.44, Y:-2.70, Z:-2.12 [[ 9.89974798e-01 1.40657630e-01 1.28580971e-02 6.14351844e+01] [-1.40651927e-01 9.90058185e-01 -1.35126061e-03 -2.70464544e+00] [-1.29203294e-02 -4.70802189e-04 9.99916418e-01 -2.11544476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.204203822 meters Centerline goodness [0,1] 0.9968096572537185 Centerline is valid? [True, True] Translation: X:61.47, Y:-2.70, Z:-2.11 [[ 9.89613292e-01 1.43111282e-01 1.35901944e-02 6.14657591e+01] [-1.43105142e-01 9.89706461e-01 -1.42819689e-03 -2.70381048e+00] [-1.36546943e-02 -5.31464071e-04 9.99906629e-01 -2.11495368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.234203822 meters Centerline goodness [0,1] 0.9903577180639146 Centerline is valid? [True, True] Translation: X:61.50, Y:-2.70, Z:-2.11 [[ 9.88980161e-01 1.47319802e-01 1.46668438e-02 6.14957649e+01] [-1.47313117e-01 9.89088707e-01 -1.54099620e-03 -2.69869295e+00] [-1.47338288e-02 -6.36603800e-04 9.99891249e-01 -2.11491732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.264203822 meters Centerline goodness [0,1] 0.9893907629756686 Centerline is valid? [True, True] Translation: X:61.53, Y:-2.70, Z:-2.12 [[ 9.88807416e-01 1.48445703e-01 1.49588498e-02 6.15260379e+01] [-1.48438868e-01 9.88920336e-01 -1.57234134e-03 -2.69980628e+00] [-1.50265181e-02 -6.65731955e-04 9.99886874e-01 -2.11538042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.294203822 meters Centerline goodness [0,1] 0.9865142808676661 Centerline is valid? [True, True] Translation: X:61.56, Y:-2.70, Z:-2.12 [[ 9.88766545e-01 1.48735273e-01 1.47830013e-02 6.15562700e+01] [-1.48728631e-01 9.88876828e-01 -1.55385771e-03 -2.70072256e+00] [-1.48496809e-02 -6.62253024e-04 9.99889518e-01 -2.11752163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.324203822 meters Centerline goodness [0,1] 0.9965419343821376 Centerline is valid? [True, True] Translation: X:61.59, Y:-2.71, Z:-2.12 [[ 9.88903671e-01 1.47857163e-01 1.44148857e-02 6.15857079e+01] [-1.47850754e-01 9.89008523e-01 -1.51516466e-03 -2.70881362e+00] [-1.44804727e-02 -6.32899817e-04 9.99894952e-01 -2.11720598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.354203822 meters Centerline goodness [0,1] 0.9949644739368853 Centerline is valid? [True, True] Translation: X:61.62, Y:-2.71, Z:-2.12 [[ 9.89100929e-01 1.46534348e-01 1.43887614e-02 6.16157548e+01] [-1.46527822e-01 9.89205393e-01 -1.51241872e-03 -2.70920230e+00] [-1.44550617e-02 -6.12419118e-04 9.99895333e-01 -2.11932683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.384203822 meters Centerline goodness [0,1] 0.9983913982136053 Centerline is valid? [True, True] Translation: X:61.64, Y:-2.71, Z:-2.12 [[ 9.89655318e-01 1.42582799e-01 1.58901634e-02 6.16446870e+01] [-1.42574329e-01 9.89782688e-01 -1.67039380e-03 -2.71306069e+00] [-1.59659781e-02 -6.12415284e-04 9.99872348e-01 -2.11811502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.414203822 meters Centerline goodness [0,1] 0.9994010054551289 Centerline is valid? [True, True] Translation: X:61.68, Y:-2.72, Z:-2.12 [[ 9.89976406e-01 1.40357286e-01 1.57018389e-02 6.16761974e+01] [-1.40348755e-01 9.90100756e-01 -1.64945963e-03 -2.71935066e+00] [-1.57779163e-02 -5.70807427e-04 9.99875358e-01 -2.11901994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.444203822 meters Centerline goodness [0,1] 0.9993426493352277 Centerline is valid? [True, True] Translation: X:61.71, Y:-2.72, Z:-2.12 [[ 9.90291443e-01 1.38170693e-01 1.52222849e-02 6.17071426e+01] [-1.38162398e-01 9.90408295e-01 -1.60029050e-03 -2.72498209e+00] [-1.52973905e-02 -5.18393398e-04 9.99882854e-01 -2.12136303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.47420382199999 meters Centerline goodness [0,1] 0.9998713909073371 Centerline is valid? [True, True] Translation: X:61.74, Y:-2.74, Z:-2.12 [[ 9.90834710e-01 1.34332858e-01 1.41866326e-02 6.17379089e+01] [-1.34325259e-01 9.90936174e-01 -1.49147125e-03 -2.73643420e+00] [-1.42584010e-02 -4.27821615e-04 9.99898252e-01 -2.12165797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.504203822 meters Centerline goodness [0,1] 0.9997681916844036 Centerline is valid? [True, True] Translation: X:61.77, Y:-2.74, Z:-2.13 [[ 9.90965532e-01 1.33371889e-01 1.41156982e-02 6.17691806e+01] [-1.33364276e-01 9.91065976e-01 -1.48348227e-03 -2.73580221e+00] [-1.41874431e-02 -4.12450080e-04 9.99899268e-01 -2.12525613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.534203822 meters Centerline goodness [0,1] 0.9998924754306359 Centerline is valid? [True, True] Translation: X:61.80, Y:-2.74, Z:-2.12 [[ 9.91136028e-01 1.32119437e-01 1.39222272e-02 6.18013112e+01] [-1.32111881e-01 9.91233728e-01 -1.46510811e-03 -2.74268135e+00] [-1.39937504e-02 -3.87170181e-04 9.99902008e-01 -2.12463878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.564203822 meters Centerline goodness [0,1] 0.9998940520839955 Centerline is valid? [True, True] Translation: X:61.83, Y:-2.74, Z:-2.13 [[ 9.91324885e-01 1.30739578e-01 1.34957685e-02 6.18325047e+01] [-1.30732363e-01 9.91416681e-01 -1.41926596e-03 -2.74131756e+00] [-1.35654842e-02 -3.57380034e-04 9.99907921e-01 -2.12765571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.594203822 meters Centerline goodness [0,1] 0.9998072309801234 Centerline is valid? [True, True] Translation: X:61.86, Y:-2.74, Z:-2.13 [[ 9.91402059e-01 1.30221276e-01 1.28209176e-02 6.18644063e+01] [-1.30214700e-01 9.91484901e-01 -1.34991665e-03 -2.74271383e+00] [-1.28875340e-02 -3.31161787e-04 9.99916897e-01 -2.12965633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.624203822 meters Centerline goodness [0,1] 0.9998513390107673 Centerline is valid? [True, True] Translation: X:61.90, Y:-2.74, Z:-2.14 [[ 9.91530299e-01 1.29389928e-01 1.12210684e-02 6.18957822e+01] [-1.29384821e-01 9.91593752e-01 -1.18294590e-03 -2.73950774e+00] [-1.12798026e-02 -2.78909224e-04 9.99936342e-01 -2.13527279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.654203822 meters Centerline goodness [0,1] 0.9998938879456706 Centerline is valid? [True, True] Translation: X:61.93, Y:-2.74, Z:-2.14 [[ 9.91598431e-01 1.28878073e-01 1.10902978e-02 6.19267501e+01] [-1.28873001e-01 9.91660412e-01 -1.17370837e-03 -2.74136549e+00] [-1.11490745e-02 -2.65392578e-04 9.99937812e-01 -2.13652120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.684203822 meters Centerline goodness [0,1] 0.9998289574959377 Centerline is valid? [True, True] Translation: X:61.96, Y:-2.74, Z:-2.14 [[ 9.91694760e-01 1.28108819e-01 1.13856714e-02 6.19567957e+01] [-1.28103418e-01 9.91760083e-01 -1.20534930e-03 -2.74171425e+00] [-1.14462702e-02 -2.63204833e-04 9.99934455e-01 -2.13752588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.714203822 meters Centerline goodness [0,1] 0.9998924962373683 Centerline is valid? [True, True] Translation: X:61.99, Y:-2.74, Z:-2.13 [[ 9.91898397e-01 1.26456252e-01 1.20990422e-02 6.19872381e+01] [-1.26450031e-01 9.91972151e-01 -1.28087063e-03 -2.74159020e+00] [-1.21638870e-02 -2.59430728e-04 9.99925984e-01 -2.13498221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.744203822 meters Centerline goodness [0,1] 0.9999148265655942 Centerline is valid? [True, True] Translation: X:62.02, Y:-2.74, Z:-2.14 [[ 9.92040733e-01 1.25321857e-01 1.22317984e-02 6.20166028e+01] [-1.25315409e-01 9.92116108e-01 -1.29515226e-03 -2.74059442e+00] [-1.22976751e-02 -2.47989029e-04 9.99924350e-01 -2.13713072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.774203822 meters Centerline goodness [0,1] 0.9999577211711236 Centerline is valid? [True, True] Translation: X:62.05, Y:-2.74, Z:-2.14 [[ 9.92213508e-01 1.23952987e-01 1.21660299e-02 6.20465466e+01] [-1.23946508e-01 9.92288065e-01 -1.28804074e-03 -2.73893770e+00] [-1.22318627e-02 -2.29925490e-04 9.99925162e-01 -2.14029407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.804203822 meters Centerline goodness [0,1] 0.999914564599842 Centerline is valid? [True, True] Translation: X:62.08, Y:-2.74, Z:-2.14 [[ 9.92402852e-01 1.22453636e-01 1.19031902e-02 6.20768369e+01] [-1.22447330e-01 9.92474213e-01 -1.25985472e-03 -2.74161992e+00] [-1.19678831e-02 -2.07230438e-04 9.99928361e-01 -2.13908027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.83420382199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.11, Y:-2.74, Z:-2.14 [[ 9.92726471e-01 1.19863710e-01 1.12625079e-02 6.21074789e+01] [-1.19857898e-01 9.92790342e-01 -1.19204377e-03 -2.73957567e+00] [-1.13241918e-02 -1.66527113e-04 9.99935865e-01 -2.13853902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.864203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.14, Y:-2.74, Z:-2.14 [[ 9.92842587e-01 1.18862931e-01 1.16275569e-02 6.21378383e+01] [-1.18856665e-01 9.92910660e-01 -1.23092834e-03 -2.73933705e+00] [-1.16914369e-02 -1.59894555e-04 9.99931640e-01 -2.13808292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.894203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.17, Y:-2.74, Z:-2.14 [[ 9.93072824e-01 1.16785389e-01 1.29436871e-02 6.21679100e+01] [-1.16777459e-01 9.93157163e-01 -1.36934254e-03 -2.73531334e+00] [-1.30150347e-02 -1.51674025e-04 9.99915289e-01 -2.14073426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.924203822 meters Centerline goodness [0,1] 0.9999787744359306 Centerline is valid? [True, True] Translation: X:62.20, Y:-2.74, Z:-2.14 [[ 9.93240180e-01 1.15337498e-01 1.30846002e-02 6.21982726e+01] [-1.15329258e-01 9.93326353e-01 -1.38507353e-03 -2.73689685e+00] [-1.31570291e-02 -1.33326550e-04 9.99913434e-01 -2.14109867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.954203822 meters Centerline goodness [0,1] 0.9999787157056808 Centerline is valid? [True, True] Translation: X:62.23, Y:-2.74, Z:-2.14 [[ 9.93410744e-01 1.13813785e-01 1.34728128e-02 6.22284465e+01] [-1.13804909e-01 9.93502093e-01 -1.42616787e-03 -2.73682742e+00] [-1.35475853e-02 -1.16501755e-04 9.99908220e-01 -2.14160292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.984203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.26, Y:-2.73, Z:-2.13 [[ 9.93722073e-01 1.10554935e-01 1.71478404e-02 6.22600887e+01] [-1.10540074e-01 9.93870011e-01 -1.81501618e-03 -2.73391426e+00] [-1.72433833e-02 -9.19019060e-05 9.99851318e-01 -2.13307221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.014203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.29, Y:-2.74, Z:-2.13 [[ 9.93892108e-01 1.08780237e-01 1.85832830e-02 6.22915054e+01] [-1.08762471e-01 9.94065821e-01 -1.96705524e-03 -2.73512405e+00] [-1.86869832e-02 -6.61230958e-05 9.99825381e-01 -2.13203951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.044203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.32, Y:-2.74, Z:-2.13 [[ 9.94124415e-01 1.06630787e-01 1.86151488e-02 6.23228936e+01] [-1.06612591e-01 9.94298685e-01 -1.96997956e-03 -2.73759739e+00] [-1.87190785e-02 -2.62044755e-05 9.99824782e-01 -2.13397390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.074203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.35, Y:-2.74, Z:-2.14 [[ 9.94762819e-01 1.00618796e-01 1.79664188e-02 6.23541322e+01] [-1.00600849e-01 9.94925048e-01 -1.90218672e-03 -2.74341975e+00] [-1.80666358e-02 8.47876315e-05 9.99836781e-01 -2.13620499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.104203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.39, Y:-2.75, Z:-2.14 [[ 9.95120568e-01 9.70065763e-02 1.80216073e-02 6.23859163e+01] [-9.69878812e-02 9.95283729e-01 -1.91057119e-03 -2.75007290e+00] [-1.81219505e-02 1.53371178e-04 9.99835772e-01 -2.13608598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.134203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.42, Y:-2.76, Z:-2.14 [[ 9.95463838e-01 9.34766055e-02 1.77163900e-02 6.24174818e+01] [-9.34579264e-02 9.95621453e-01 -1.88117746e-03 -2.75893397e+00] [-1.78146641e-02 2.16907057e-04 9.99841283e-01 -2.13849397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.164203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.45, Y:-2.77, Z:-2.14 [[ 9.96109201e-01 8.68180767e-02 1.51354444e-02 6.24472387e+01] [-8.68036084e-02 9.96224140e-01 -1.61149627e-03 -2.77054907e+00] [-1.52182021e-02 2.91415078e-04 9.99884154e-01 -2.14352730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.194203822 meters Centerline goodness [0,1] 0.9999576307092619 Centerline is valid? [True, True] Translation: X:62.48, Y:-2.78, Z:-2.15 [[ 9.96318288e-01 8.46057213e-02 1.38470212e-02 6.24775325e+01] [-8.45934138e-02 9.96414464e-01 -1.47317940e-03 -2.77593272e+00] [-1.39220116e-02 2.96388781e-04 9.99903040e-01 -2.14699266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.22420382199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.51, Y:-2.78, Z:-2.15 [[ 9.96487035e-01 8.26967480e-02 1.32226003e-02 6.25084054e+01] [-8.26853612e-02 9.96574710e-01 -1.40647161e-03 -2.78312420e+00] [-1.32936197e-02 3.08215245e-04 9.99911588e-01 -2.15016453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.254203822 meters Centerline goodness [0,1] 0.9999787771387338 Centerline is valid? [True, True] Translation: X:62.54, Y:-2.79, Z:-2.15 [[ 9.96443203e-01 8.32831048e-02 1.28400812e-02 6.25400126e+01] [-8.32723968e-02 9.96525885e-01 -1.36726977e-03 -2.78707293e+00] [-1.29093438e-02 2.93182332e-04 9.99916628e-01 -2.15201457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.284203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.57, Y:-2.79, Z:-2.15 [[ 9.96338389e-01 8.46239235e-02 1.21903741e-02 6.25724835e+01] [-8.46143459e-02 9.96412927e-01 -1.30022333e-03 -2.78795623e+00] [-1.22566763e-02 2.63981890e-04 9.99924849e-01 -2.15344824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.314203822 meters Centerline goodness [0,1] 0.9999353866034891 Centerline is valid? [True, True] Translation: X:62.61, Y:-2.79, Z:-2.15 [[ 9.96139226e-01 8.69062277e-02 1.24076881e-02 6.26053293e+01] [-8.68964569e-02 9.96216467e-01 -1.32545964e-03 -2.78617844e+00] [-1.24759339e-02 2.42158210e-04 9.99922143e-01 -2.15259522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.344203822 meters Centerline goodness [0,1] 0.9999786616592694 Centerline is valid? [True, True] Translation: X:62.64, Y:-2.78, Z:-2.15 [[ 9.95545971e-01 9.31722775e-02 1.43926004e-02 6.26361944e+01] [-9.31596955e-02 9.95649983e-01 -1.54364294e-03 -2.78287770e+00] [-1.44738171e-02 1.95957234e-04 9.99895230e-01 -2.15251916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.374203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.67, Y:-2.78, Z:-2.15 [[ 9.95207864e-01 9.65867054e-02 1.52419293e-02 6.26670193e+01] [-9.65729975e-02 9.95324562e-01 -1.63454932e-03 -2.78217562e+00] [-1.53285424e-02 1.54757534e-04 9.99882499e-01 -2.15171160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.404203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.70, Y:-2.78, Z:-2.15 [[ 9.94868494e-01 9.99050261e-02 1.59895104e-02 6.26989459e+01] [-9.98903685e-02 9.94996972e-01 -1.71474461e-03 -2.78026223e+00] [-1.60808261e-02 1.08747303e-04 9.99870689e-01 -2.15113001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.434203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.73, Y:-2.77, Z:-2.15 [[ 9.94204986e-01 1.06168215e-01 1.68747211e-02 6.27303282e+01] [-1.06152778e-01 9.94348184e-01 -1.81044814e-03 -2.77170359e+00] [-1.69715603e-02 8.65805701e-06 9.99855973e-01 -2.14923798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.464203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.76, Y:-2.77, Z:-2.15 [[ 9.93932935e-01 1.08706626e-01 1.67389076e-02 6.27613951e+01] [-1.08691796e-01 9.94073875e-01 -1.79587704e-03 -2.77099727e+00] [-1.68349344e-02 -3.44005941e-05 9.99858282e-01 -2.15074755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.494203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.79, Y:-2.77, Z:-2.15 [[ 9.93932935e-01 1.08706626e-01 1.67389076e-02 6.27912125e+01] [-1.08691796e-01 9.94073875e-01 -1.79587704e-03 -2.77419630e+00] [-1.68349344e-02 -3.44005941e-05 9.99858282e-01 -2.15169050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.524203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.82, Y:-2.77, Z:-2.15 [[ 9.93497494e-01 1.12488325e-01 1.75814132e-02 6.28203884e+01] [-1.12472550e-01 9.93653041e-01 -1.88663841e-03 -2.77289118e+00] [-1.76820495e-02 -1.03055839e-04 9.99843655e-01 -2.15301606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.554203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.85, Y:-2.78, Z:-2.15 [[ 9.93392470e-01 1.13317589e-01 1.81803323e-02 6.28501769e+01] [-1.13300869e-01 9.93558810e-01 -1.95034413e-03 -2.77604355e+00] [-1.82842376e-02 -1.22390278e-04 9.99832822e-01 -2.15249542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.58420382199999 meters Centerline goodness [0,1] 0.9999789327322139 Centerline is valid? [True, True] Translation: X:62.88, Y:-2.78, Z:-2.15 [[ 9.93334468e-01 1.13709484e-01 1.88888316e-02 6.28787957e+01] [-1.13691513e-01 9.93514034e-01 -2.02601368e-03 -2.77950666e+00] [-1.89966962e-02 -1.34990629e-04 9.99819537e-01 -2.15370059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.614203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.91, Y:-2.79, Z:-2.15 [[ 9.93397856e-01 1.13138516e-01 1.89835741e-02 6.29089888e+01] [-1.13120282e-01 9.93579217e-01 -2.03505059e-03 -2.78793156e+00] [-1.90919273e-02 -1.25812358e-04 9.99817725e-01 -2.15424693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.644203822 meters Centerline goodness [0,1] 0.9998932855252487 Centerline is valid? [True, True] Translation: X:62.94, Y:-2.79, Z:-2.16 [[ 9.93444599e-01 1.12860327e-01 1.81762387e-02 6.29397197e+01] [-1.12843570e-01 9.93610856e-01 -1.94818656e-03 -2.79312267e+00] [-1.82799811e-02 -1.15656248e-04 9.99832900e-01 -2.15513486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.674203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.97, Y:-2.80, Z:-2.16 [[ 9.93530707e-01 1.12101055e-01 1.81683089e-02 6.29707672e+01] [-1.12084178e-01 9.93696807e-01 -1.94777487e-03 -2.79930926e+00] [-1.82721381e-02 -1.01205812e-04 9.99833045e-01 -2.15678396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.704203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.00, Y:-2.81, Z:-2.16 [[ 9.93673494e-01 1.10739004e-01 1.87045476e-02 6.30011666e+01] [-1.10720865e-01 9.93849519e-01 -2.00574295e-03 -2.80855134e+00] [-1.88116196e-02 -7.79300903e-05 9.99823043e-01 -2.15811232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.734203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.03, Y:-2.82, Z:-2.16 [[ 9.93801414e-01 1.09527025e-01 1.90415312e-02 6.30319819e+01] [-1.09508026e-01 9.93983817e-01 -2.04071966e-03 -2.81673560e+00] [-1.91504878e-02 -5.71304184e-05 9.99816611e-01 -2.15995957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.764203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.06, Y:-2.83, Z:-2.16 [[ 9.93956237e-01 1.08123249e-01 1.89831838e-02 6.30630205e+01] [-1.08104056e-01 9.94137497e-01 -2.03738118e-03 -2.82592695e+00] [-1.90921831e-02 -2.70914381e-05 9.99817727e-01 -2.16125042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.794203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.09, Y:-2.84, Z:-2.16 [[ 9.94243696e-01 1.05531005e-01 1.85116271e-02 6.30941903e+01] [-1.05512257e-01 9.94416013e-01 -1.98930197e-03 -2.84134435e+00] [-1.86181914e-02 2.46473943e-05 9.99826666e-01 -2.16190069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.824203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.13, Y:-2.85, Z:-2.16 [[ 9.94297931e-01 1.05091734e-01 1.80928774e-02 6.31254094e+01] [-1.05073686e-01 9.94462531e-01 -1.94792442e-03 -2.84967306e+00] [-1.81973994e-02 3.57318927e-05 9.99834413e-01 -2.16427193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.854203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.16, Y:-2.86, Z:-2.17 [[ 9.94174178e-01 1.06682318e-01 1.53813554e-02 6.31568819e+01] [-1.06669431e-01 9.94293158e-01 -1.65815809e-03 -2.85769916e+00] [-1.54704726e-02 7.77753849e-06 9.99880325e-01 -2.16878567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.884203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.19, Y:-2.86, Z:-2.17 [[ 9.93967525e-01 1.08666162e-01 1.48399564e-02 6.31874669e+01] [-1.08654349e-01 9.94078299e-01 -1.60234219e-03 -2.86053287e+00] [-1.49261990e-02 -1.97497107e-05 9.99888598e-01 -2.17252425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.914203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.22, Y:-2.86, Z:-2.17 [[ 9.93691757e-01 1.11090910e-01 1.53460930e-02 6.32196252e+01] [-1.11078531e-01 9.93810247e-01 -1.65935824e-03 -2.86267425e+00] [-1.54354441e-02 -5.57308497e-05 9.99880865e-01 -2.17074693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.944203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.25, Y:-2.86, Z:-2.17 [[ 9.93342699e-01 1.14064445e-01 1.61116154e-02 6.32511222e+01] [-1.14051138e-01 9.93473347e-01 -1.74536709e-03 -2.86259819e+00] [-1.62055448e-02 -1.03800404e-04 9.99868676e-01 -2.17230440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.97420382199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.28, Y:-2.86, Z:-2.17 [[ 9.92524104e-01 1.20780395e-01 1.75499162e-02 6.32825693e+01] [-1.20765560e-01 9.92679225e-01 -1.90656836e-03 -2.85809394e+00] [-1.76517133e-02 -2.27110403e-04 9.99844171e-01 -2.17134533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.004203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.31, Y:-2.86, Z:-2.17 [[ 9.92111448e-01 1.24043936e-01 1.81101316e-02 6.33135723e+01] [-1.24028681e-01 9.92276683e-01 -1.96742842e-03 -2.85907408e+00] [-1.82143089e-02 -2.94267476e-04 9.99834062e-01 -2.17050159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.034203822 meters Centerline goodness [0,1] 0.9999571862824849 Centerline is valid? [True, True] Translation: X:63.34, Y:-2.86, Z:-2.17 [[ 9.91760231e-01 1.26720361e-01 1.88041046e-02 6.33442304e+01] [-1.26704395e-01 9.91938417e-01 -2.04281949e-03 -2.86024790e+00] [-1.89113805e-02 -3.56575570e-04 9.99821100e-01 -2.17020961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.064203822 meters Centerline goodness [0,1] 0.9999152883373218 Centerline is valid? [True, True] Translation: X:63.37, Y:-2.86, Z:-2.17 [[ 9.91219286e-01 1.30753927e-01 1.96910625e-02 6.33741378e+01] [-1.30737215e-01 9.91414749e-01 -2.13917077e-03 -2.85781335e+00] [-1.98017148e-02 -4.53967357e-04 9.99803824e-01 -2.17076955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.094203822 meters Centerline goodness [0,1] 0.9999786871270248 Centerline is valid? [True, True] Translation: X:63.40, Y:-2.86, Z:-2.17 [[ 9.91075321e-01 1.31908213e-01 1.92336200e-02 6.34037678e+01] [-1.31892486e-01 9.91261825e-01 -2.08948916e-03 -2.86387700e+00] [-1.93411740e-02 -4.65928809e-04 9.99812833e-01 -2.17122948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.124203822 meters Centerline goodness [0,1] 0.9999574956433034 Centerline is valid? [True, True] Translation: X:63.43, Y:-2.87, Z:-2.17 [[ 9.91019075e-01 1.32390220e-01 1.88155089e-02 6.34334112e+01] [-1.32375257e-01 9.91197565e-01 -2.04397647e-03 -2.86603364e+00] [-1.89204891e-02 -4.65088157e-04 9.99820883e-01 -2.17431812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.154203822 meters Centerline goodness [0,1] 0.9999358384840773 Centerline is valid? [True, True] Translation: X:63.46, Y:-2.87, Z:-2.18 [[ 9.91128232e-01 1.31594109e-01 1.86498695e-02 6.34632398e+01] [-1.31579264e-01 9.91303582e-01 -2.02620746e-03 -2.87365795e+00] [-1.87543194e-02 -4.45704669e-04 9.99824023e-01 -2.17535108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.184203822 meters Centerline goodness [0,1] 0.9998941261169695 Centerline is valid? [True, True] Translation: X:63.49, Y:-2.88, Z:-2.18 [[ 9.91269028e-01 1.30633234e-01 1.79073408e-02 6.34927114e+01] [-1.30619391e-01 9.91430678e-01 -1.94553574e-03 -2.87938978e+00] [-1.80080387e-02 -4.10496629e-04 9.99837758e-01 -2.17817078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.214203822 meters Centerline goodness [0,1] 0.9999786848555899 Centerline is valid? [True, True] Translation: X:63.52, Y:-2.89, Z:-2.18 [[ 9.91509195e-01 1.28934848e-01 1.68914595e-02 6.35221316e+01] [-1.28922285e-01 9.91653002e-01 -1.83516573e-03 -2.88824624e+00] [-1.69870833e-02 -3.58101855e-04 9.99855645e-01 -2.18133396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.244203822 meters Centerline goodness [0,1] 0.9999576298116645 Centerline is valid? [True, True] Translation: X:63.55, Y:-2.90, Z:-2.18 [[ 9.92050784e-01 1.24700416e-01 1.68833443e-02 6.35524928e+01] [-1.24687260e-01 9.92194399e-01 -1.83377132e-03 -2.90341987e+00] [-1.69802317e-02 -2.85943668e-04 9.99855785e-01 -2.18375079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.274203822 meters Centerline goodness [0,1] 0.9999786100832068 Centerline is valid? [True, True] Translation: X:63.58, Y:-2.91, Z:-2.18 [[ 9.92339402e-01 1.22376466e-01 1.69266367e-02 6.35842833e+01] [-1.22362900e-01 9.92483723e-01 -1.83871392e-03 -2.91327727e+00] [-1.70244268e-02 -2.46564086e-04 9.99855044e-01 -2.18334016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.304203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.61, Y:-2.92, Z:-2.18 [[ 9.92639216e-01 1.19931903e-01 1.68441435e-02 6.36148326e+01] [-1.19918123e-01 9.92782100e-01 -1.82938561e-03 -2.92085397e+00] [-1.69419658e-02 -2.03998176e-04 9.99856454e-01 -2.18486416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.33420382199999 meters Centerline goodness [0,1] 0.9999787640688044 Centerline is valid? [True, True] Translation: X:63.64, Y:-2.93, Z:-2.19 [[ 9.93177146e-01 1.15386850e-01 1.68828840e-02 6.36447413e+01] [-1.15372304e-01 9.93320623e-01 -1.83630435e-03 -2.93381800e+00] [-1.69820022e-02 -1.24041705e-04 9.99855788e-01 -2.18707762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.364203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.68, Y:-2.94, Z:-2.19 [[ 9.93375929e-01 1.13740986e-01 1.63478479e-02 6.36759600e+01] [-1.13727091e-01 9.93510433e-01 -1.78016743e-03 -2.94179939e+00] [-1.64442354e-02 -9.08177029e-05 9.99864780e-01 -2.18990002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.394203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.71, Y:-2.95, Z:-2.19 [[ 9.93524551e-01 1.12485685e-01 1.59980684e-02 6.37079615e+01] [-1.12472174e-01 9.93653343e-01 -1.74462179e-03 -2.95043517e+00] [-1.60927791e-02 -6.60129461e-05 9.99870501e-01 -2.19116106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.424203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.74, Y:-2.96, Z:-2.19 [[ 9.93598646e-01 1.11829157e-01 1.59990827e-02 6.37390421e+01] [-1.11815507e-01 9.93727446e-01 -1.74797672e-03 -2.95810917e+00] [-1.60942024e-02 -5.21582437e-05 9.99870479e-01 -2.19241645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.454203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.77, Y:-2.96, Z:-2.19 [[ 9.93468806e-01 1.12895300e-01 1.65644949e-02 6.37720717e+01] [-1.12880768e-01 9.93606887e-01 -1.81260561e-03 -2.96089744e+00] [-1.66632309e-02 -6.90457888e-05 9.99861156e-01 -2.18982225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.484203822 meters Centerline goodness [0,1] 0.9999786183155509 Centerline is valid? [True, True] Translation: X:63.80, Y:-2.96, Z:-2.19 [[ 9.93281042e-01 1.14519263e-01 1.66766146e-02 6.38044663e+01] [-1.14504704e-01 9.93421023e-01 -1.82839130e-03 -2.96196164e+00] [-1.67762856e-02 -9.34444042e-05 9.99859264e-01 -2.19130642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.514203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.84, Y:-2.96, Z:-2.19 [[ 9.93092737e-01 1.16211472e-01 1.61774263e-02 6.38361014e+01] [-1.16197944e-01 9.93224486e-01 -1.77684093e-03 -2.96305771e+00] [-1.62743052e-02 -1.15215863e-04 9.99867558e-01 -2.19406862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.544203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.87, Y:-2.96, Z:-2.20 [[ 9.92870812e-01 1.18152239e-01 1.57352545e-02 6.38677788e+01] [-1.18139631e-01 9.92995483e-01 -1.73165597e-03 -2.96424739e+00] [-1.58296357e-02 -1.39646488e-04 9.99874694e-01 -2.19524484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.574203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.90, Y:-2.97, Z:-2.20 [[ 9.92860979e-01 1.18220700e-01 1.58411317e-02 6.39005591e+01] [-1.18207933e-01 9.92987334e-01 -1.74319897e-03 -2.96808858e+00] [-1.59361253e-02 -1.41793188e-04 9.99873002e-01 -2.19665314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.604203822 meters Centerline goodness [0,1] 0.9999786798567286 Centerline is valid? [True, True] Translation: X:63.93, Y:-2.97, Z:-2.20 [[ 9.92936655e-01 1.17587759e-01 1.58087919e-02 6.39314125e+01] [-1.17574906e-01 9.93062487e-01 -1.74323981e-03 -2.97260301e+00] [-1.59041019e-02 -1.27790527e-04 9.99873514e-01 -2.19845891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.634203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.96, Y:-2.98, Z:-2.20 [[ 9.93048769e-01 1.16669242e-01 1.55701622e-02 6.39635816e+01] [-1.16656633e-01 9.93170819e-01 -1.71871509e-03 -2.97850960e+00] [-1.56643520e-02 -1.09594796e-04 9.99877301e-01 -2.20039858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.664203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.00, Y:-2.99, Z:-2.20 [[ 9.93479588e-01 1.13137359e-01 1.40799850e-02 6.39953611e+01] [-1.13126665e-01 9.93579356e-01 -1.55624305e-03 -2.99127613e+00] [-1.41656517e-02 -4.67260381e-05 9.99899661e-01 -2.20345527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.694203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.03, Y:-3.00, Z:-2.21 [[ 9.93725666e-01 1.10893654e-01 1.45567095e-02 6.40253768e+01] [-1.10881928e-01 9.93832278e-01 -1.61262955e-03 -2.99955139e+00] [-1.46457582e-02 -1.15646411e-05 9.99892745e-01 -2.20552282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.72420382199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.06, Y:-3.01, Z:-2.20 [[ 9.94191153e-01 1.06324606e-01 1.67041621e-02 6.40553833e+01] [-1.06308462e-01 9.94331471e-01 -1.85401713e-03 -3.01470967e+00] [-1.68066017e-02 6.74536516e-05 9.99858757e-01 -2.20333240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.754203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.09, Y:-3.02, Z:-2.20 [[ 9.94410834e-01 1.04237537e-01 1.67818176e-02 6.40855381e+01] [-1.04220885e-01 9.94552424e-01 -1.86614989e-03 -3.02386607e+00] [-1.68849202e-02 1.06703781e-04 9.99857434e-01 -2.20408997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.784203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.12, Y:-3.03, Z:-2.20 [[ 9.94575046e-01 1.02718977e-01 1.64100607e-02 6.41167412e+01] [-1.02702843e-01 9.94710408e-01 -1.82518046e-03 -3.03031664e+00] [-1.65107388e-02 1.29919052e-04 9.99863680e-01 -2.20259625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.814203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.15, Y:-3.04, Z:-2.21 [[ 9.94687152e-01 1.01732060e-01 1.57498144e-02 6.41466571e+01] [-1.01717037e-01 9.94811825e-01 -1.75408915e-03 -3.03881534e+00] [-1.58465488e-02 1.42745489e-04 9.99874425e-01 -2.20549782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.844203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.18, Y:-3.04, Z:-2.21 [[ 9.94638094e-01 1.02218134e-01 1.57008292e-02 6.41786082e+01] [-1.02203230e-01 9.94761999e-01 -1.75079497e-03 -3.04497704e+00] [-1.57975512e-02 1.36731913e-04 9.99875202e-01 -2.20750692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.874203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.21, Y:-3.05, Z:-2.20 [[ 9.94520192e-01 1.03378460e-01 1.55718336e-02 6.42112398e+01] [-1.03363906e-01 9.94642086e-01 -1.73879260e-03 -3.04831533e+00] [-1.56681548e-02 1.19698813e-04 9.99877240e-01 -2.20466143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.904203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.24, Y:-3.05, Z:-2.21 [[ 9.94304729e-01 1.05362085e-01 1.60292264e-02 6.42417857e+01] [-1.05346855e-01 9.94433920e-01 -1.79392263e-03 -3.05313268e+00] [-1.61290179e-02 9.50771605e-05 9.99869914e-01 -2.20761319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.934203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.28, Y:-3.05, Z:-2.21 [[ 9.93674232e-01 1.11294246e-01 1.50037307e-02 6.42754444e+01] [-1.11281552e-01 9.93787498e-01 -1.68086526e-03 -3.05225454e+00] [-1.50975906e-02 5.94052053e-07 9.99886025e-01 -2.20917751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.964203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.31, Y:-3.05, Z:-2.21 [[ 9.93220992e-01 1.15348633e-01 1.43789082e-02 6.43066675e+01] [-1.15337354e-01 9.93325068e-01 -1.61398712e-03 -3.05044902e+00] [-1.44691012e-02 -5.53793362e-05 9.99895316e-01 -2.21106631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.994203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.34, Y:-3.05, Z:-2.21 [[ 9.92731868e-01 1.19506599e-01 1.41989649e-02 6.43392844e+01] [-1.19495998e-01 9.92833400e-01 -1.59575305e-03 -3.04828922e+00] [-1.42879097e-02 -1.12564576e-04 9.99897916e-01 -2.21272302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.024203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.37, Y:-3.05, Z:-2.21 [[ 9.92206948e-01 1.23746077e-01 1.45698313e-02 6.43715338e+01] [-1.23735334e-01 9.92313901e-01 -1.63996843e-03 -3.04700441e+00] [-1.46607858e-02 -1.75614877e-04 9.99892509e-01 -2.21357794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.054203822 meters Centerline goodness [0,1] 0.999914942479852 Centerline is valid? [True, True] Translation: X:64.40, Y:-3.04, Z:-2.21 [[ 9.91352421e-01 1.30319136e-01 1.54045588e-02 6.44028297e+01] [-1.30307838e-01 9.91472058e-01 -1.73917845e-03 -3.03978449e+00] [-1.54998378e-02 -2.83195986e-04 9.99879830e-01 -2.21411292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.08420382199999 meters Centerline goodness [0,1] 0.999935571161652 Centerline is valid? [True, True] Translation: X:64.44, Y:-3.04, Z:-2.21 [[ 9.90986293e-01 1.33075091e-01 1.54009086e-02 6.44353372e+01] [-1.33064137e-01 9.91105904e-01 -1.73840049e-03 -3.03904467e+00] [-1.54952693e-02 -3.26577558e-04 9.99879888e-01 -2.21394301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.114203822 meters Centerline goodness [0,1] 0.9999576818095258 Centerline is valid? [True, True] Translation: X:64.47, Y:-3.04, Z:-2.21 [[ 9.90700966e-01 1.35158603e-01 1.56124282e-02 6.44676106e+01] [-1.35147622e-01 9.90823909e-01 -1.76113777e-03 -3.04043772e+00] [-1.57072001e-02 -3.65221667e-04 9.99876568e-01 -2.21357991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.144203822 meters Centerline goodness [0,1] 0.9999572558238939 Centerline is valid? [True, True] Translation: X:64.50, Y:-3.04, Z:-2.21 [[ 9.90553450e-01 1.36197905e-01 1.59371685e-02 6.44999671e+01] [-1.36186552e-01 9.90681574e-01 -1.80053328e-03 -3.04301933e+00] [-1.60338880e-02 -3.86903579e-04 9.99871374e-01 -2.21492595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.174203822 meters Centerline goodness [0,1] 0.9999788256717556 Centerline is valid? [True, True] Translation: X:64.53, Y:-3.05, Z:-2.22 [[ 9.90631535e-01 1.35660632e-01 1.56638066e-02 6.45319408e+01] [-1.35649558e-01 9.90755296e-01 -1.77217260e-03 -3.04838328e+00] [-1.57594134e-02 -3.69218383e-04 9.99875745e-01 -2.21621242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.204203822 meters Centerline goodness [0,1] 0.9999361810755616 Centerline is valid? [True, True] Translation: X:64.56, Y:-3.05, Z:-2.22 [[ 9.90788502e-01 1.34518416e-01 1.55865441e-02 6.45628030e+01] [-1.34507267e-01 9.90911033e-01 -1.76620947e-03 -3.05348957e+00] [-1.56824662e-02 -3.46563409e-04 9.99876963e-01 -2.21755058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.234203822 meters Centerline goodness [0,1] 0.9999367182061721 Centerline is valid? [True, True] Translation: X:64.59, Y:-3.06, Z:-2.22 [[ 9.90962457e-01 1.33208602e-01 1.57758151e-02 6.45942290e+01] [-1.33196978e-01 9.91087968e-01 -1.78994326e-03 -3.06079255e+00] [-1.58736564e-02 -3.27524322e-04 9.99873952e-01 -2.21772019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.264203822 meters Centerline goodness [0,1] 0.9999567314973066 Centerline is valid? [True, True] Translation: X:64.62, Y:-3.07, Z:-2.22 [[ 9.91376658e-01 1.30057158e-01 1.60455059e-02 6.46241566e+01] [-1.30044638e-01 9.91506459e-01 -1.82566156e-03 -3.06871259e+00] [-1.61466631e-02 -2.76713749e-04 9.99869596e-01 -2.21723125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.294203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.66, Y:-3.07, Z:-2.22 [[ 9.91551565e-01 1.28633531e-01 1.67005816e-02 6.46559048e+01] [-1.28619800e-01 9.91692162e-01 -1.89816562e-03 -3.07454003e+00] [-1.68060037e-02 -2.65896385e-04 9.99858734e-01 -2.21689883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.324203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.69, Y:-3.08, Z:-2.22 [[ 9.91734963e-01 1.27132245e-01 1.72961355e-02 6.46872771e+01] [-1.27117236e-01 9.91885745e-01 -1.96893213e-03 -3.07951789e+00] [-1.74061050e-02 -2.45978105e-04 9.99848472e-01 -2.21708154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.354203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.72, Y:-3.09, Z:-2.22 [[ 9.92273326e-01 1.22693804e-01 1.84357704e-02 6.47169363e+01] [-1.22675886e-01 9.92444558e-01 -2.10401993e-03 -3.08516954e+00] [-1.85546302e-02 -1.73861611e-04 9.99827833e-01 -2.21842785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.384203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.75, Y:-3.09, Z:-2.22 [[ 9.92629697e-01 1.19683550e-01 1.90297674e-02 6.47480451e+01] [-1.19663936e-01 9.92812083e-01 -2.17017443e-03 -3.09446038e+00] [-1.91527172e-02 -1.22997293e-04 9.99816562e-01 -2.21694277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.414203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.78, Y:-3.10, Z:-2.22 [[ 9.93028950e-01 1.16246482e-01 1.95002800e-02 6.47794891e+01] [-1.16225158e-01 9.93220395e-01 -2.22710972e-03 -3.10454572e+00] [-1.96269695e-02 -5.48387119e-05 9.99807371e-01 -2.21647246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.444203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.81, Y:-3.11, Z:-2.22 [[ 9.93006414e-01 1.16438890e-01 1.94999354e-02 6.48117497e+01] [-1.16417544e-01 9.93197856e-01 -2.23012187e-03 -3.10842980e+00] [-1.96269670e-02 -5.56092780e-05 9.99807371e-01 -2.21749447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.47420382199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.84, Y:-3.12, Z:-2.22 [[ 9.93771476e-01 1.09747746e-01 1.93309655e-02 6.48412307e+01] [-1.09725420e-01 9.93959469e-01 -2.21498845e-03 -3.12405799e+00] [-1.94572862e-02 8.00940245e-05 9.99810686e-01 -2.22076176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.504203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.87, Y:-3.13, Z:-2.22 [[ 9.93986514e-01 1.07864892e-01 1.88672844e-02 6.48733315e+01] [-1.07843235e-01 9.94165555e-01 -2.16453882e-03 -3.13048884e+00] [-1.89906820e-02 1.16813423e-04 9.99819654e-01 -2.22014211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.534203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.90, Y:-3.14, Z:-2.22 [[ 9.94082612e-01 1.07128365e-01 1.79798418e-02 6.49038752e+01] [-1.07108506e-01 9.94245190e-01 -2.06665801e-03 -3.13640597e+00] [-1.80977689e-02 1.28634804e-04 9.99836214e-01 -2.22381973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.564203822 meters Centerline goodness [0,1] 0.9999788538803129 Centerline is valid? [True, True] Translation: X:64.94, Y:-3.14, Z:-2.23 [[ 9.93907445e-01 1.08830011e-01 1.74361551e-02 6.49369158e+01] [-1.08811594e-01 9.94060370e-01 -2.00435294e-03 -3.13712892e+00] [-1.75507246e-02 9.48854818e-05 9.99845970e-01 -2.22550557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.594203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.97, Y:-3.14, Z:-2.23 [[ 9.93732625e-01 1.10435516e-01 1.73051158e-02 6.49693158e+01] [-1.10417557e-01 9.93883289e-01 -1.99276766e-03 -3.13856680e+00] [-1.74193378e-02 6.94896206e-05 9.99848269e-01 -2.22704371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.624203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.00, Y:-3.14, Z:-2.23 [[ 9.93562470e-01 1.12067131e-01 1.65703372e-02 6.50020316e+01] [-1.12050848e-01 9.93700637e-01 -1.91074387e-03 -3.13977256e+00] [-1.66800862e-02 4.17230584e-05 9.99860877e-01 -2.22881726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.654203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.04, Y:-3.14, Z:-2.23 [[ 9.93208737e-01 1.15293031e-01 1.56179861e-02 6.50350574e+01] [-1.15278918e-01 9.93331524e-01 -1.80390356e-03 -3.13540916e+00] [-1.57218154e-02 -8.77175587e-06 9.99876405e-01 -2.23030799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.684203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.07, Y:-3.13, Z:-2.23 [[ 9.92961673e-01 1.17336468e-01 1.61018152e-02 6.50668861e+01] [-1.17321670e-01 9.93092217e-01 -1.86381518e-03 -3.13412026e+00] [-1.62092808e-02 -3.83948080e-05 9.99868620e-01 -2.23094292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.714203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.10, Y:-3.13, Z:-2.23 [[ 9.92660509e-01 1.19790408e-01 1.65943213e-02 6.50990830e+01] [-1.19775026e-01 9.92799200e-01 -1.92127920e-03 -3.13262476e+00] [-1.67049797e-02 -8.04072775e-05 9.99860459e-01 -2.23282081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.744203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.13, Y:-3.13, Z:-2.23 [[ 9.92333627e-01 1.22468421e-01 1.65969744e-02 6.51319008e+01] [-1.22453356e-01 9.92472403e-01 -1.92477946e-03 -3.13200410e+00] [-1.67077638e-02 -1.22331830e-04 9.99860408e-01 -2.23202716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.774203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.16, Y:-3.13, Z:-2.23 [[ 9.92000546e-01 1.25092546e-01 1.69343274e-02 6.51641915e+01] [-1.25077196e-01 9.92145063e-01 -1.96674817e-03 -3.13073404e+00] [-1.70473348e-02 -1.67082925e-04 9.99854670e-01 -2.23108585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.804203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.20, Y:-3.13, Z:-2.23 [[ 9.91420795e-01 1.29194961e-01 1.98360409e-02 6.51986744e+01] [-1.29174643e-01 9.91619174e-01 -2.30760878e-03 -3.12543962e+00] [-1.99679299e-02 -2.74502163e-04 9.99800583e-01 -2.22568077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.83420382199999 meters Centerline goodness [0,1] 0.9999790154026944 Centerline is valid? [True, True] Translation: X:65.23, Y:-3.12, Z:-2.23 [[ 9.91236799e-01 1.30373535e-01 2.12684891e-02 6.52312768e+01] [-1.30350344e-01 9.91464897e-01 -2.47904940e-03 -3.12323347e+00] [-2.14101628e-02 -3.15029884e-04 9.99770727e-01 -2.22610618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.864203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.26, Y:-3.12, Z:-2.23 [[ 9.91283569e-01 1.30213442e-01 2.00335845e-02 6.52640547e+01] [-1.30192762e-01 9.91485943e-01 -2.33866925e-03 -3.12180330e+00] [-2.01675436e-02 -2.89943291e-04 9.99796572e-01 -2.22891563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.894203822 meters Centerline goodness [0,1] 0.999957633401826 Centerline is valid? [True, True] Translation: X:65.30, Y:-3.13, Z:-2.23 [[ 9.91496707e-01 1.28655122e-01 1.95483970e-02 6.52958685e+01] [-1.28635067e-01 9.91689366e-01 -2.28513462e-03 -3.12640761e+00] [-1.96799317e-02 -2.48905914e-04 9.99806300e-01 -2.23084627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.924203822 meters Centerline goodness [0,1] 0.9999787928913771 Centerline is valid? [True, True] Translation: X:65.33, Y:-3.13, Z:-2.23 [[ 9.91821129e-01 1.26150283e-01 1.94153143e-02 6.53266797e+01] [-1.26129955e-01 9.92011123e-01 -2.27296171e-03 -3.13242114e+00] [-1.95469425e-02 -1.94481254e-04 9.99808921e-01 -2.23258726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.954203822 meters Centerline goodness [0,1] 0.9999358165208275 Centerline is valid? [True, True] Translation: X:65.36, Y:-3.14, Z:-2.23 [[ 9.92187436e-01 1.23148643e-01 1.99625665e-02 6.53585339e+01] [-1.23126483e-01 9.92388227e-01 -2.34009191e-03 -3.13987283e+00] [-2.00987951e-02 -1.36110816e-04 9.99797990e-01 -2.23203129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.984203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.39, Y:-3.15, Z:-2.23 [[ 9.93033081e-01 1.16211655e-01 1.94974814e-02 6.53888209e+01] [-1.16189111e-01 9.93224472e-01 -2.28894719e-03 -3.14996322e+00] [-1.96313780e-02 7.60524024e-06 9.99807286e-01 -2.23329130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.014203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.42, Y:-3.16, Z:-2.23 [[ 9.93435324e-01 1.12746193e-01 1.93533847e-02 6.54206116e+01] [-1.12723267e-01 9.93623817e-01 -2.27493131e-03 -3.15694022e+00] [-1.94864738e-02 7.84203852e-05 9.99810118e-01 -2.23445302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.044203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.45, Y:-3.17, Z:-2.24 [[ 9.93810440e-01 1.09345090e-01 1.96076870e-02 6.54512160e+01] [-1.09320824e-01 9.94003837e-01 -2.30840772e-03 -3.16585261e+00] [-1.97425292e-02 1.50591187e-04 9.99805086e-01 -2.23618061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.074203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.48, Y:-3.18, Z:-2.24 [[ 9.94161488e-01 1.05955700e-01 2.04040401e-02 6.54809619e+01] [-1.05928624e-01 9.94370824e-01 -2.40631478e-03 -3.17646388e+00] [-2.05441450e-02 2.30893601e-04 9.99788920e-01 -2.23658563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.104203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.51, Y:-3.19, Z:-2.24 [[ 9.94755414e-01 1.00340051e-01 1.98378542e-02 6.55111232e+01] [-1.00313291e-01 9.94953144e-01 -2.34197367e-03 -3.18985741e+00] [-1.99727292e-02 3.39690546e-04 9.99800467e-01 -2.23696603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.134203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.54, Y:-3.20, Z:-2.24 [[ 9.94975094e-01 9.82227520e-02 1.94126987e-02 6.55406893e+01] [-9.81967292e-02 9.95164384e-01 -2.29152126e-03 -3.19990138e+00] [-1.95439059e-02 3.73743067e-04 9.99808930e-01 -2.24024180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.164203822 meters Centerline goodness [0,1] 0.9999785536587458 Centerline is valid? [True, True] Translation: X:65.57, Y:-3.21, Z:-2.24 [[ 9.95114873e-01 9.70053428e-02 1.83399104e-02 6.55721779e+01] [-9.69819025e-02 9.95283790e-01 -2.16530548e-03 -3.20615828e+00] [-1.84634618e-02 3.76088287e-04 9.99829465e-01 -2.24299332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.194203822 meters Centerline goodness [0,1] 0.9999787496281185 Centerline is valid? [True, True] Translation: X:65.61, Y:-3.21, Z:-2.25 [[ 9.95069232e-01 9.77069926e-02 1.70460348e-02 6.56054255e+01] [-9.76868100e-02 9.95215167e-01 -2.01465884e-03 -3.20950935e+00] [-1.71613186e-02 3.39552263e-04 9.99852676e-01 -2.24603305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.22420382199999 meters Centerline goodness [0,1] 0.9998508257858284 Centerline is valid? [True, True] Translation: X:65.64, Y:-3.21, Z:-2.25 [[ 9.94838363e-01 1.00139925e-01 1.63898411e-02 6.56380707e+01] [-1.00121545e-01 9.94973322e-01 -1.94020415e-03 -3.20552544e+00] [-1.65017465e-02 2.89213302e-04 9.99863795e-01 -2.24639770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.254203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.67, Y:-3.20, Z:-2.25 [[ 9.94531979e-01 1.03304369e-01 1.53085121e-02 6.56698868e+01] [-1.03288674e-01 9.94649766e-01 -1.81447974e-03 -3.20473500e+00] [-1.54140517e-02 2.23362209e-04 9.99881171e-01 -2.24983904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.284203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.70, Y:-3.20, Z:-2.25 [[ 9.94148280e-01 1.07053165e-01 1.44505343e-02 6.57030699e+01] [-1.07039517e-01 9.94253285e-01 -1.71679658e-03 -3.20151447e+00] [-1.45512797e-02 1.59972149e-04 9.99894112e-01 -2.25175289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.314203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.73, Y:-3.19, Z:-2.25 [[ 9.93185955e-01 1.15480369e-01 1.56825997e-02 6.57344557e+01] [-1.15465330e-01 9.93309762e-01 -1.86409183e-03 -3.19307077e+00] [-1.57929454e-02 4.05932804e-05 9.99875283e-01 -2.25052494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.344203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.77, Y:-3.19, Z:-2.25 [[ 9.92700113e-01 1.19520727e-01 1.61642051e-02 6.57669693e+01] [-1.19505262e-01 9.92831705e-01 -1.92275367e-03 -3.19085715e+00] [-1.62781442e-02 -2.29897836e-05 9.99867502e-01 -2.24944513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.374203822 meters Centerline goodness [0,1] 0.99997860001284 Centerline is valid? [True, True] Translation: X:65.80, Y:-3.19, Z:-2.25 [[ 9.92253249e-01 1.23114352e-01 1.66236790e-02 6.57991592e+01] [-1.23098512e-01 9.92392487e-01 -1.97670181e-03 -3.18798079e+00] [-1.67405745e-02 -8.49613477e-05 9.99859863e-01 -2.25068120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.404203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.83, Y:-3.18, Z:-2.25 [[ 9.91759101e-01 1.26928869e-01 1.74054014e-02 6.58323230e+01] [-1.26912029e-01 9.91911810e-01 -2.07322019e-03 -3.18252864e+00] [-1.75277747e-02 -1.52819798e-04 9.99846365e-01 -2.24875367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.434203822 meters Centerline goodness [0,1] 0.9999359603808222 Centerline is valid? [True, True] Translation: X:65.86, Y:-3.18, Z:-2.25 [[ 9.91668364e-01 1.27443943e-01 1.87589392e-02 6.58641741e+01] [-1.27424403e-01 9.91845760e-01 -2.23810673e-03 -3.18272445e+00] [-1.88912075e-02 -1.70887001e-04 9.99821531e-01 -2.24946934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.464203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.90, Y:-3.19, Z:-2.25 [[ 9.91742259e-01 1.26677425e-01 2.00030406e-02 6.58956576e+01] [-1.26654975e-01 9.91943952e-01 -2.39037631e-03 -3.18639823e+00] [-2.01447019e-02 -1.62847403e-04 9.99797062e-01 -2.24984502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.494203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.93, Y:-3.19, Z:-2.25 [[ 9.91952293e-01 1.24939594e-01 2.05121056e-02 6.59272712e+01] [-1.24915542e-01 9.92164342e-01 -2.45472984e-03 -3.19344796e+00] [-2.06580727e-02 -1.27305902e-04 9.99786591e-01 -2.24905795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.524203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.96, Y:-3.21, Z:-2.25 [[ 9.92632450e-01 1.19452086e-01 2.02982552e-02 6.59582854e+01] [-1.19427317e-01 9.92839966e-01 -2.43248044e-03 -3.20807874e+00] [-2.04434839e-02 -9.60714018e-06 9.99791010e-01 -2.24988250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.554203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.99, Y:-3.22, Z:-2.25 [[ 9.93002817e-01 1.16419219e-01 1.97982714e-02 6.59881228e+01] [-1.16394983e-01 9.93200162e-01 -2.37602213e-03 -3.21832811e+00] [-1.99402610e-02 5.49772161e-05 9.99801172e-01 -2.25487684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.58420382199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.02, Y:-3.23, Z:-2.26 [[ 9.93335906e-01 1.13670715e-01 1.90458960e-02 6.60197655e+01] [-1.13647728e-01 9.93518473e-01 -2.28850965e-03 -3.22711211e+00] [-1.91825861e-02 1.08735993e-04 9.99815991e-01 -2.25575100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.614203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.05, Y:-3.24, Z:-2.26 [[ 9.93831677e-01 1.09492555e-01 1.76061700e-02 6.60509597e+01] [-1.09472183e-01 9.93987600e-01 -2.11964364e-03 -3.23864103e+00] [-1.77323998e-02 1.79183138e-04 9.99842753e-01 -2.25835590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.644203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.08, Y:-3.25, Z:-2.26 [[ 9.93975105e-01 1.08340400e-01 1.66086793e-02 6.60821334e+01] [-1.08322127e-01 9.94113838e-01 -1.99854414e-03 -3.24502444e+00] [-1.67274410e-02 1.87415655e-04 9.99860069e-01 -2.26133408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.674203822 meters Centerline goodness [0,1] 0.9999137838129109 Centerline is valid? [True, True] Translation: X:66.11, Y:-3.25, Z:-2.26 [[ 9.94048112e-01 1.07849247e-01 1.53912400e-02 6.61140857e+01] [-1.07833465e-01 9.94167243e-01 -1.85406812e-03 -3.24822376e+00] [-1.55014264e-02 1.83342184e-04 9.99879829e-01 -2.26226215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.704203822 meters Centerline goodness [0,1] 0.999978708001533 Centerline is valid? [True, True] Translation: X:66.14, Y:-3.26, Z:-2.27 [[ 9.94024996e-01 1.08105522e-01 1.50832223e-02 6.61447665e+01] [-1.08090344e-01 9.94139409e-01 -1.82029112e-03 -3.25773554e+00] [-1.51916092e-02 1.79064189e-04 9.99884585e-01 -2.26659259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.734203822 meters Centerline goodness [0,1] 0.9999786247141056 Centerline is valid? [True, True] Translation: X:66.18, Y:-3.26, Z:-2.27 [[ 9.93888363e-01 1.09339354e-01 1.51929918e-02 6.61763951e+01] [-1.09324079e-01 9.94004466e-01 -1.83477719e-03 -3.26181658e+00] [-1.53025150e-02 1.62603866e-04 9.99882896e-01 -2.26618660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.764203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.21, Y:-3.26, Z:-2.27 [[ 9.93727140e-01 1.10707983e-01 1.58150136e-02 6.62086345e+01] [-1.10691560e-01 9.93852967e-01 -1.91274199e-03 -3.26432436e+00] [-1.59295540e-02 1.50155103e-04 9.99873105e-01 -2.26577876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.794203822 meters Centerline goodness [0,1] 0.9999787170646576 Centerline is valid? [True, True] Translation: X:66.24, Y:-3.26, Z:-2.27 [[ 9.93299632e-01 1.14581957e-01 1.50604123e-02 6.62403420e+01] [-1.14567472e-01 9.93413795e-01 -1.82394891e-03 -3.26173265e+00] [-1.51702130e-02 8.62944125e-05 9.99884922e-01 -2.26931634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.824203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.27, Y:-3.26, Z:-2.27 [[ 9.93074940e-01 1.16619399e-01 1.42154295e-02 6.62735275e+01] [-1.16606685e-01 9.93176678e-01 -1.72281261e-03 -3.26234822e+00] [-1.43193464e-02 5.32679175e-05 9.99897471e-01 -2.27032088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.854203822 meters Centerline goodness [0,1] 0.9999570455960998 Centerline is valid? [True, True] Translation: X:66.31, Y:-3.26, Z:-2.27 [[ 9.92849980e-01 1.18589395e-01 1.36188502e-02 6.63061432e+01] [-1.18577878e-01 9.92943379e-01 -1.65294136e-03 -3.26341351e+00] [-1.37187685e-02 2.62284439e-05 9.99905893e-01 -2.27277883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.884203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.34, Y:-3.26, Z:-2.27 [[ 9.92446076e-01 1.21839223e-01 1.43523555e-02 6.63383047e+01] [-1.21826720e-01 9.92549849e-01 -1.74548513e-03 -3.26381600e+00] [-1.44580969e-02 -1.62005379e-05 9.99895476e-01 -2.27251217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.914203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.37, Y:-3.27, Z:-2.28 [[ 9.92282022e-01 1.23208149e-01 1.40050593e-02 6.63692569e+01] [-1.23196329e-01 9.92380850e-01 -1.70692724e-03 -3.26664591e+00] [-1.41086600e-02 -3.16186703e-05 9.99900467e-01 -2.27859371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.944203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.40, Y:-3.27, Z:-2.28 [[ 9.92121612e-01 1.24568433e-01 1.33196520e-02 6.64008129e+01] [-1.24557866e-01 9.92211017e-01 -1.62320090e-03 -3.27032798e+00] [-1.34181050e-02 -4.86547319e-05 9.99909972e-01 -2.27779013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.97420382199999 meters Centerline goodness [0,1] 0.9999784468823415 Centerline is valid? [True, True] Translation: X:66.43, Y:-3.27, Z:-2.28 [[ 9.91934083e-01 1.26012348e-01 1.36989922e-02 6.64328905e+01] [-1.26001275e-01 9.92028671e-01 -1.67186975e-03 -3.27318141e+00] [-1.38004693e-02 -6.77058978e-05 9.99904767e-01 -2.27842890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.004203822 meters Centerline goodness [0,1] 0.9999785568778814 Centerline is valid? [True, True] Translation: X:66.47, Y:-3.27, Z:-2.27 [[ 9.91641239e-01 1.28077903e-01 1.56110040e-02 6.64651135e+01] [-1.28063692e-01 9.91764105e-01 -1.91079404e-03 -3.27182894e+00] [-1.57271640e-02 -1.04380636e-04 9.99876315e-01 -2.27478207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.034203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.50, Y:-3.27, Z:-2.28 [[ 9.91527036e-01 1.28874227e-01 1.62963427e-02 6.64965903e+01] [-1.28858858e-01 9.91660939e-01 -1.99404323e-03 -3.27233028e+00] [-1.64174273e-02 -1.22780342e-04 9.99865217e-01 -2.27529602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.064203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.53, Y:-3.27, Z:-2.27 [[ 9.91319111e-01 1.30270956e-01 1.77735564e-02 6.65282966e+01] [-1.30252845e-01 9.91478418e-01 -2.17775366e-03 -3.27168061e+00] [-1.79057956e-02 -1.56207461e-04 9.99839666e-01 -2.27276253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.094203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.56, Y:-3.27, Z:-2.27 [[ 9.91235815e-01 1.30828938e-01 1.83125225e-02 6.65595570e+01] [-1.30809831e-01 9.91404942e-01 -2.24252821e-03 -3.27415709e+00] [-1.84485129e-02 -1.72583707e-04 9.99829797e-01 -2.27457358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.124203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.59, Y:-3.28, Z:-2.28 [[ 9.91214068e-01 1.31042022e-01 1.79627448e-02 6.65907594e+01] [-1.31023625e-01 9.91376800e-01 -2.20234745e-03 -3.28023839e+00] [-1.80964486e-02 -1.70546169e-04 9.99836231e-01 -2.27573634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.154203822 meters Centerline goodness [0,1] 0.999978868179705 Centerline is valid? [True, True] Translation: X:66.62, Y:-3.29, Z:-2.28 [[ 9.91231642e-01 1.31004137e-01 1.72553746e-02 6.66217484e+01] [-1.30987104e-01 9.91381809e-01 -2.11852088e-03 -3.28548987e+00] [-1.73841995e-02 -1.60286623e-04 9.99848871e-01 -2.28019124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.184203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.65, Y:-3.29, Z:-2.28 [[ 9.91265312e-01 1.30808505e-01 1.67992867e-02 6.66531484e+01] [-1.30792293e-01 9.91407642e-01 -2.06485459e-03 -3.29346857e+00] [-1.69250418e-02 -1.50398511e-04 9.99856750e-01 -2.28032804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.214203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.69, Y:-3.30, Z:-2.28 [[ 9.91348739e-01 1.30232170e-01 1.63480880e-02 6.66850465e+01] [-1.30216703e-01 9.91483517e-01 -2.01159171e-03 -3.30059619e+00] [-1.64708337e-02 -1.34605215e-04 9.99864338e-01 -2.28161777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.244203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.72, Y:-3.30, Z:-2.29 [[ 9.91371819e-01 1.30189681e-01 1.52500080e-02 6.67157492e+01] [-1.30176168e-01 9.91489098e-01 -1.87968834e-03 -3.30373178e+00] [-1.53649327e-02 -1.21717559e-04 9.99881945e-01 -2.28587434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.274203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.75, Y:-3.31, Z:-2.29 [[ 9.91369927e-01 1.30320007e-01 1.42254396e-02 6.67473852e+01] [-1.30308236e-01 9.91471978e-01 -1.75522203e-03 -3.30746100e+00] [-1.43328653e-02 -1.13617602e-04 9.99897273e-01 -2.28919677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.304203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.78, Y:-3.32, Z:-2.29 [[ 9.91429241e-01 1.29915865e-01 1.37814304e-02 6.67787581e+01] [-1.29904749e-01 9.91525016e-01 -1.70257065e-03 -3.31600009e+00] [-1.38858239e-02 -1.02294930e-04 9.99903582e-01 -2.29126427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.334203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.81, Y:-3.32, Z:-2.29 [[ 9.91407754e-01 1.30079765e-01 1.37811482e-02 6.68101678e+01] [-1.30068632e-01 9.91503527e-01 -1.70484944e-03 -3.32004386e+00] [-1.38858235e-02 -1.02294150e-04 9.99903582e-01 -2.29226016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.364203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.84, Y:-3.33, Z:-2.29 [[ 9.91455385e-01 1.29769159e-01 1.32734564e-02 6.68409505e+01] [-1.29758759e-01 9.91544229e-01 -1.64542917e-03 -3.32883374e+00] [-1.33747451e-02 -9.09776194e-05 9.99910550e-01 -2.29418357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.394203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.87, Y:-3.34, Z:-2.30 [[ 9.91495118e-01 1.29562109e-01 1.22919385e-02 6.68708538e+01] [-1.29553162e-01 9.91571305e-01 -1.52471806e-03 -3.33733169e+00] [-1.23858792e-02 -8.07089975e-05 9.99923289e-01 -2.29696361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.424203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.90, Y:-3.34, Z:-2.30 [[ 9.91460458e-01 1.29909989e-01 1.13822516e-02 6.69016471e+01] [-1.29902331e-01 9.91525788e-01 -1.41271634e-03 -3.34494547e+00] [-1.14693220e-02 -7.79286336e-05 9.99934222e-01 -2.29988545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.454203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.93, Y:-3.35, Z:-2.30 [[ 9.91355309e-01 1.30657691e-01 1.19674389e-02 6.69339139e+01] [-1.30649283e-01 9.91427536e-01 -1.48506542e-03 -3.34968637e+00] [-1.20588836e-02 -9.13098159e-05 9.99927285e-01 -2.29876793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.484203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.96, Y:-3.35, Z:-2.30 [[ 9.91221433e-01 1.31534189e-01 1.33726847e-02 6.69646102e+01] [-1.31523729e-01 9.91311628e-01 -1.66252843e-03 -3.35402673e+00] [-1.34751772e-02 -1.10891547e-04 9.99909200e-01 -2.29831201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.514203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.00, Y:-3.36, Z:-2.30 [[ 9.91073494e-01 1.32534436e-01 1.44205366e-02 6.69953153e+01] [-1.32522325e-01 9.91178393e-01 -1.79643183e-03 -3.35905006e+00] [-1.45314133e-02 -1.30647056e-04 9.99894405e-01 -2.29834839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.544203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.03, Y:-3.37, Z:-2.29 [[ 9.90829630e-01 1.34093136e-01 1.66034598e-02 6.70267760e+01] [-1.34077285e-01 9.90968718e-01 -2.06926823e-03 -3.36712989e+00] [-1.67309839e-02 -1.75854531e-04 9.99860012e-01 -2.29364756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.574203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.06, Y:-3.37, Z:-2.29 [[ 9.90727132e-01 1.34725662e-01 1.75711582e-02 6.70585347e+01] [-1.34707950e-01 9.90882919e-01 -2.19313743e-03 -3.37281242e+00] [-1.77064324e-02 -1.94173944e-04 9.99843210e-01 -2.29298899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.604203822 meters Centerline goodness [0,1] 0.9999785623941518 Centerline is valid? [True, True] Translation: X:67.09, Y:-3.38, Z:-2.29 [[ 9.90563472e-01 1.35873216e-01 1.79576623e-02 6.70909796e+01] [-1.35854856e-01 9.90726210e-01 -2.24410784e-03 -3.38185457e+00] [-1.80960409e-02 -2.16704374e-04 9.99836230e-01 -2.29246240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.634203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.12, Y:-3.39, Z:-2.29 [[ 9.90375965e-01 1.37127182e-01 1.87505797e-02 6.71232042e+01] [-1.37107315e-01 9.90553419e-01 -2.34713819e-03 -3.38663930e+00] [-1.88953073e-02 -2.46292382e-04 9.99821437e-01 -2.29273135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.664203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.16, Y:-3.39, Z:-2.29 [[ 9.90174135e-01 1.38526931e-01 1.91173309e-02 6.71553842e+01] [-1.38506459e-01 9.90358629e-01 -2.39722170e-03 -3.38967782e+00] [-1.92650934e-02 -2.74206887e-04 9.99814373e-01 -2.29315758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.694203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.19, Y:-3.39, Z:-2.30 [[ 9.89955963e-01 1.40047348e-01 1.93373167e-02 6.71863475e+01] [-1.40026623e-01 9.90144761e-01 -2.42832277e-03 -3.39067145e+00] [-1.94868230e-02 -3.03806554e-04 9.99810068e-01 -2.29564404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.72420382199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.22, Y:-3.40, Z:-2.30 [[ 9.89519536e-01 1.43194612e-01 1.86116012e-02 6.72177754e+01] [-1.43175918e-01 9.89694489e-01 -2.33995266e-03 -3.39566885e+00] [-1.87548677e-02 -3.49304213e-04 9.99824051e-01 -2.29644132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.754203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.25, Y:-3.40, Z:-2.30 [[ 9.89327117e-01 1.44508426e-01 1.86860806e-02 6.72489442e+01] [-1.44489762e-01 9.89503500e-01 -2.35225363e-03 -3.39768399e+00] [-1.88298626e-02 -3.72799032e-04 9.99822633e-01 -2.29855081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.784203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.28, Y:-3.41, Z:-2.30 [[ 9.89152213e-01 1.45820816e-01 1.77254072e-02 6.72803262e+01] [-1.45804192e-01 9.89310947e-01 -2.23353630e-03 -3.40647337e+00] [-1.78616355e-02 -3.75131305e-04 9.99840398e-01 -2.29860045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.814203822 meters Centerline goodness [0,1] 0.9999369124976342 Centerline is valid? [True, True] Translation: X:67.31, Y:-3.41, Z:-2.30 [[ 9.89180271e-01 1.45761112e-01 1.66159580e-02 6.73117129e+01] [-1.45746433e-01 9.89319755e-01 -2.09746985e-03 -3.40854472e+00] [-1.67442251e-02 -3.46940820e-04 9.99859745e-01 -2.30430071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.844203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.34, Y:-3.41, Z:-2.31 [[ 9.89278849e-01 1.45228610e-01 1.53625902e-02 6.73437606e+01] [-1.45216003e-01 9.89398076e-01 -1.93894714e-03 -3.41453919e+00] [-1.54813077e-02 -3.12734545e-04 9.99880108e-01 -2.30759172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.874203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.38, Y:-3.42, Z:-2.31 [[ 9.89293454e-01 1.45138099e-01 1.52772420e-02 6.73763967e+01] [-1.45125576e-01 9.89411359e-01 -1.93103169e-03 -3.41904193e+00] [-1.53957431e-02 -3.06761543e-04 9.99881431e-01 -2.30920707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.904203822 meters Centerline goodness [0,1] 0.9999784904605192 Centerline is valid? [True, True] Translation: X:67.41, Y:-3.43, Z:-2.30 [[ 9.89236688e-01 1.45268416e-01 1.75460022e-02 6.74079955e+01] [-1.45251841e-01 9.89392220e-01 -2.22218814e-03 -3.42751153e+00] [-1.76826918e-02 -3.50319085e-04 9.99843588e-01 -2.30417138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.934203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.44, Y:-3.43, Z:-2.31 [[ 9.89130674e-01 1.45907506e-01 1.82073893e-02 6.74398224e+01] [-1.45889706e-01 9.89298166e-01 -2.30918496e-03 -3.43045090e+00] [-1.83494642e-02 -3.72184999e-04 9.99831565e-01 -2.30620071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.964203822 meters Centerline goodness [0,1] 0.9999357780489371 Centerline is valid? [True, True] Translation: X:67.47, Y:-3.44, Z:-2.31 [[ 9.88993105e-01 1.46894441e-01 1.77387160e-02 6.74715423e+01] [-1.46877644e-01 9.89152102e-01 -2.25315709e-03 -3.43668081e+00] [-1.78772645e-02 -3.77063985e-04 9.99840118e-01 -2.30671482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.994203822 meters Centerline goodness [0,1] 0.9999576638936517 Centerline is valid? [True, True] Translation: X:67.50, Y:-3.44, Z:-2.31 [[ 9.88767164e-01 1.48487470e-01 1.70577492e-02 6.75024970e+01] [-1.48472126e-01 9.88914213e-01 -2.16951391e-03 -3.43804339e+00] [-1.71907962e-02 -3.87456164e-04 9.99852152e-01 -2.30952993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.024203822 meters Centerline goodness [0,1] 0.9999368115087306 Centerline is valid? [True, True] Translation: X:67.53, Y:-3.44, Z:-2.31 [[ 9.88215215e-01 1.51969756e-01 1.83271019e-02 6.75340001e+01] [-1.51952564e-01 9.88385029e-01 -2.33509566e-03 -3.43592562e+00] [-1.84690971e-02 -4.77273072e-04 9.99829318e-01 -2.31001231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.054203822 meters Centerline goodness [0,1] 0.9999364850845807 Centerline is valid? [True, True] Translation: X:67.57, Y:-3.44, Z:-2.31 [[ 9.87977580e-01 1.53424372e-01 1.90069202e-02 6.75661934e+01] [-1.53406137e-01 9.88160255e-01 -2.42240386e-03 -3.43783842e+00] [-1.91535389e-02 -5.22497504e-04 9.99816418e-01 -2.30981848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.084203822 meters Centerline goodness [0,1] 0.999957414189592 Centerline is valid? [True, True] Translation: X:67.60, Y:-3.44, Z:-2.31 [[ 9.87823683e-01 1.54410525e-01 1.90200103e-02 6.75982187e+01] [-1.54392388e-01 9.88006629e-01 -2.42718133e-03 -3.44137286e+00] [-1.91666786e-02 -5.38917606e-04 9.99816157e-01 -2.31020706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.114203822 meters Centerline goodness [0,1] 0.9999578397065644 Centerline is valid? [True, True] Translation: X:67.63, Y:-3.44, Z:-2.31 [[ 9.87913991e-01 1.53846230e-01 1.89019709e-02 6.76298950e+01] [-1.53828137e-01 9.88094665e-01 -2.41612752e-03 -3.44206269e+00] [-1.90486487e-02 -5.20728799e-04 9.99818422e-01 -2.31245669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.144203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.66, Y:-3.45, Z:-2.31 [[ 9.88187703e-01 1.52105634e-01 1.86799112e-02 6.76618789e+01] [-1.52087612e-01 9.88364126e-01 -2.38993377e-03 -3.44766529e+00] [-1.88260765e-02 -4.79279924e-04 9.99822659e-01 -2.31399580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.174203822 meters Centerline goodness [0,1] 0.9999786045914547 Centerline is valid? [True, True] Translation: X:67.69, Y:-3.46, Z:-2.31 [[ 9.88568973e-01 1.49647825e-01 1.83552319e-02 6.76926658e+01] [-1.49629976e-01 9.88739273e-01 -2.34971718e-03 -3.45732814e+00] [-1.85001687e-02 -4.23635409e-04 9.99828767e-01 -2.31449198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.204203822 meters Centerline goodness [0,1] 0.9999785610153503 Centerline is valid? [True, True] Translation: X:67.72, Y:-3.47, Z:-2.32 [[ 9.89349298e-01 1.44410350e-01 1.82651849e-02 6.77224887e+01] [-1.44391768e-01 9.89517835e-01 -2.33901007e-03 -3.46983382e+00] [-1.84115035e-02 -3.23244375e-04 9.99830442e-01 -2.31519992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.234203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.75, Y:-3.47, Z:-2.32 [[ 9.89641365e-01 1.42286992e-01 1.90887335e-02 6.77532864e+01] [-1.42266323e-01 9.89825400e-01 -2.44335244e-03 -3.47451006e+00] [-1.92421706e-02 -2.97641279e-04 9.99814808e-01 -2.31630989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.264203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.78, Y:-3.48, Z:-2.32 [[ 9.89911472e-01 1.40259560e-01 2.00632128e-02 6.77844147e+01] [-1.40236242e-01 9.90114733e-01 -2.57148097e-03 -3.48015952e+00] [-2.02255573e-02 -2.68051040e-04 9.99795407e-01 -2.31538050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.294203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.81, Y:-3.49, Z:-2.32 [[ 9.90132848e-01 1.38640790e-01 2.03881176e-02 6.78149906e+01] [-1.38616294e-01 9.90342706e-01 -2.61669764e-03 -3.48506491e+00] [-2.05540046e-02 -2.35247008e-04 9.99788716e-01 -2.31600380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.324203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.85, Y:-3.49, Z:-2.32 [[ 9.90361644e-01 1.37015008e-01 2.02657535e-02 6.78465900e+01] [-1.36990407e-01 9.90568952e-01 -2.60383561e-03 -3.49019667e+00] [-2.04313908e-02 -1.97474893e-04 9.99791238e-01 -2.31505126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.354203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.88, Y:-3.49, Z:-2.32 [[ 9.90333427e-01 1.37238016e-01 2.01353060e-02 6.78796020e+01] [-1.37213713e-01 9.90538080e-01 -2.59016546e-03 -3.49270018e+00] [-2.03002565e-02 -1.97712669e-04 9.99793909e-01 -2.31621494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.384203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.91, Y:-3.49, Z:-2.32 [[ 9.90283762e-01 1.37650774e-01 1.97568861e-02 6.79118723e+01] [-1.37627383e-01 9.90480805e-01 -2.54529846e-03 -3.49470934e+00] [-1.99191787e-02 -1.98520779e-04 9.99801574e-01 -2.31857606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.414203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.94, Y:-3.50, Z:-2.32 [[ 9.90295757e-01 1.37711441e-01 1.87048907e-02 6.79435256e+01] [-1.37690422e-01 9.90472374e-01 -2.41308823e-03 -3.49634501e+00] [-1.88589874e-02 -1.85813271e-04 9.99822136e-01 -2.32095949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.444203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.97, Y:-3.50, Z:-2.32 [[ 9.90362847e-01 1.37228391e-01 1.87029563e-02 6.79740938e+01] [-1.37207236e-01 9.90539418e-01 -2.41576702e-03 -3.49975837e+00] [-1.88575273e-02 -1.73695045e-04 9.99822166e-01 -2.32226043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.47420382199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.01, Y:-3.50, Z:-2.32 [[ 9.90640225e-01 1.35067222e-01 1.97177809e-02 6.80057754e+01] [-1.35043218e-01 9.90836428e-01 -2.54996754e-03 -3.50420532e+00] [-1.98815126e-02 -1.36652172e-04 9.99802334e-01 -2.32019206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.504203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.04, Y:-3.51, Z:-2.32 [[ 9.90780541e-01 1.33901129e-01 2.06011272e-02 6.80380655e+01] [-1.33874595e-01 9.90994689e-01 -2.66800366e-03 -3.50744884e+00] [-2.07728564e-02 -1.14561450e-04 9.99784214e-01 -2.31954777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.534203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.07, Y:-3.51, Z:-2.32 [[ 9.90918757e-01 1.32815824e-01 2.09755806e-02 6.80704810e+01] [-1.32787995e-01 9.91140731e-01 -2.72022266e-03 -3.51114592e+00] [-2.11510409e-02 -8.97856341e-05 9.99776288e-01 -2.32008860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.564203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.10, Y:-3.51, Z:-2.32 [[ 9.91004685e-01 1.32255343e-01 2.04508901e-02 6.81024326e+01] [-1.32228702e-01 9.91215677e-01 -2.65546887e-03 -3.51424828e+00] [-2.06224428e-02 -7.26125571e-05 9.99787332e-01 -2.32253748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.594203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.13, Y:-3.51, Z:-2.32 [[ 9.90872859e-01 1.33387785e-01 1.94595822e-02 6.81346132e+01] [-1.33363814e-01 9.91063919e-01 -2.53024304e-03 -3.51325720e+00] [-1.96231933e-02 -8.80549547e-05 9.99807443e-01 -2.32446350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.624203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.17, Y:-3.51, Z:-2.33 [[ 9.90667728e-01 1.34882795e-01 1.95980767e-02 6.81676286e+01] [-1.34858712e-01 9.90861554e-01 -2.55138519e-03 -3.51421271e+00] [-1.97631187e-02 -1.15396412e-04 9.99804684e-01 -2.32586081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.654203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.20, Y:-3.51, Z:-2.33 [[ 9.90236160e-01 1.38001440e-01 1.96964293e-02 6.81990698e+01] [-1.37977614e-01 9.90432013e-01 -2.57007194e-03 -3.50996389e+00] [-1.98626478e-02 -1.72688148e-04 9.99802703e-01 -2.32683400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.684203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.23, Y:-3.51, Z:-2.33 [[ 9.90023717e-01 1.39455827e-01 2.01273796e-02 6.82311929e+01] [-1.39431271e-01 9.90228271e-01 -2.62513227e-03 -3.50747757e+00] [-2.02967903e-02 -2.07442920e-04 9.99793977e-01 -2.32768970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.714203822 meters Centerline goodness [0,1] 0.9999785545785975 Centerline is valid? [True, True] Translation: X:68.26, Y:-3.51, Z:-2.33 [[ 9.89922253e-01 1.40085787e-01 2.07341791e-02 6.82633765e+01] [-1.40059784e-01 9.90139345e-01 -2.70822916e-03 -3.50811427e+00] [-2.09091109e-02 -2.23088330e-04 9.99781356e-01 -2.32701373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.744203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.29, Y:-3.51, Z:-2.33 [[ 9.89942761e-01 1.39860942e-01 2.12660795e-02 6.82942778e+01] [-1.39833454e-01 9.90171131e-01 -2.78151474e-03 -3.50928485e+00] [-2.14460833e-02 -2.20168967e-04 9.99769982e-01 -2.32602484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.774203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.33, Y:-3.51, Z:-2.33 [[ 9.89979823e-01 1.39454847e-01 2.21877244e-02 6.83262523e+01] [-1.39424743e-01 9.90228407e-01 -2.90558179e-03 -3.51113165e+00] [-2.23761125e-02 -2.17050430e-04 9.99749600e-01 -2.32574318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.804203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.36, Y:-3.51, Z:-2.33 [[ 9.90230600e-01 1.37739844e-01 2.17047065e-02 6.83573216e+01] [-1.37710547e-01 9.90468428e-01 -2.84590519e-03 -3.51136885e+00] [-2.18898210e-02 -1.70864596e-04 9.99760375e-01 -2.32733865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.834203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.39, Y:-3.51, Z:-2.33 [[ 9.90345832e-01 1.36933425e-01 2.15492415e-02 6.83904359e+01] [-1.36904292e-01 9.90580241e-01 -2.82843075e-03 -3.51440959e+00] [-2.17335596e-02 -1.49059052e-04 9.99763787e-01 -2.32844851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.864203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.42, Y:-3.52, Z:-2.33 [[ 9.90489479e-01 1.35821238e-01 2.19814506e-02 6.84229195e+01] [-1.35790550e-01 9.90733353e-01 -2.88965423e-03 -3.51762846e+00] [-2.21702327e-02 -1.22701172e-04 9.99754203e-01 -2.32822700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.894203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.45, Y:-3.52, Z:-2.33 [[ 9.90876606e-01 1.32866344e-01 2.25851020e-02 6.84545081e+01] [-1.32833088e-01 9.91133963e-01 -2.97306523e-03 -3.51990672e+00] [-2.27798819e-02 -5.41080458e-05 9.99740503e-01 -2.32897231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.924203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.49, Y:-3.52, Z:-2.33 [[ 9.91095097e-01 1.31273042e-01 2.23135948e-02 6.84871175e+01] [-1.31240107e-01 9.91346250e-01 -2.94043621e-03 -3.52312579e+00] [-2.25064985e-02 -1.41866521e-05 9.99746697e-01 -2.33016696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.954203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.52, Y:-3.53, Z:-2.33 [[ 9.91302557e-01 1.29634127e-01 2.26767006e-02 6.85201501e+01] [-1.29599583e-01 9.91561895e-01 -2.99260693e-03 -3.52614214e+00] [-2.28732962e-02 2.76879672e-05 9.99738372e-01 -2.32935576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.984203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.55, Y:-3.53, Z:-2.33 [[ 9.91780344e-01 1.25534830e-01 2.47539024e-02 6.85512785e+01] [-1.25492251e-01 9.92089203e-01 -3.27229406e-03 -3.53298446e+00] [-2.49688661e-02 1.38974011e-04 9.99688220e-01 -2.32803929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.014203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.58, Y:-3.54, Z:-2.33 [[ 9.92080748e-01 1.23335704e-01 2.37506523e-02 6.85818663e+01] [-1.23295772e-01 9.92364987e-01 -3.14403670e-03 -3.54081694e+00] [-2.39570878e-02 1.90783268e-04 9.99712970e-01 -2.33078490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.044203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.61, Y:-3.55, Z:-2.33 [[ 9.92795363e-01 1.17851243e-01 2.16437427e-02 6.86130020e+01] [-1.17816690e-01 9.93031216e-01 -2.86916223e-03 -3.54808214e+00] [-2.18310465e-02 2.98496819e-04 9.99761630e-01 -2.33490648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.074203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.64, Y:-3.56, Z:-2.34 [[ 9.93082832e-01 1.15364128e-01 2.18542023e-02 6.86430291e+01] [-1.15328283e-01 9.93323205e-01 -2.89775040e-03 -3.55767480e+00] [-2.20425827e-02 3.57298565e-04 9.99756969e-01 -2.33844827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.104203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.68, Y:-3.56, Z:-2.34 [[ 9.93313571e-01 1.13411974e-01 2.15841053e-02 6.86750065e+01] [-1.13376522e-01 9.93547969e-01 -2.86314666e-03 -3.56194184e+00] [-2.17695591e-02 3.96871652e-04 9.99762936e-01 -2.33871039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.134203822 meters Centerline goodness [0,1] 0.9999786766744141 Centerline is valid? [True, True] Translation: X:68.71, Y:-3.57, Z:-2.34 [[ 9.93475760e-01 1.12115181e-01 2.08830288e-02 6.87065414e+01] [-1.12081624e-01 9.93695131e-01 -2.77418230e-03 -3.56536219e+00] [-2.10623920e-02 4.15479092e-04 9.99778077e-01 -2.33927947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.164203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.74, Y:-3.57, Z:-2.34 [[ 9.93592198e-01 1.11196999e-01 2.02428157e-02 6.87374198e+01] [-1.11165256e-01 9.93798294e-01 -2.69016046e-03 -3.57041240e+00] [-2.04164135e-02 4.22624650e-04 9.99791474e-01 -2.34170078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.194203822 meters Centerline goodness [0,1] 0.9999788261200983 Centerline is valid? [True, True] Translation: X:68.77, Y:-3.58, Z:-2.34 [[ 9.93564539e-01 1.11400977e-01 2.04775199e-02 6.87693915e+01] [-1.11368474e-01 9.93775448e-01 -2.72443252e-03 -3.57527584e+00] [-2.06535609e-02 4.26349411e-04 9.99786602e-01 -2.34279379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.22420382199999 meters Centerline goodness [0,1] 0.9999788261200983 Centerline is valid? [True, True] Translation: X:68.80, Y:-3.58, Z:-2.34 [[ 9.93543877e-01 1.11585193e-01 2.04770478e-02 6.88015894e+01] [-1.11552656e-01 9.93754780e-01 -2.72797476e-03 -3.57975724e+00] [-2.06535657e-02 4.26093562e-04 9.99786602e-01 -2.34381605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.254203822 meters Centerline goodness [0,1] 0.9999786912143876 Centerline is valid? [True, True] Translation: X:68.83, Y:-3.58, Z:-2.34 [[ 9.93477859e-01 1.12182722e-01 2.04152072e-02 6.88340115e+01] [-1.12150423e-01 9.93687508e-01 -2.72380392e-03 -3.58250232e+00] [-2.05919001e-02 4.16464752e-04 9.99787878e-01 -2.34427807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.284203822 meters Centerline goodness [0,1] 0.9999786096256684 Centerline is valid? [True, True] Translation: X:68.87, Y:-3.58, Z:-2.35 [[ 9.93306787e-01 1.13773805e-01 1.99285676e-02 6.88655653e+01] [-1.13743268e-01 9.93506607e-01 -2.66288230e-03 -3.58453049e+00] [-2.01021299e-02 3.78318660e-04 9.99797860e-01 -2.34599361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.314203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.90, Y:-3.59, Z:-2.35 [[ 9.93152590e-01 1.15087001e-01 2.00727467e-02 6.88982491e+01] [-1.15056241e-01 9.93355352e-01 -2.68448281e-03 -3.58658519e+00] [-2.02483194e-02 3.56606281e-04 9.99794918e-01 -2.34614965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.344203822 meters Centerline goodness [0,1] 0.99997891496405 Centerline is valid? [True, True] Translation: X:68.93, Y:-3.59, Z:-2.35 [[ 9.92944064e-01 1.16753255e-01 2.07548602e-02 6.89291131e+01] [-1.16720712e-01 9.93160896e-01 -2.77663665e-03 -3.58877410e+00] [-2.09370970e-02 3.34522807e-04 9.99780739e-01 -2.34717795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.374203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.96, Y:-3.58, Z:-2.35 [[ 9.92443965e-01 1.21133071e-01 1.95385722e-02 6.89627170e+01] [-1.21105050e-01 9.92636251e-01 -2.61542803e-03 -3.58446484e+00] [-1.97115099e-02 2.29445989e-04 9.99805683e-01 -2.34901074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.404203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.99, Y:-3.59, Z:-2.35 [[ 9.92123356e-01 1.23805939e-01 1.90613495e-02 6.89936957e+01] [-1.23779723e-01 9.92306434e-01 -2.55365651e-03 -3.58618037e+00] [-1.92308576e-02 1.74133714e-04 9.99815055e-01 -2.35277713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.434203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.03, Y:-3.58, Z:-2.35 [[ 9.91361935e-01 1.29651817e-01 1.97969782e-02 6.90260858e+01] [-1.29624643e-01 9.91559581e-01 -2.65514727e-03 -3.58128543e+00] [-1.99741281e-02 6.60357014e-05 9.99800495e-01 -2.35175084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.464203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.06, Y:-3.58, Z:-2.35 [[ 9.90953759e-01 1.32539447e-01 2.10699267e-02 6.90567750e+01] [-1.32509303e-01 9.91177731e-01 -2.82657668e-03 -3.58092405e+00] [-2.12586751e-02 9.04546847e-06 9.99774009e-01 -2.35202022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.494203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.09, Y:-3.58, Z:-2.35 [[ 9.90614123e-01 1.34895285e-01 2.20662841e-02 6.90882475e+01] [-1.34862803e-01 9.90859859e-01 -2.96041924e-03 -3.58074474e+00] [-2.22639417e-02 -4.32878211e-05 9.99752127e-01 -2.35088611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.524203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.12, Y:-3.58, Z:-2.35 [[ 9.90297640e-01 1.37022475e-01 2.31392432e-02 6.91178993e+01] [-1.36987317e-01 9.90567934e-01 -3.10527855e-03 -3.58012978e+00] [-2.33464853e-02 -9.46328138e-05 9.99727429e-01 -2.35127287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.554203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.15, Y:-3.59, Z:-2.35 [[ 9.90385213e-01 1.36388201e-01 2.31384756e-02 6.91463884e+01] [-1.36352878e-01 9.90655466e-01 -3.10488523e-03 -3.58596129e+00] [-2.33457270e-02 -7.99653244e-05 9.99727448e-01 -2.35254630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.584203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.18, Y:-3.59, Z:-2.35 [[ 9.90585936e-01 1.34914514e-01 2.31856998e-02 6.91766400e+01] [-1.34878657e-01 9.90857241e-01 -3.11066065e-03 -3.59373308e+00] [-2.33933918e-02 -4.58793550e-05 9.99726336e-01 -2.35383691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.614203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.21, Y:-3.60, Z:-2.36 [[ 9.90814691e-01 1.33352696e-01 2.24344799e-02 6.92084336e+01] [-1.33318742e-01 9.91068645e-01 -3.00907273e-03 -3.60221317e+00] [-2.26353775e-02 -9.50317565e-06 9.99743787e-01 -2.35500026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.644203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.24, Y:-3.62, Z:-2.36 [[ 9.91154567e-01 1.31014656e-01 2.11609128e-02 6.92375595e+01] [-1.30983840e-01 9.91380431e-01 -2.84176703e-03 -3.61543685e+00] [-2.13508280e-02 4.48927448e-05 9.99772044e-01 -2.36082296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.674203822 meters Centerline goodness [0,1] 0.9999359945382006 Centerline is valid? [True, True] Translation: X:69.27, Y:-3.62, Z:-2.36 [[ 9.91208630e-01 1.30668870e-01 2.07629078e-02 6.92694333e+01] [-1.30639066e-01 9.91426066e-01 -2.79118937e-03 -3.62419713e+00] [-2.09496095e-02 5.42041085e-05 9.99780531e-01 -2.36198468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.704203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.30, Y:-3.63, Z:-2.36 [[ 9.91139176e-01 1.31183036e-01 2.08361399e-02 6.93004792e+01] [-1.31153046e-01 9.91358164e-01 -2.80527796e-03 -3.63212013e+00] [-2.10240823e-02 4.76976642e-05 9.99778968e-01 -2.36387905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.734203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.33, Y:-3.64, Z:-2.37 [[ 9.90959644e-01 1.32563087e-01 2.06400407e-02 6.93325656e+01] [-1.32533877e-01 9.91174570e-01 -2.78277197e-03 -3.63760417e+00] [-2.08267763e-02 2.21101026e-05 9.99783099e-01 -2.36557619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.764203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.36, Y:-3.64, Z:-2.37 [[ 9.90521739e-01 1.35784285e-01 2.07198675e-02 6.93644267e+01] [-1.35755482e-01 9.90738425e-01 -2.79697740e-03 -3.64193310e+00] [-2.09077545e-02 -4.23686871e-05 9.99781408e-01 -2.36576511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.794203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.40, Y:-3.65, Z:-2.37 [[ 9.90342925e-01 1.37058004e-01 2.08804601e-02 6.93953217e+01] [-1.37028957e-01 9.90563021e-01 -2.82234682e-03 -3.64684538e+00] [-2.10702369e-02 -6.61364665e-05 9.99777996e-01 -2.36685849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.824203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.43, Y:-3.65, Z:-2.37 [[ 9.90242614e-01 1.37743175e-01 2.11277569e-02 6.94262980e+01] [-1.37713521e-01 9.90467976e-01 -2.85913072e-03 -3.65228143e+00] [-2.13201924e-02 -7.83447188e-05 9.99772696e-01 -2.36829620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.854203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.46, Y:-3.66, Z:-2.37 [[ 9.90209714e-01 1.37954116e-01 2.12928187e-02 6.94574947e+01] [-1.37923977e-01 9.90438618e-01 -2.88463987e-03 -3.65945723e+00] [-2.14871778e-02 -8.03918008e-05 9.99769121e-01 -2.36858981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.884203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.49, Y:-3.67, Z:-2.37 [[ 9.90438775e-01 1.36416072e-01 2.05350363e-02 6.94888922e+01] [-1.36387646e-01 9.90651631e-01 -2.78503372e-03 -3.67440171e+00] [-2.07229906e-02 -4.23198839e-05 9.99785255e-01 -2.37108684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.914203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.52, Y:-3.68, Z:-2.37 [[ 9.90538912e-01 1.35719195e-01 2.03214929e-02 6.95197434e+01] [-1.35691127e-01 9.90747344e-01 -2.76018272e-03 -3.68466494e+00] [-2.05080749e-02 -2.33778729e-05 9.99789687e-01 -2.37351078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.944203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.55, Y:-3.70, Z:-2.38 [[ 9.90630778e-01 1.35186423e-01 1.93724953e-02 6.95507907e+01] [-1.35160745e-01 9.90820181e-01 -2.63481097e-03 -3.69778327e+00] [-1.95508499e-02 -8.27604167e-06 9.99808864e-01 -2.37618076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.97420382199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.58, Y:-3.70, Z:-2.38 [[ 9.90541917e-01 1.35833568e-01 1.93894876e-02 6.95832377e+01] [-1.35807912e-01 9.90731670e-01 -2.64002846e-03 -3.70495138e+00] [-1.95683839e-02 -1.81869712e-05 9.99808521e-01 -2.37656157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.004203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.62, Y:-3.71, Z:-2.38 [[ 9.90356471e-01 1.37186427e-01 1.93376514e-02 6.96150745e+01] [-1.37161087e-01 9.90545245e-01 -2.63693721e-03 -3.71023414e+00] [-1.95165706e-02 -4.08654550e-05 9.99809533e-01 -2.37820598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.034203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.65, Y:-3.71, Z:-2.38 [[ 9.90123061e-01 1.38824904e-01 1.95951547e-02 6.96466100e+01] [-1.38799132e-01 9.90316940e-01 -2.67578912e-03 -3.71401354e+00] [-1.97768799e-02 -7.04299606e-05 9.99804416e-01 -2.38006100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.064203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.68, Y:-3.72, Z:-2.38 [[ 9.89497713e-01 1.43087556e-01 2.04994616e-02 6.96793308e+01] [-1.43060178e-01 9.89710021e-01 -2.80345141e-03 -3.71565576e+00] [-2.06896616e-02 -1.58647867e-04 9.99785933e-01 -2.38033246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.094203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.71, Y:-3.72, Z:-2.38 [[ 9.89124821e-01 1.45646786e-01 2.04719668e-02 6.97113626e+01] [-1.45619959e-01 9.89336631e-01 -2.80307250e-03 -3.71863512e+00] [-2.06619252e-02 -2.08538389e-04 9.99786498e-01 -2.38120958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.124203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.74, Y:-3.72, Z:-2.38 [[ 9.88726344e-01 1.48391355e-01 2.00055604e-02 6.97428670e+01] [-1.48366230e-01 9.88928683e-01 -2.74260362e-03 -3.71952017e+00] [-2.01910512e-02 -2.56465131e-04 9.99796107e-01 -2.38319668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.154203822 meters Centerline goodness [0,1] 0.9999788815678324 Centerline is valid? [True, True] Translation: X:69.77, Y:-3.71, Z:-2.39 [[ 9.87941553e-01 1.53639909e-01 1.91380831e-02 6.97739974e+01] [-1.53617818e-01 9.88126844e-01 -2.62786764e-03 -3.71404742e+00] [-1.93145990e-02 -3.43770924e-04 9.99813397e-01 -2.38731315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.184203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.80, Y:-3.72, Z:-2.39 [[ 9.87584492e-01 1.56026099e-01 1.82408244e-02 6.98040378e+01] [-1.56006415e-01 9.87752863e-01 -2.50589277e-03 -3.71619919e+00] [-1.84084112e-02 -3.70904789e-04 9.99830482e-01 -2.38870119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.214203822 meters Centerline goodness [0,1] 0.999978826568422 Centerline is valid? [True, True] Translation: X:69.83, Y:-3.72, Z:-2.39 [[ 9.87294724e-01 1.57896030e-01 1.78317444e-02 6.98349118e+01] [-1.57877531e-01 9.87455663e-01 -2.44933441e-03 -3.71814543e+00] [-1.79947971e-02 -3.97016828e-04 9.99838002e-01 -2.39051804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.244203822 meters Centerline goodness [0,1] 0.999957483897026 Centerline is valid? [True, True] Translation: X:69.86, Y:-3.72, Z:-2.39 [[ 9.87084689e-01 1.59175125e-01 1.80858087e-02 6.98648047e+01] [-1.59156306e-01 9.87250271e-01 -2.48438796e-03 -3.72153240e+00] [-1.82506723e-02 -4.26169192e-04 9.99833352e-01 -2.39070502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.274203822 meters Centerline goodness [0,1] 0.9999571321401779 Centerline is valid? [True, True] Translation: X:69.89, Y:-3.73, Z:-2.39 [[ 9.87195903e-01 1.58489465e-01 1.80371226e-02 6.98947202e+01] [-1.58470640e-01 9.87360582e-01 -2.47732946e-03 -3.72605247e+00] [-1.82017745e-02 -4.12744872e-04 9.99834249e-01 -2.39138416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.304203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.92, Y:-3.73, Z:-2.39 [[ 9.87364120e-01 1.57395624e-01 1.84041446e-02 6.99245967e+01] [-1.57375832e-01 9.87535547e-01 -2.52789092e-03 -3.72814578e+00] [-1.85726259e-02 -4.00418774e-04 9.99827434e-01 -2.39219972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.334203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.96, Y:-3.73, Z:-2.39 [[ 9.87757776e-01 1.54795876e-01 1.93083429e-02 6.99551285e+01] [-1.54773603e-01 9.87946406e-01 -2.65169550e-03 -3.73076957e+00] [-1.94860795e-02 -3.69188935e-04 9.99810060e-01 -2.39263896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.364203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.99, Y:-3.74, Z:-2.39 [[ 9.87913814e-01 1.53809315e-01 1.92091184e-02 6.99853196e+01] [-1.53787083e-01 9.88100488e-01 -2.63806860e-03 -3.73565455e+00] [-1.93862988e-02 -3.47929879e-04 9.99812008e-01 -2.39351351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.394203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.02, Y:-3.74, Z:-2.40 [[ 9.88028917e-01 1.53125030e-01 1.87505850e-02 7.00159098e+01] [-1.53103724e-01 9.88206769e-01 -2.57509628e-03 -3.73988098e+00] [-1.89237667e-02 -3.26514805e-04 9.99820876e-01 -2.39536026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.424203822 meters Centerline goodness [0,1] 0.9999784529196294 Centerline is valid? [True, True] Translation: X:70.05, Y:-3.74, Z:-2.40 [[ 9.88148444e-01 1.52552719e-01 1.70387984e-02 7.00467872e+01] [-1.52535046e-01 9.88295293e-01 -2.33966476e-03 -3.74468504e+00] [-1.71962865e-02 -2.87077819e-04 9.99852092e-01 -2.39901793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.454203822 meters Centerline goodness [0,1] 0.9999786921224777 Centerline is valid? [True, True] Translation: X:70.08, Y:-3.75, Z:-2.40 [[ 9.88159059e-01 1.52486569e-01 1.70153185e-02 7.00768640e+01] [-1.52468923e-01 9.88305502e-01 -2.33720105e-03 -3.74928110e+00] [-1.71727247e-02 -2.84780899e-04 9.99852497e-01 -2.39977838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.484203822 meters Centerline goodness [0,1] 0.9999787834425986 Centerline is valid? [True, True] Translation: X:70.11, Y:-3.75, Z:-2.40 [[ 9.88270055e-01 1.51721793e-01 1.74010258e-02 7.01061122e+01] [-1.51703216e-01 9.88423199e-01 -2.39035148e-03 -3.75010165e+00] [-1.75622460e-02 -2.77478776e-04 9.99845733e-01 -2.40321167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.514203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.14, Y:-3.76, Z:-2.40 [[ 9.88648509e-01 1.49221617e-01 1.75223817e-02 7.01368544e+01] [-1.49202400e-01 9.88803749e-01 -2.40629445e-03 -3.75726053e+00] [-1.76852679e-02 -2.35401986e-04 9.99843576e-01 -2.40078061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.544203822 meters Centerline goodness [0,1] 0.9999786128280258 Centerline is valid? [True, True] Translation: X:70.17, Y:-3.76, Z:-2.41 [[ 9.88898598e-01 1.47620328e-01 1.69647285e-02 7.01669971e+01] [-1.47602070e-01 9.89044083e-01 -2.33028792e-03 -3.75895777e+00] [-1.71228622e-02 -1.99610585e-04 9.99853373e-01 -2.40548688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.574203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.20, Y:-3.76, Z:-2.41 [[ 9.89170850e-01 1.45781719e-01 1.69917406e-02 7.01973533e+01] [-1.45763124e-01 9.89316765e-01 -2.33438634e-03 -3.76472001e+00] [-1.71505247e-02 -1.67662274e-04 9.99852905e-01 -2.40805719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.604203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.23, Y:-3.77, Z:-2.41 [[ 9.89442477e-01 1.43925931e-01 1.69973793e-02 7.02278876e+01] [-1.43907055e-01 9.89588454e-01 -2.33482505e-03 -3.77223866e+00] [-1.71564522e-02 -1.35867731e-04 9.99852808e-01 -2.40918715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.634203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.26, Y:-3.78, Z:-2.41 [[ 9.89905269e-01 1.40741397e-01 1.67158086e-02 7.02582041e+01] [-1.40722712e-01 9.90046389e-01 -2.29465703e-03 -3.78244725e+00] [-1.68723792e-02 -8.08008389e-05 9.99857648e-01 -2.41117638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.664203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.29, Y:-3.79, Z:-2.41 [[ 9.90036288e-01 1.39789534e-01 1.69421169e-02 7.02900699e+01] [-1.39770159e-01 9.90181237e-01 -2.32818898e-03 -3.78769686e+00] [-1.71012228e-02 -6.30108136e-05 9.99853761e-01 -2.41060216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.694203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.32, Y:-3.79, Z:-2.41 [[ 9.90135608e-01 1.39105623e-01 1.67661614e-02 7.03221670e+01] [-1.39086504e-01 9.90277549e-01 -2.30677492e-03 -3.79290355e+00] [-1.69240386e-02 -4.79267798e-05 9.99856777e-01 -2.41239358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.72420382199999 meters Centerline goodness [0,1] 0.9999787306448868 Centerline is valid? [True, True] Translation: X:70.35, Y:-3.80, Z:-2.42 [[ 9.90220232e-01 1.38710738e-01 1.49406297e-02 7.03527494e+01] [-1.38695478e-01 9.90332939e-01 -2.05776379e-03 -3.79885147e+00] [-1.50816317e-02 -3.45584430e-05 9.99886265e-01 -2.41764058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.754203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.38, Y:-3.80, Z:-2.42 [[ 9.90189712e-01 1.39221215e-01 1.19074551e-02 7.03845238e+01] [-1.39211524e-01 9.90261305e-01 -1.64290737e-03 -3.80495797e+00] [-1.20202196e-02 -3.08649965e-05 9.99927754e-01 -2.42082851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.784203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.41, Y:-3.81, Z:-2.42 [[ 9.90039664e-01 1.40221236e-01 1.26280947e-02 7.04139919e+01] [-1.40210395e-01 9.90120196e-01 -1.74422275e-03 -3.80561515e+00] [-1.27479087e-02 -4.37404441e-05 9.99918741e-01 -2.42365378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.814203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.45, Y:-3.81, Z:-2.42 [[ 9.89648698e-01 1.42845325e-01 1.38082664e-02 7.04452447e+01] [-1.42832624e-01 9.89745021e-01 -1.90680706e-03 -3.80592431e+00] [-1.39390414e-02 -8.52017925e-05 9.99902843e-01 -2.42228704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.844203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.47, Y:-3.81, Z:-2.42 [[ 9.89456915e-01 1.44160443e-01 1.38845199e-02 7.04741778e+01] [-1.44147727e-01 9.89554322e-01 -1.91754328e-03 -3.80894523e+00] [-1.40159205e-02 -1.04095517e-04 9.99901767e-01 -2.42412510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.874203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.50, Y:-3.81, Z:-2.43 [[ 9.89326244e-01 1.45070548e-01 1.37156498e-02 7.05047263e+01] [-1.45058232e-01 9.89421307e-01 -1.89385343e-03 -3.81223702e+00] [-1.38452985e-02 -1.15929021e-04 9.99904143e-01 -2.42500278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.904203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.53, Y:-3.82, Z:-2.42 [[ 9.89272366e-01 1.45215147e-01 1.58979999e-02 7.05347313e+01] [-1.45198615e-01 9.89400092e-01 -2.19537444e-03 -3.81662784e+00] [-1.60482841e-02 -1.36544299e-04 9.99871209e-01 -2.42185429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.934203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.56, Y:-3.82, Z:-2.42 [[ 9.89365269e-01 1.44352422e-01 1.78533556e-02 7.05645592e+01] [-1.44331440e-01 9.89526331e-01 -2.46497265e-03 -3.82315647e+00] [-1.80221902e-02 -1.38042194e-04 9.99837578e-01 -2.41926353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.964203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.60, Y:-3.83, Z:-2.42 [[ 9.89738569e-01 1.41578406e-01 1.93163310e-02 7.05958469e+01] [-1.41553355e-01 9.89927041e-01 -2.66499086e-03 -3.83463032e+00] [-1.94990635e-02 -9.66472083e-05 9.99809871e-01 -2.41758127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.994203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.63, Y:-3.84, Z:-2.42 [[ 9.90067252e-01 1.39384016e-01 1.84101407e-02 7.06281655e+01] [-1.39360834e-01 9.90238402e-01 -2.54246681e-03 -3.84391004e+00] [-1.85848075e-02 -4.84394438e-05 9.99827286e-01 -2.42043834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.024203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.66, Y:-3.85, Z:-2.42 [[ 9.90441523e-01 1.36883353e-01 1.69864020e-02 7.06586262e+01] [-1.36863198e-01 9.90587173e-01 -2.34891326e-03 -3.85477767e+00] [-1.71480391e-02 1.64791818e-06 9.99852962e-01 -2.42358380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.054203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.69, Y:-3.87, Z:-2.43 [[ 9.90797053e-01 1.34456056e-01 1.55810147e-02 7.06882480e+01] [-1.34438759e-01 9.90919556e-01 -2.15705590e-03 -3.86785852e+00] [-1.57295614e-02 4.25123412e-05 9.99876282e-01 -2.42968139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.084203822 meters Centerline goodness [0,1] 0.9999785968066436 Centerline is valid? [True, True] Translation: X:70.72, Y:-3.88, Z:-2.43 [[ 9.91130464e-01 1.32127141e-01 1.42415834e-02 7.07175777e+01] [-1.32112406e-01 9.91232774e-01 -1.97469517e-03 -3.88228100e+00] [-1.43776351e-02 7.56906902e-05 9.99896634e-01 -2.43395719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.114203822 meters Centerline goodness [0,1] 0.9999785968066436 Centerline is valid? [True, True] Translation: X:70.75, Y:-3.89, Z:-2.43 [[ 9.91106181e-01 1.32309159e-01 1.42416342e-02 7.07497382e+01] [-1.32294448e-01 9.91208495e-01 -1.97433111e-03 -3.88695403e+00] [-1.43776509e-02 7.26826336e-05 9.99896634e-01 -2.43497917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.144203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.78, Y:-3.90, Z:-2.44 [[ 9.91509807e-01 1.29536342e-01 1.13419198e-02 7.07802566e+01] [-1.29526789e-01 9.91574671e-01 -1.57598555e-03 -3.90249251e+00] [-1.14505078e-02 9.35226777e-05 9.99934436e-01 -2.43658269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.174203822 meters Centerline goodness [0,1] 0.9999568453986406 Centerline is valid? [True, True] Translation: X:70.81, Y:-3.91, Z:-2.44 [[ 9.91453517e-01 1.30087245e-01 9.86065406e-03 7.08109115e+01] [-1.30080072e-01 9.91502548e-01 -1.36806539e-03 -3.90805768e+00] [-9.95483148e-03 7.36986567e-05 9.99950447e-01 -2.44006483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.204203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.84, Y:-3.91, Z:-2.45 [[ 9.91212777e-01 1.31944546e-01 9.37371415e-03 7.08426168e+01] [-1.31938140e-01 9.91257098e-01 -1.30125126e-03 -3.91230269e+00] [-9.46345369e-03 5.30664604e-05 9.99955219e-01 -2.44509705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.234203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.88, Y:-3.92, Z:-2.44 [[ 9.90467090e-01 1.37443733e-01 9.17411345e-03 7.08750918e+01] [-1.37437792e-01 9.90509576e-01 -1.27788363e-03 -3.91536060e+00] [-9.26268432e-03 4.83178166e-06 9.99957100e-01 -2.44446571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.264203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.91, Y:-3.92, Z:-2.44 [[ 9.90048803e-01 1.40388567e-01 9.71687795e-03 7.09074194e+01] [-1.40382062e-01 9.90096485e-01 -1.35170182e-03 -3.92042748e+00] [-9.81041018e-03 -2.58246001e-05 9.99951876e-01 -2.44228164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.294203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.94, Y:-3.92, Z:-2.45 [[ 9.89652844e-01 1.43142572e-01 9.87179087e-03 7.09387498e+01] [-1.43135979e-01 9.89702077e-01 -1.37487255e-03 -3.92442036e+00] [-9.96693472e-03 -5.23619236e-05 9.99950328e-01 -2.44522083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.324203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.97, Y:-3.93, Z:-2.45 [[ 9.89074949e-01 1.47150837e-01 8.79638893e-03 7.09694745e+01] [-1.47145719e-01 9.89114061e-01 -1.22981331e-03 -3.92602518e+00] [-8.88160003e-03 -7.79734371e-05 9.99960555e-01 -2.44999614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.354203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.00, Y:-3.93, Z:-2.45 [[ 9.88819726e-01 1.48878003e-01 8.41962102e-03 7.10009047e+01] [-1.48873403e-01 9.88855567e-01 -1.17398049e-03 -3.93086227e+00] [-8.50056899e-03 -9.26025682e-05 9.99963865e-01 -2.45067995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.384203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.03, Y:-3.93, Z:-2.45 [[ 9.88543562e-01 1.50718358e-01 8.09958958e-03 7.10314682e+01] [-1.50714150e-01 9.88576738e-01 -1.13084610e-03 -3.93455478e+00] [-8.17750511e-03 -1.02832131e-04 9.99966558e-01 -2.45337365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.414203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.06, Y:-3.94, Z:-2.45 [[ 9.88250603e-01 1.52641500e-01 7.83055272e-03 7.10622571e+01] [-1.52637595e-01 9.88281620e-01 -1.09745721e-03 -3.93953127e+00] [-7.90630884e-03 -1.10673982e-04 9.99968739e-01 -2.45281996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.444203822 meters Centerline goodness [0,1] 0.9999143560646612 Centerline is valid? [True, True] Translation: X:71.09, Y:-3.94, Z:-2.46 [[ 9.87670360e-01 1.56374845e-01 7.35988649e-03 7.10925109e+01] [-1.56371491e-01 9.87697773e-01 -1.03251448e-03 -3.93734620e+00] [-7.43080279e-03 -1.31092476e-04 9.99972383e-01 -2.45850047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.47420382199999 meters Centerline goodness [0,1] 0.9999782551970079 Centerline is valid? [True, True] Translation: X:71.12, Y:-3.94, Z:-2.45 [[ 9.87424927e-01 1.57917522e-01 7.35322902e-03 7.11223185e+01] [-1.57914220e-01 9.87452295e-01 -1.03119594e-03 -3.94365478e+00] [-7.42380678e-03 -1.42950847e-04 9.99972433e-01 -2.45387159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.504203822 meters Centerline goodness [0,1] 0.9999569633327595 Centerline is valid? [True, True] Translation: X:71.15, Y:-3.94, Z:-2.46 [[ 9.87099300e-01 1.59898140e-01 8.21930071e-03 7.11522058e+01] [-1.59894080e-01 9.87133504e-01 -1.15293683e-03 -3.94121639e+00] [-8.29789957e-03 -1.76154386e-04 9.99965556e-01 -2.45786497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.534203822 meters Centerline goodness [0,1] 0.9999355323949716 Centerline is valid? [True, True] Translation: X:71.18, Y:-3.95, Z:-2.46 [[ 9.87073396e-01 1.60086531e-01 7.64287197e-03 7.11825006e+01] [-1.60083029e-01 9.87102971e-01 -1.07171936e-03 -3.94737753e+00] [-7.71586946e-03 -1.65628430e-04 9.99970219e-01 -2.45769819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.564203822 meters Centerline goodness [0,1] 0.9999151661682679 Centerline is valid? [True, True] Translation: X:71.21, Y:-3.95, Z:-2.46 [[ 9.87133402e-01 1.59733457e-01 7.27119621e-03 7.12116946e+01] [-1.59730276e-01 9.87160169e-01 -1.01989494e-03 -3.94949743e+00] [-7.34074663e-03 -1.54657810e-04 9.99973044e-01 -2.46328046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.594203822 meters Centerline goodness [0,1] 0.9998718824735224 Centerline is valid? [True, True] Translation: X:71.24, Y:-3.96, Z:-2.46 [[ 9.87256046e-01 1.58954696e-01 7.67485525e-03 7.12403999e+01] [-1.58951127e-01 9.87285865e-01 -1.07666553e-03 -3.95548310e+00] [-7.74841715e-03 -1.56982344e-04 9.99969968e-01 -2.46323599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.624203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.27, Y:-3.96, Z:-2.46 [[ 9.87473998e-01 1.57526323e-01 8.97552107e-03 7.12703424e+01] [-1.57521391e-01 9.87514774e-01 -1.25826626e-03 -3.96076183e+00] [-9.06166972e-03 -1.71331348e-04 9.99958928e-01 -2.45968344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.654203822 meters Centerline goodness [0,1] 0.9999140339565872 Centerline is valid? [True, True] Translation: X:71.30, Y:-3.96, Z:-2.46 [[ 9.87676822e-01 1.56306333e-01 7.92628989e-03 7.13012147e+01] [-1.56302452e-01 9.87708616e-01 -1.11060939e-03 -3.96390752e+00] [-8.00246010e-03 -1.41975399e-04 9.99967970e-01 -2.46236322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.684203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.33, Y:-3.97, Z:-2.47 [[ 9.88237774e-01 1.52836018e-01 5.22042754e-03 7.13302893e+01] [-1.52834287e-01 9.88251560e-01 -7.31343288e-04 -3.97058062e+00] [-5.27087125e-03 -7.51192577e-05 9.99986106e-01 -2.47164663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.714203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.36, Y:-3.98, Z:-2.47 [[ 9.88577815e-01 1.50616237e-01 5.35288401e-03 7.13611635e+01] [-1.50614385e-01 9.88592305e-01 -7.49702212e-04 -3.98086006e+00] [-5.40473727e-03 -6.50823597e-05 9.99985392e-01 -2.46808686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.744203822 meters Centerline goodness [0,1] 0.999957263130903 Centerline is valid? [True, True] Translation: X:71.39, Y:-3.99, Z:-2.47 [[ 9.88914592e-01 1.48371650e-01 5.81232211e-03 7.13913895e+01] [-1.48369431e-01 9.88931671e-01 -8.13569255e-04 -3.98521691e+00] [-5.86870003e-03 -5.78204134e-05 9.99982777e-01 -2.47435950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.774203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.42, Y:-3.99, Z:-2.47 [[ 9.89211897e-01 1.46364965e-01 6.09255681e-03 7.14220133e+01] [-1.46362479e-01 9.89230658e-01 -8.54437857e-04 -3.99265835e+00] [-6.15200375e-03 -4.65016220e-05 9.99981075e-01 -2.46943008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.804203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.45, Y:-4.00, Z:-2.47 [[ 9.89740944e-01 1.42716848e-01 6.69068805e-03 7.14519869e+01] [-1.42713786e-01 9.89763558e-01 -9.35256887e-04 -4.00157662e+00] [-6.75567612e-03 -2.91913888e-05 9.99977180e-01 -2.47125073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.834203822 meters Centerline goodness [0,1] 0.999978501096444 Centerline is valid? [True, True] Translation: X:71.48, Y:-4.01, Z:-2.47 [[ 9.89897418e-01 1.41629691e-01 6.64317365e-03 7.14840883e+01] [-1.41626647e-01 9.89919709e-01 -9.28805912e-04 -4.00933903e+00] [-6.70775502e-03 -2.14278367e-05 9.99977503e-01 -2.47203778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.864203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.52, Y:-4.02, Z:-2.48 [[ 9.90014629e-01 1.40811171e-01 6.57641976e-03 7.15155775e+01] [-1.40808160e-01 9.90036471e-01 -9.21002115e-04 -4.01617339e+00] [-6.64058280e-03 -1.42079964e-05 9.99977951e-01 -2.47529668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.894203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.55, Y:-4.02, Z:-2.48 [[ 9.90150322e-01 1.39893897e-01 5.66021546e-03 7.15468993e+01] [-1.39891648e-01 9.90166500e-01 -7.93239363e-04 -4.02315472e+00] [-5.71552508e-03 -6.39066080e-06 9.99983666e-01 -2.47598046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.924203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.58, Y:-4.03, Z:-2.48 [[ 9.90572155e-01 1.36935364e-01 3.93851182e-03 7.15776893e+01] [-1.36934256e-01 9.90579985e-01 -5.50928165e-04 -4.03473393e+00] [-3.97685253e-03 6.41691246e-06 9.99992092e-01 -2.47798303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.954203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.61, Y:-4.04, Z:-2.48 [[ 9.90822497e-01 1.35089967e-01 4.63456678e-03 7.16082949e+01] [-1.35088405e-01 9.90833336e-01 -6.50011796e-04 -4.04398462e+00] [-4.67989333e-03 1.79700794e-05 9.99989049e-01 -2.48113216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.984203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.64, Y:-4.06, Z:-2.48 [[ 9.91376600e-01 1.30974419e-01 4.25896825e-03 7.16391417e+01] [-1.30973061e-01 9.91385748e-01 -5.97541559e-04 -4.05802765e+00] [-4.30054309e-03 3.45786118e-05 9.99990752e-01 -2.47811708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.014203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.67, Y:-4.07, Z:-2.48 [[ 9.91614097e-01 1.29164436e-01 4.24628219e-03 7.16701664e+01] [-1.29163066e-01 9.91623188e-01 -5.96499407e-04 -4.06888710e+00] [-4.28775839e-03 4.30343953e-05 9.99990807e-01 -2.47873906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.044203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.70, Y:-4.08, Z:-2.48 [[ 9.91799599e-01 1.27706369e-01 4.96379922e-03 7.17012307e+01] [-1.27704471e-01 9.91812018e-01 -6.98803597e-04 -4.08081367e+00] [-5.01239739e-03 5.91737747e-05 9.99987436e-01 -2.47901926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.074203822 meters Centerline goodness [0,1] 0.9999785867237687 Centerline is valid? [True, True] Translation: X:71.73, Y:-4.10, Z:-2.48 [[ 9.92010213e-01 1.26043419e-01 5.36590625e-03 7.17304143e+01] [-1.26041165e-01 9.92024723e-01 -7.57597089e-04 -4.09774981e+00] [-5.41860179e-03 7.52189753e-05 9.99985316e-01 -2.47977573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.104203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.76, Y:-4.11, Z:-2.48 [[ 9.91989935e-01 1.26240945e-01 4.38102411e-03 7.17602922e+01] [-1.26239445e-01 9.91999607e-01 -6.18393289e-04 -4.10606155e+00] [-4.42404074e-03 6.03818676e-05 9.99990212e-01 -2.48455436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.134203822 meters Centerline goodness [0,1] 0.9999149569469544 Centerline is valid? [True, True] Translation: X:71.79, Y:-4.11, Z:-2.49 [[ 9.91918072e-01 1.26842017e-01 3.10503403e-03 7.17908866e+01] [-1.26841269e-01 9.91922931e-01 -4.37444465e-04 -4.11251539e+00] [-3.13544079e-03 4.00626136e-05 9.99995084e-01 -2.48993742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.164203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.82, Y:-4.12, Z:-2.49 [[ 9.91690919e-01 1.28642195e-01 5.53407440e-04 7.18218877e+01] [-1.28642174e-01 9.91691074e-01 -7.39340122e-05 -4.11906300e+00] [-5.58320252e-04 2.12815251e-06 9.99999844e-01 -2.49308086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.194203822 meters Centerline goodness [0,1] 0.9999133880432194 Centerline is valid? [True, True] Translation: X:71.85, Y:-4.12, Z:-2.50 [[ 9.91496771e-01 1.30130653e-01 -4.07369279e-04 7.18533346e+01] [-1.30130637e-01 9.91496855e-01 6.35443832e-05 -4.12400099e+00] [ 4.12174431e-04 -9.99282682e-06 9.99999915e-01 -2.49606581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.22420382199999 meters Centerline goodness [0,1] 0.9999784185082873 Centerline is valid? [True, True] Translation: X:71.88, Y:-4.13, Z:-2.50 [[ 9.91209043e-01 1.32303635e-01 -6.18098888e-04 7.18849921e+01] [-1.32303602e-01 9.91209235e-01 9.37576631e-05 -4.12675932e+00] [ 6.25069806e-04 -1.11567343e-05 9.99999805e-01 -2.49683595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.254203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.92, Y:-4.13, Z:-2.50 [[ 9.90464332e-01 1.37758924e-01 -1.69910074e-03 7.19175364e+01] [-1.37758703e-01 9.90465789e-01 2.46955749e-04 -4.12704134e+00] [ 1.71692152e-03 -1.05349460e-05 9.99998526e-01 -2.50233199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.284203822 meters Centerline goodness [0,1] 0.9999569206909921 Centerline is valid? [True, True] Translation: X:71.95, Y:-4.13, Z:-2.50 [[ 9.90106678e-01 1.40303286e-01 -1.93766376e-03 7.19505247e+01] [-1.40303000e-01 9.90108574e-01 2.83713446e-04 -4.13018497e+00] [ 1.95830343e-03 -9.04653940e-06 9.99998082e-01 -2.50225582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.314203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.98, Y:-4.13, Z:-2.50 [[ 9.89664948e-01 1.43391744e-01 -1.44839750e-03 7.19832174e+01] [-1.43391585e-01 9.89666008e-01 2.13217850e-04 -4.13170123e+00] [ 1.46400345e-03 -3.32621846e-06 9.99998928e-01 -2.49932864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.344203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.01, Y:-4.12, Z:-2.50 [[ 9.88598015e-01 1.50575053e-01 1.05738919e-03 7.20146801e+01] [-1.50574977e-01 9.88598581e-01 -1.51305521e-04 -4.12314260e+00] [-1.06811629e-03 -9.63601596e-06 9.99999430e-01 -2.49990204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.374203822 meters Centerline goodness [0,1] 0.9999784459532277 Centerline is valid? [True, True] Translation: X:72.05, Y:-4.12, Z:-2.50 [[ 9.87919998e-01 1.54952664e-01 1.93623536e-03 7.20473933e+01] [-1.54952427e-01 9.87921895e-01 -2.72742507e-04 -4.12357080e+00] [-1.95511149e-03 -3.05765912e-05 9.99998088e-01 -2.49571522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.404203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.08, Y:-4.12, Z:-2.50 [[ 9.87283472e-01 1.58962447e-01 1.51193347e-03 7.20795691e+01] [-1.58962307e-01 9.87284630e-01 -2.12465243e-04 -4.12338872e+00] [-1.52648267e-03 -3.05770098e-05 9.99998834e-01 -2.49714595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.434203822 meters Centerline goodness [0,1] 0.9998280716081752 Centerline is valid? [True, True] Translation: X:72.11, Y:-4.12, Z:-2.50 [[ 9.86371209e-01 1.64535198e-01 8.53338498e-05 7.21100658e+01] [-1.64535197e-01 9.86371212e-01 -1.14860977e-05 -4.11555145e+00] [-8.60607204e-05 -2.71086578e-06 9.99999996e-01 -2.50178847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.464203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.14, Y:-4.12, Z:-2.50 [[ 9.86209256e-01 1.65492902e-01 1.84446898e-03 7.21407983e+01] [-1.65492695e-01 9.86210980e-01 -2.65264400e-04 -4.11776326e+00] [-1.86293493e-03 -4.36399346e-05 9.99998264e-01 -2.49705748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.494203822 meters Centerline goodness [0,1] 0.999872242568776 Centerline is valid? [True, True] Translation: X:72.17, Y:-4.12, Z:-2.50 [[ 9.86196587e-01 1.65526441e-01 4.15804682e-03 7.21712844e+01] [-1.65525390e-01 9.86205348e-01 -5.97994224e-04 -4.11631696e+00] [-4.19967186e-03 -9.85224603e-05 9.99991176e-01 -2.49811707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.524203822 meters Centerline goodness [0,1] 0.9998504369378032 Centerline is valid? [True, True] Translation: X:72.20, Y:-4.12, Z:-2.50 [[ 9.86844292e-01 1.61587625e-01 5.27087102e-03 7.22008149e+01] [-1.61585880e-01 9.86858363e-01 -7.58036300e-04 -4.12267877e+00] [-5.32409243e-03 -1.03634537e-04 9.99985822e-01 -2.49951513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.554203822 meters Centerline goodness [0,1] 0.9999786830380935 Centerline is valid? [True, True] Translation: X:72.23, Y:-4.14, Z:-2.50 [[ 9.87360962e-01 1.58399893e-01 5.27299728e-03 7.22311374e+01] [-1.58398106e-01 9.87375038e-01 -7.57395073e-04 -4.13541962e+00] [-5.32639719e-03 -8.74104534e-05 9.99985811e-01 -2.49638507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.584203822 meters Centerline goodness [0,1] 0.9999147339699863 Centerline is valid? [True, True] Translation: X:72.26, Y:-4.15, Z:-2.50 [[ 9.87903344e-01 1.54983126e-01 5.21664635e-03 7.22612870e+01] [-1.54981345e-01 9.87917115e-01 -7.46334863e-04 -4.14564703e+00] [-5.26928352e-03 -7.11761629e-05 9.99986115e-01 -2.49826249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.614203822 meters Centerline goodness [0,1] 0.9999786848555899 Centerline is valid? [True, True] Translation: X:72.29, Y:-4.16, Z:-2.50 [[ 9.88462191e-01 1.51401120e-01 4.49428853e-03 7.22915769e+01] [-1.51399763e-01 9.88472407e-01 -6.42694856e-04 -4.15773464e+00] [-4.53978492e-03 -4.51546534e-05 9.99989694e-01 -2.50053006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.644203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.32, Y:-4.17, Z:-2.50 [[ 9.89407460e-01 1.45146763e-01 2.30124490e-03 7.23212070e+01] [-1.45146396e-01 9.89410136e-01 -3.26770575e-04 -4.17480110e+00] [-2.32430472e-03 -1.07081581e-05 9.99997299e-01 -2.50396682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.674203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.35, Y:-4.18, Z:-2.51 [[ 9.89705617e-01 1.43100251e-01 2.26030108e-03 7.23537616e+01] [-1.43099893e-01 9.89708198e-01 -3.20480732e-04 -4.18257875e+00] [-2.28289938e-03 -6.26726069e-06 9.99997394e-01 -2.50557242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.704203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.38, Y:-4.19, Z:-2.51 [[ 9.90142701e-01 1.40033182e-01 2.85307091e-03 7.23842511e+01] [-1.40032590e-01 9.90146811e-01 -4.07453561e-04 -4.19392597e+00] [-2.88201608e-03 3.91426160e-06 9.99995847e-01 -2.50539664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.734203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.41, Y:-4.21, Z:-2.51 [[ 9.90321905e-01 1.38778916e-01 1.71366993e-03 7.24141256e+01] [-1.38778699e-01 9.90323388e-01 -2.45304253e-04 -4.20526660e+00] [-1.73113047e-03 5.10929135e-06 9.99998502e-01 -2.50916594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.764203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.44, Y:-4.22, Z:-2.51 [[ 9.90471397e-01 1.37716088e-01 8.31520505e-04 7.24440128e+01] [-1.37716039e-01 9.90471746e-01 -1.15576115e-04 -4.21716962e+00] [-8.39514257e-04 -3.88741364e-08 9.99999648e-01 -2.51354892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.794203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.48, Y:-4.23, Z:-2.51 [[ 9.90622174e-01 1.36616003e-01 1.94317706e-03 7.24753642e+01] [-1.36615724e-01 9.90624080e-01 -2.76652676e-04 -4.22521898e+00] [-1.96275317e-03 8.58973486e-06 9.99998074e-01 -2.50949703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.824203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.51, Y:-4.23, Z:-2.51 [[ 9.90598026e-01 1.36776725e-01 2.77101987e-03 7.25074412e+01] [-1.36776149e-01 9.90601901e-01 -3.97330453e-04 -4.22913412e+00] [-2.79932311e-03 1.45853353e-05 9.99996082e-01 -2.50935010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.854203822 meters Centerline goodness [0,1] 0.9999786507258753 Centerline is valid? [True, True] Translation: X:72.54, Y:-4.23, Z:-2.51 [[ 9.90365076e-01 1.38464193e-01 2.16415734e-03 7.25394071e+01] [-1.38463848e-01 9.90367440e-01 -3.09186480e-04 -4.23381944e+00] [-2.18612222e-03 6.54993790e-06 9.99997610e-01 -2.51238402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.884203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.57, Y:-4.24, Z:-2.51 [[ 9.90268423e-01 1.39160249e-01 1.69596700e-03 7.25700662e+01] [-1.39160035e-01 9.90269875e-01 -2.44031327e-04 -4.24026536e+00] [-1.71342449e-03 5.64569044e-06 9.99998532e-01 -2.51427226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.914203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.60, Y:-4.25, Z:-2.52 [[ 9.90226340e-01 1.39460249e-01 1.62338181e-03 7.26019319e+01] [-1.39460058e-01 9.90227670e-01 -2.30652571e-04 -4.24839865e+00] [-1.63968445e-03 2.00132988e-06 9.99998656e-01 -2.51600755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.944203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.63, Y:-4.26, Z:-2.52 [[ 9.90226325e-01 1.39466590e-01 9.46596981e-04 7.26328286e+01] [-1.39466527e-01 9.90226777e-01 -1.32890841e-04 -4.25639644e+00] [-9.55879510e-04 -4.26583963e-07 9.99999543e-01 -2.51763491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.97420382199999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.66, Y:-4.26, Z:-2.52 [[ 9.90232433e-01 1.39425348e-01 5.49113037e-04 7.26645198e+01] [-1.39425328e-01 9.90232585e-01 -7.49342457e-05 -4.26337686e+00] [-5.54197356e-04 -2.35794498e-06 9.99999846e-01 -2.51862461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.004203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.70, Y:-4.27, Z:-2.52 [[ 9.90273916e-01 1.39131475e-01 -6.72398186e-05 7.26959483e+01] [-1.39131474e-01 9.90273918e-01 1.51852393e-05 -4.27139387e+00] [ 6.86985832e-05 -5.68237129e-06 9.99999998e-01 -2.51981796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.034203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.73, Y:-4.28, Z:-2.52 [[ 9.90247162e-01 1.39321761e-01 -6.71292425e-05 7.27280672e+01] [-1.39321761e-01 9.90247164e-01 1.59369334e-05 -4.27628971e+00] [ 6.86949036e-05 -6.42893888e-06 9.99999998e-01 -2.52084035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.064203822 meters Centerline goodness [0,1] 0.9999788721979253 Centerline is valid? [True, True] Translation: X:72.76, Y:-4.28, Z:-2.53 [[ 9.90276604e-01 1.39111458e-01 -4.99005981e-04 7.27581940e+01] [-1.39111438e-01 9.90276730e-01 7.60551518e-05 -4.28277335e+00] [ 5.04734154e-04 -5.89819805e-06 9.99999873e-01 -2.52546068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.094203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.79, Y:-4.29, Z:-2.52 [[ 9.90312377e-01 1.38852582e-01 -1.16452704e-03 7.27898551e+01] [-1.38852471e-01 9.90313062e-01 1.76418393e-04 -4.28759083e+00] [ 1.17774249e-03 -1.30118607e-05 9.99999306e-01 -2.52228348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.124203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.82, Y:-4.30, Z:-2.53 [[ 9.90404540e-01 1.38193513e-01 -1.18301028e-03 7.28198711e+01] [-1.38193401e-01 9.90405247e-01 1.76786868e-04 -4.29629282e+00] [ 1.19609038e-03 -1.16063035e-05 9.99999285e-01 -2.52596650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.154203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.85, Y:-4.30, Z:-2.52 [[ 9.90481785e-01 1.37643835e-01 -9.44126396e-05 7.28510195e+01] [-1.37643834e-01 9.90481789e-01 1.92196938e-05 -4.30381648e+00] [ 9.61594725e-05 -6.04143895e-06 9.99999995e-01 -2.52498605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.184203822 meters Centerline goodness [0,1] 0.9999785757134287 Centerline is valid? [True, True] Translation: X:72.88, Y:-4.31, Z:-2.52 [[ 9.90560770e-01 1.37070878e-01 9.67094812e-04 7.28827118e+01] [-1.37070810e-01 9.90561242e-01 -1.37045301e-04 -4.31107496e+00] [-9.76751558e-04 3.19122974e-06 9.99999523e-01 -2.52405289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.214203822 meters Centerline goodness [0,1] 0.9999783624718712 Centerline is valid? [True, True] Translation: X:72.91, Y:-4.32, Z:-2.52 [[ 9.90722471e-01 1.35897232e-01 9.63391189e-04 7.29140154e+01] [-1.35897164e-01 9.90722939e-01 -1.36503965e-04 -4.31856374e+00] [-9.73004261e-04 4.31541509e-06 9.99999527e-01 -2.52226814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.244203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.95, Y:-4.33, Z:-2.52 [[ 9.90823924e-01 1.35149796e-01 1.57627675e-03 7.29458873e+01] [-1.35149605e-01 9.90825178e-01 -2.27111887e-04 -4.32593259e+00] [-1.59250882e-03 1.19947103e-05 9.99998732e-01 -2.52206307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.274203822 meters Centerline goodness [0,1] 0.9999785913080711 Centerline is valid? [True, True] Translation: X:72.98, Y:-4.34, Z:-2.52 [[ 9.91172225e-01 1.32492714e-01 4.82720584e-03 7.29757006e+01] [-1.32490838e-01 9.91183977e-01 -7.07770537e-04 -4.34043708e+00] [-4.87842352e-03 6.19619496e-05 9.99988099e-01 -2.52231337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.304203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.01, Y:-4.35, Z:-2.52 [[ 9.91308837e-01 1.31477837e-01 4.51319059e-03 7.30071578e+01] [-1.31476184e-01 9.91319108e-01 -6.62234254e-04 -4.34689384e+00] [-4.56108120e-03 6.31015916e-05 9.99989596e-01 -2.52031091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.334203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.04, Y:-4.36, Z:-2.53 [[ 9.91456053e-01 1.30403544e-01 3.13228831e-03 7.30369522e+01] [-1.30402745e-01 9.91461000e-01 -4.58860677e-04 -4.35573867e+00] [-3.16537876e-03 4.64812013e-05 9.99994989e-01 -2.52610006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.364203822 meters Centerline goodness [0,1] 0.9999785393909479 Centerline is valid? [True, True] Translation: X:73.07, Y:-4.36, Z:-2.53 [[ 9.91530236e-01 1.29861253e-01 1.96093889e-03 7.30685801e+01] [-1.29860942e-01 9.91532175e-01 -2.85401878e-04 -4.36285857e+00] [-1.98139665e-03 2.83352197e-05 9.99998037e-01 -2.52804922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.394203822 meters Centerline goodness [0,1] 0.9999567903901828 Centerline is valid? [True, True] Translation: X:73.10, Y:-4.37, Z:-2.52 [[ 9.91528822e-01 1.29864641e-01 2.40213595e-03 7.30999370e+01] [-1.29864171e-01 9.91531731e-01 -3.51065749e-04 -4.37057538e+00] [-2.42738504e-03 3.61404140e-05 9.99997053e-01 -2.52458805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.424203822 meters Centerline goodness [0,1] 0.9999783319971398 Centerline is valid? [True, True] Translation: X:73.13, Y:-4.38, Z:-2.53 [[ 9.91400814e-01 1.30846425e-01 1.90774591e-03 7.31318749e+01] [-1.30846134e-01 9.91402649e-01 -2.77288705e-04 -4.37708069e+00] [-1.92762659e-03 2.52830708e-05 9.99998142e-01 -2.52586405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.454203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.16, Y:-4.38, Z:-2.53 [[ 9.91206484e-01 1.32322472e-01 6.85566359e-04 7.31625017e+01] [-1.32322437e-01 9.91206721e-01 -9.69354662e-05 -4.38376199e+00] [-6.92364723e-04 5.36725154e-06 9.99999760e-01 -2.53291455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.484203822 meters Centerline goodness [0,1] 0.999936625966454 Centerline is valid? [True, True] Translation: X:73.19, Y:-4.39, Z:-2.54 [[ 9.90742188e-01 1.35755045e-01 -6.96454085e-04 7.31941363e+01] [-1.35755002e-01 9.90742432e-01 1.09329234e-04 -4.38595088e+00] [ 7.04848609e-04 -1.37699583e-05 9.99999751e-01 -2.53890750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.514203822 meters Centerline goodness [0,1] 0.9999785274097615 Centerline is valid? [True, True] Translation: X:73.23, Y:-4.39, Z:-2.53 [[ 9.90464428e-01 1.37764771e-01 -1.04179198e-03 7.32264831e+01] [-1.37764678e-01 9.90464975e-01 1.60809623e-04 -4.38727416e+00] [ 1.05401237e-03 -1.57540742e-05 9.99999444e-01 -2.53483492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.544203822 meters Centerline goodness [0,1] 0.9999785669888762 Centerline is valid? [True, True] Translation: X:73.26, Y:-4.39, Z:-2.54 [[ 9.89954408e-01 1.41365282e-01 -2.47533398e-03 7.32572656e+01] [-1.41364788e-01 9.89957502e-01 3.74617051e-04 -4.39078179e+00] [ 2.50343329e-03 -2.09287391e-05 9.99996866e-01 -2.54313813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.574203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.29, Y:-4.40, Z:-2.54 [[ 9.89724224e-01 1.42950367e-01 -3.33970997e-03 7.32886869e+01] [-1.42949487e-01 9.89729858e-01 5.01865154e-04 -4.39509444e+00] [ 3.37715248e-03 -1.92982729e-05 9.99994297e-01 -2.54317084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.604203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.32, Y:-4.40, Z:-2.55 [[ 9.89506583e-01 1.44427803e-01 -4.16326477e-03 7.33207855e+01] [-1.44426439e-01 9.89515341e-01 6.28118011e-04 -4.40019283e+00] [ 4.21033206e-03 -2.02414018e-05 9.99991136e-01 -2.54502159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.634203822 meters Centerline goodness [0,1] 0.9999784375875973 Centerline is valid? [True, True] Translation: X:73.35, Y:-4.40, Z:-2.55 [[ 9.89131062e-01 1.46889134e-01 -6.58207419e-03 7.33522234e+01] [-1.46885828e-01 9.89152962e-01 9.85546942e-04 -4.40324950e+00] [ 6.65544432e-03 -8.02167850e-06 9.99977852e-01 -2.54841583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.664203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.38, Y:-4.41, Z:-2.55 [[ 9.88955018e-01 1.48051613e-01 -6.97794174e-03 7.33839149e+01] [-1.48047884e-01 9.88979636e-01 1.05074425e-03 -4.40719201e+00] [ 7.05660666e-03 -6.06928702e-06 9.99975102e-01 -2.54989719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.694203822 meters Centerline goodness [0,1] 0.999957296893349 Centerline is valid? [True, True] Translation: X:73.41, Y:-4.41, Z:-2.56 [[ 9.88860786e-01 1.48709807e-01 -6.30383151e-03 7.34145730e+01] [-1.48706770e-01 9.88880879e-01 9.50377864e-04 -4.41300512e+00] [ 6.37506896e-03 -2.36897842e-06 9.99979679e-01 -2.56088675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.72420382199999 meters Centerline goodness [0,1] 0.9999785789259473 Centerline is valid? [True, True] Translation: X:73.45, Y:-4.42, Z:-2.56 [[ 9.88821465e-01 1.48928155e-01 -7.24670404e-03 7.34458329e+01] [-1.48924142e-01 9.88848019e-01 1.09327958e-03 -4.42125796e+00] [ 7.32870905e-03 -1.84913426e-06 9.99973145e-01 -2.55611414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.754203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.48, Y:-4.43, Z:-2.56 [[ 9.88851095e-01 1.48685692e-01 -8.12872495e-03 7.34764786e+01] [-1.48680633e-01 9.88884505e-01 1.22655748e-03 -4.42759925e+00] [ 8.22074169e-03 -4.29874227e-06 9.99966209e-01 -2.56119402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.784203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.51, Y:-4.43, Z:-2.56 [[ 9.88921022e-01 1.48234628e-01 -7.85545511e-03 7.35077420e+01] [-1.48229873e-01 9.88952221e-01 1.18733781e-03 -4.43482703e+00] [ 7.94467435e-03 -9.77020684e-06 9.99968441e-01 -2.55707200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.814203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.54, Y:-4.44, Z:-2.56 [[ 9.88969521e-01 1.47971026e-01 -6.62281860e-03 7.35382536e+01] [-1.47967630e-01 9.88991696e-01 1.00252811e-03 -4.44250082e+00] [ 6.69825772e-03 -1.15069777e-05 9.99977566e-01 -2.55759963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.844203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.57, Y:-4.45, Z:-2.56 [[ 9.89017025e-01 1.47664508e-01 -6.36524885e-03 7.35690526e+01] [-1.47661355e-01 9.89037508e-01 9.65139762e-04 -4.45447193e+00] [ 6.43798675e-03 -1.46383875e-05 9.99979276e-01 -2.55758477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.874203822 meters Centerline goodness [0,1] 0.999978354978355 Centerline is valid? [True, True] Translation: X:73.60, Y:-4.46, Z:-2.56 [[ 9.88928754e-01 1.48213537e-01 -7.25715223e-03 7.36005882e+01] [-1.48209448e-01 9.88955382e-01 1.10098553e-03 -4.46001962e+00] [ 7.34018071e-03 -1.32177254e-05 9.99973060e-01 -2.55823432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.904203822 meters Centerline goodness [0,1] 0.9999782135076253 Centerline is valid? [True, True] Translation: X:73.63, Y:-4.46, Z:-2.56 [[ 9.88477656e-01 1.51131896e-01 -8.43047585e-03 7.36318961e+01] [-1.51126508e-01 9.88513606e-01 1.27621580e-03 -4.45983168e+00] [ 8.52651700e-03 1.25575773e-05 9.99963649e-01 -2.56259625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.934203822 meters Centerline goodness [0,1] 0.9999355268530657 Centerline is valid? [True, True] Translation: X:73.66, Y:-4.46, Z:-2.57 [[ 9.88211802e-01 1.52834009e-01 -8.89947289e-03 7.36625152e+01] [-1.52828042e-01 9.88251873e-01 1.35066716e-03 -4.46282680e+00] [ 9.00134863e-03 2.53437933e-05 9.99959487e-01 -2.56836062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.964203822 meters Centerline goodness [0,1] 0.9999146375296101 Centerline is valid? [True, True] Translation: X:73.70, Y:-4.46, Z:-2.56 [[ 9.87744674e-01 1.55814239e-01 -9.07648365e-03 7.36951762e+01] [-1.55808142e-01 9.87786374e-01 1.37942448e-03 -4.46465474e+00] [ 9.18056085e-03 5.16708699e-05 9.99957856e-01 -2.56468364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.994203822 meters Centerline goodness [0,1] 0.9999567015219415 Centerline is valid? [True, True] Translation: X:73.73, Y:-4.47, Z:-2.56 [[ 9.87554121e-01 1.57095635e-01 -7.60391950e-03 7.37261754e+01] [-1.57091380e-01 9.87583393e-01 1.15730287e-03 -4.46644534e+00] [ 7.69131185e-03 5.16109950e-05 9.99970420e-01 -2.56483477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.024203822 meters Centerline goodness [0,1] 0.9999353308902781 Centerline is valid? [True, True] Translation: X:73.76, Y:-4.47, Z:-2.56 [[ 9.87463134e-01 1.57743153e-01 -5.80138025e-03 7.37564462e+01] [-1.57740707e-01 9.87480175e-01 8.79622189e-04 -4.46891179e+00] [ 5.86750236e-03 4.65193406e-05 9.99982785e-01 -2.56409130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.054203822 meters Centerline goodness [0,1] 0.9999785582572152 Centerline is valid? [True, True] Translation: X:73.79, Y:-4.47, Z:-2.57 [[ 9.87391118e-01 1.58221485e-01 -4.97415010e-03 7.37877281e+01] [-1.58219666e-01 9.87403646e-01 7.59462217e-04 -4.47240685e+00] [ 5.03165719e-03 3.71221234e-05 9.99987340e-01 -2.56540599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.084203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.82, Y:-4.48, Z:-2.56 [[ 9.87392409e-01 1.58263891e-01 -2.96169924e-03 7.38190286e+01] [-1.58263253e-01 9.87396850e-01 4.50150981e-04 -4.47734740e+00] [ 2.99561515e-03 2.42524945e-05 9.99995513e-01 -2.55934171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.114203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.85, Y:-4.49, Z:-2.56 [[ 9.87519690e-01 1.57486615e-01 -1.68161588e-03 7.38508698e+01] [-1.57486406e-01 9.87521122e-01 2.57168246e-04 -4.48521845e+00] [ 1.70113176e-03 1.08729338e-05 9.99998553e-01 -2.55553738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.144203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.88, Y:-4.49, Z:-2.56 [[ 9.87808888e-01 1.55651109e-01 -2.51647909e-03 7.38817595e+01] [-1.55650626e-01 9.87812094e-01 3.87762344e-04 -4.49483395e+00] [ 2.54616412e-03 8.65645470e-06 9.99996758e-01 -2.55638174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.174203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.91, Y:-4.50, Z:-2.56 [[ 9.87829179e-01 1.55509789e-01 -3.19675373e-03 7.39123812e+01] [-1.55509012e-01 9.87834351e-01 4.91647514e-04 -4.49981339e+00] [ 3.23431915e-03 1.14602546e-05 9.99994770e-01 -2.56055441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.204203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.94, Y:-4.50, Z:-2.56 [[ 9.87700674e-01 1.56325822e-01 -3.10106312e-03 7.39449196e+01] [-1.56325090e-01 9.87705542e-01 4.78516832e-04 -4.50452128e+00] [ 3.13774176e-03 1.21425738e-05 9.99995077e-01 -2.56132597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.234203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.98, Y:-4.50, Z:-2.56 [[ 9.87094076e-01 1.60117814e-01 -2.75148654e-03 7.39769832e+01] [-1.60117258e-01 9.87097911e-01 4.22308384e-04 -4.50342234e+00] [ 2.78360571e-03 2.37023781e-05 9.99996125e-01 -2.56215601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.264203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.01, Y:-4.50, Z:-2.56 [[ 9.86611813e-01 1.63053536e-01 -3.26717513e-03 7.40097369e+01] [-1.63052761e-01 9.86617222e-01 5.04054314e-04 -4.50459482e+00] [ 3.30563909e-03 3.54159845e-05 9.99994536e-01 -2.56120561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.294203822 meters Centerline goodness [0,1] 0.9999139322216245 Centerline is valid? [True, True] Translation: X:74.04, Y:-4.50, Z:-2.57 [[ 9.86166513e-01 1.65716498e-01 -3.69480489e-03 7.40414890e+01] [-1.65715528e-01 9.86173433e-01 5.69497122e-04 -4.50449835e+00] [ 3.73809349e-03 5.06675502e-05 9.99993012e-01 -2.56520103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.324203822 meters Centerline goodness [0,1] 0.9999571881154209 Centerline is valid? [True, True] Translation: X:74.07, Y:-4.50, Z:-2.57 [[ 9.85709586e-01 1.68403881e-01 -4.09213500e-03 7.40732638e+01] [-1.68402714e-01 9.85718077e-01 6.30680622e-04 -4.50446724e+00] [ 4.13990051e-03 6.74587050e-05 9.99991428e-01 -2.56867316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.354203822 meters Centerline goodness [0,1] 0.9998918685121108 Centerline is valid? [True, True] Translation: X:74.11, Y:-4.50, Z:-2.57 [[ 9.85046201e-01 1.72213077e-01 -5.16113984e-03 7.41053646e+01] [-1.72211299e-01 9.85059716e-01 7.90157751e-04 -4.50262455e+00] [ 5.22010644e-03 1.10464708e-04 9.99986369e-01 -2.56913794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.384203822 meters Centerline goodness [0,1] 0.9995729780510718 Centerline is valid? [True, True] Translation: X:74.14, Y:-4.50, Z:-2.58 [[ 9.84845306e-01 1.73350027e-01 -5.43063668e-03 7.41367826e+01] [-1.73348049e-01 9.84860271e-01 8.36365713e-04 -4.50091391e+00] [ 5.49340233e-03 1.17699429e-04 9.99984904e-01 -2.57620024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.414203822 meters Centerline goodness [0,1] 0.9996989635745925 Centerline is valid? [True, True] Translation: X:74.17, Y:-4.51, Z:-2.57 [[ 9.84772233e-01 1.73781648e-01 -4.85672748e-03 7.41685835e+01] [-1.73780064e-01 9.84784204e-01 7.49510332e-04 -4.50659595e+00] [ 4.91307964e-03 1.05905449e-04 9.99987925e-01 -2.57379369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.444203822 meters Centerline goodness [0,1] 0.9997213529386548 Centerline is valid? [True, True] Translation: X:74.20, Y:-4.51, Z:-2.57 [[ 9.84825196e-01 1.73509563e-01 -3.71007415e-03 7.42004334e+01] [-1.73508630e-01 9.84832181e-01 5.74401070e-04 -4.51350370e+00] [ 3.75346449e-03 7.80452350e-05 9.99992953e-01 -2.57148424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.474203822 meters Centerline goodness [0,1] 0.9998283114430423 Centerline is valid? [True, True] Translation: X:74.23, Y:-4.52, Z:-2.57 [[ 9.84885995e-01 1.73183425e-01 -2.66039198e-03 7.42318151e+01] [-1.73182939e-01 9.84889587e-01 4.13891010e-04 -4.51991304e+00] [ 2.69187142e-03 5.30990420e-05 9.99996375e-01 -2.56822517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.504203822 meters Centerline goodness [0,1] 0.9998280531315823 Centerline is valid? [True, True] Translation: X:74.27, Y:-4.52, Z:-2.57 [[ 9.84754134e-01 1.73936643e-01 -2.31093363e-03 7.42651907e+01] [-1.73936274e-01 9.84756844e-01 3.61463771e-04 -4.52016470e+00] [ 2.33857950e-03 4.60022408e-05 9.99997264e-01 -2.56745380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.534203822 meters Centerline goodness [0,1] 0.9991680887372013 Centerline is valid? [True, True] Translation: X:74.30, Y:-4.52, Z:-2.57 [[ 9.84550063e-01 1.75090246e-01 -2.14007448e-03 7.42962310e+01] [-1.75089934e-01 9.84552388e-01 3.33583546e-04 -4.51900554e+00] [ 2.16542266e-03 4.62757976e-05 9.99997654e-01 -2.57364152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.564203822 meters Centerline goodness [0,1] 0.9998931258549931 Centerline is valid? [True, True] Translation: X:74.33, Y:-4.53, Z:-2.57 [[ 9.84381167e-01 1.76043751e-01 -1.52174352e-03 7.43281500e+01] [-1.76043590e-01 9.84382343e-01 2.40578378e-04 -4.52667803e+00] [ 1.54032977e-03 3.10723670e-05 9.99998813e-01 -2.56833296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.594203822 meters Centerline goodness [0,1] 0.9997617345723135 Centerline is valid? [True, True] Translation: X:74.36, Y:-4.52, Z:-2.57 [[ 9.84082134e-01 1.77714232e-01 7.40913834e-05 7.43611651e+01] [-1.77714232e-01 9.84082137e-01 -9.55812626e-06 -4.52391664e+00] [-7.46106221e-05 -3.76111202e-06 9.99999997e-01 -2.56770974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.624203822 meters Centerline goodness [0,1] 0.9996150144369587 Centerline is valid? [True, True] Translation: X:74.39, Y:-4.52, Z:-2.57 [[ 9.83952406e-01 1.78430768e-01 3.51440265e-04 7.43948845e+01] [-1.78430762e-01 9.83952469e-01 -4.82617974e-05 -4.52428391e+00] [-3.54411906e-04 -1.52204427e-05 9.99999937e-01 -2.56845927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.654203822 meters Centerline goodness [0,1] 0.9998926024572558 Centerline is valid? [True, True] Translation: X:74.43, Y:-4.53, Z:-2.57 [[ 9.83882490e-01 1.78815888e-01 3.52459391e-04 7.44282942e+01] [-1.78815882e-01 9.83882553e-01 -4.83808548e-05 -4.52739693e+00] [-3.55429911e-04 -1.54242612e-05 9.99999937e-01 -2.56766057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.684203822 meters Centerline goodness [0,1] 0.9986325002103846 Centerline is valid? [True, True] Translation: X:74.46, Y:-4.52, Z:-2.57 [[ 9.84112919e-01 1.77537204e-01 1.51783775e-03 7.44597471e+01] [-1.77537055e-01 9.84114089e-01 -2.33902244e-04 -4.52400179e+00] [-1.53525187e-03 -3.92862242e-05 9.99998821e-01 -2.57445638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.714203822 meters Centerline goodness [0,1] 0.9997848537005164 Centerline is valid? [True, True] Translation: X:74.49, Y:-4.54, Z:-2.57 [[ 9.84424757e-01 1.75798432e-01 1.67592289e-03 7.44909242e+01] [-1.75798248e-01 9.84426183e-01 -2.57291796e-04 -4.53752541e+00] [-1.69505387e-03 -4.13398941e-05 9.99998563e-01 -2.56625204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.744203822 meters Centerline goodness [0,1] 0.9998924152770307 Centerline is valid? [True, True] Translation: X:74.52, Y:-4.55, Z:-2.57 [[ 9.84857897e-01 1.73358118e-01 1.37277227e-03 7.45227995e+01] [-1.73357993e-01 9.84858854e-01 -2.10455926e-04 -4.54591974e+00] [-1.38847116e-03 -3.07118645e-05 9.99999036e-01 -2.56602084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.774203822 meters Centerline goodness [0,1] 0.9999145353930303 Centerline is valid? [True, True] Translation: X:74.55, Y:-4.55, Z:-2.57 [[ 9.85375156e-01 1.70386519e-01 2.05801320e-03 7.45522915e+01] [-1.70386226e-01 9.85377305e-01 -3.18066025e-04 -4.55191167e+00] [-2.08211367e-03 -3.72427439e-05 9.99997832e-01 -2.56819384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.804203822 meters Centerline goodness [0,1] 0.9999785163383247 Centerline is valid? [True, True] Translation: X:74.58, Y:-4.56, Z:-2.57 [[ 9.86363725e-01 1.64575119e-01 1.27785099e-03 7.45832364e+01] [-1.64575002e-01 9.86364552e-01 -1.97006689e-04 -4.55789552e+00] [-1.29284932e-03 -1.59820777e-05 9.99999164e-01 -2.57167923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.834203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.61, Y:-4.56, Z:-2.57 [[ 9.86762426e-01 1.62168525e-01 1.13308840e-03 7.46143317e+01] [-1.62168436e-01 9.86763077e-01 -1.70621429e-04 -4.56203589e+00] [-1.14575922e-03 -1.53883575e-05 9.99999343e-01 -2.57447354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.864203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.64, Y:-4.57, Z:-2.58 [[ 9.87716108e-01 1.56250357e-01 1.64778494e-03 7.46444360e+01] [-1.56250157e-01 9.87717483e-01 -2.50309799e-04 -4.57219841e+00] [-1.66665699e-03 -1.02316355e-05 9.99998611e-01 -2.57921019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.894203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.68, Y:-4.58, Z:-2.58 [[ 9.88185064e-01 1.53257579e-01 1.54740989e-03 7.46763333e+01] [-1.53257400e-01 9.88186275e-01 -2.34191394e-04 -4.58230508e+00] [-1.56502082e-03 -5.72757926e-06 9.99998775e-01 -2.57517289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.924203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.71, Y:-4.59, Z:-2.58 [[ 9.88155661e-01 1.53447044e-01 1.54736285e-03 7.47084061e+01] [-1.53446865e-01 9.88156872e-01 -2.34497900e-04 -4.58747867e+00] [-1.56502024e-03 -5.71755096e-06 9.99998775e-01 -2.57619533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.954203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.74, Y:-4.60, Z:-2.58 [[ 9.88579092e-01 1.50700244e-01 9.03269293e-04 7.47394179e+01] [-1.50700183e-01 9.88579504e-01 -1.35150949e-04 -4.59565799e+00] [-9.13320791e-04 -2.51544488e-06 9.99999583e-01 -2.57638433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.984203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.77, Y:-4.61, Z:-2.59 [[ 9.89168260e-01 1.46779019e-01 -1.43957945e-03 7.47678427e+01] [-1.46778846e-01 9.89169308e-01 2.26074767e-04 -4.60584549e+00] [ 1.45717084e-03 -1.23261742e-05 9.99998938e-01 -2.58573055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.014203822 meters Centerline goodness [0,1] 0.9999786789475928 Centerline is valid? [True, True] Translation: X:74.80, Y:-4.61, Z:-2.59 [[ 9.89298384e-01 1.45902843e-01 -1.03369315e-03 7.48000234e+01] [-1.45902748e-01 9.89298924e-01 1.67113783e-04 -4.61143850e+00] [ 1.04701389e-03 -1.45067247e-05 9.99999452e-01 -2.58557101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.044203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.83, Y:-4.61, Z:-2.58 [[ 9.89302452e-01 1.45878761e-01 2.11832455e-04 7.48315924e+01] [-1.45878758e-01 9.89302475e-01 -2.82680867e-05 -4.61354897e+00] [-2.13690085e-04 -2.93616802e-06 9.99999977e-01 -2.58497503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.074203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.86, Y:-4.61, Z:-2.58 [[ 9.89233214e-01 1.46342395e-01 1.24609266e-03 7.48642409e+01] [-1.46342272e-01 9.89233998e-01 -1.89321631e-04 -4.61354319e+00] [-1.26038301e-03 4.92721321e-06 9.99999206e-01 -2.58089226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.104203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.90, Y:-4.61, Z:-2.58 [[ 9.88885170e-01 1.48678929e-01 8.34236579e-04 7.48974247e+01] [-1.48678877e-01 9.88885522e-01 -1.24380117e-04 -4.61431539e+00] [-8.43457177e-04 -1.03570517e-06 9.99999644e-01 -2.58303871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.134203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.93, Y:-4.62, Z:-2.58 [[ 9.88647726e-01 1.50251742e-01 2.97288939e-04 7.49296712e+01] [-1.50251736e-01 9.88647771e-01 -4.11442008e-05 -4.61736409e+00] [-3.00096035e-04 -3.99105867e-06 9.99999955e-01 -2.58348397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.164203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.96, Y:-4.61, Z:-2.59 [[ 9.88291319e-01 1.52578237e-01 3.87446176e-04 7.49620418e+01] [-1.52578227e-01 9.88291395e-01 -5.53791073e-05 -4.61497648e+00] [-3.91359368e-04 -4.38515957e-06 9.99999923e-01 -2.58527992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.194203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.99, Y:-4.62, Z:-2.59 [[ 9.88191479e-01 1.53220772e-01 9.98179860e-04 7.49930025e+01] [-1.53220697e-01 9.88191983e-01 -1.51748849e-04 -4.61652668e+00] [-1.00964441e-03 -2.98489482e-06 9.99999490e-01 -2.58683417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.224203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.02, Y:-4.62, Z:-2.59 [[ 9.88190846e-01 1.53221390e-01 1.43469894e-03 7.50240849e+01] [-1.53221229e-01 9.88191887e-01 -2.22334011e-04 -4.61966127e+00] [-1.45182418e-03 -1.17901439e-07 9.99998946e-01 -2.58824938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.254203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.06, Y:-4.63, Z:-2.59 [[ 9.88281443e-01 1.52636702e-01 1.35161354e-03 7.50562908e+01] [-1.52636563e-01 9.88282367e-01 -2.06381001e-04 -4.62514594e+00] [-1.36727715e-03 -2.34313141e-06 9.99999065e-01 -2.58626925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.284203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.09, Y:-4.63, Z:-2.59 [[ 9.88601931e-01 1.50540497e-01 1.94435505e-03 7.50866012e+01] [-1.50540196e-01 9.88603843e-01 -3.01062630e-04 -4.63340633e+00] [-1.96751899e-03 4.92750791e-06 9.99998064e-01 -2.59005415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.314203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.12, Y:-4.64, Z:-2.59 [[ 9.88781373e-01 1.49348839e-01 2.51412884e-03 7.51174744e+01] [-1.49348328e-01 9.88784569e-01 -3.90936129e-04 -4.64144863e+00] [-2.54431766e-03 1.10694235e-05 9.99996763e-01 -2.58918113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.344203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.15, Y:-4.65, Z:-2.58 [[ 9.89181927e-01 1.46655090e-01 3.37637413e-03 7.51493077e+01] [-1.46654148e-01 9.89187689e-01 -5.26480729e-04 -4.65277258e+00] [-3.41707881e-03 2.56259515e-05 9.99994161e-01 -2.58446865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.374203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.18, Y:-4.66, Z:-2.59 [[ 9.89356733e-01 1.45478653e-01 3.03597771e-03 7.51809757e+01] [-1.45477884e-01 9.89361390e-01 -4.74025103e-04 -4.66119746e+00] [-3.07263967e-03 2.73123150e-05 9.99995279e-01 -2.58528759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.404203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.21, Y:-4.67, Z:-2.59 [[ 9.89494491e-01 1.44538365e-01 3.05166887e-03 7.52107969e+01] [-1.44537580e-01 9.89499197e-01 -4.77414209e-04 -4.66886084e+00] [-3.08862857e-03 3.13178970e-05 9.99995230e-01 -2.58751087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.434203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.24, Y:-4.68, Z:-2.59 [[ 9.89581920e-01 1.43925740e-01 3.60633175e-03 7.52425069e+01] [-1.43924635e-01 9.89588490e-01 -5.65431181e-04 -4.67582526e+00] [-3.65016449e-03 4.05004938e-05 9.99993337e-01 -2.58808385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.464203822 meters Centerline goodness [0,1] 0.9999785177228786 Centerline is valid? [True, True] Translation: X:75.27, Y:-4.69, Z:-2.59 [[ 9.89675268e-01 1.43219588e-01 5.56891613e-03 7.52718035e+01] [-1.43216919e-01 9.89690934e-01 -8.77374169e-04 -4.68883272e+00] [-5.63716297e-03 7.07525085e-05 9.99984109e-01 -2.58807205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.494203822 meters Centerline goodness [0,1] 0.9999566075806556 Centerline is valid? [True, True] Translation: X:75.30, Y:-4.69, Z:-2.58 [[ 9.89663948e-01 1.43255053e-01 6.57715458e-03 7.53040839e+01] [-1.43251320e-01 9.89685800e-01 -1.03763892e-03 -4.69391704e+00] [-6.65796351e-03 8.47277492e-05 9.99977832e-01 -2.58048984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.524203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.33, Y:-4.70, Z:-2.58 [[ 9.89572085e-01 1.43880687e-01 6.74061554e-03 7.53349278e+01] [-1.43876769e-01 9.89595039e-01 -1.06513814e-03 -4.70063589e+00] [-6.82373251e-03 8.42129815e-05 9.99976715e-01 -2.58259096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.554203822 meters Centerline goodness [0,1] 0.9999570234437114 Centerline is valid? [True, True] Translation: X:75.37, Y:-4.70, Z:-2.59 [[ 9.89323022e-01 1.45662593e-01 4.72944498e-03 7.53650606e+01] [-1.45660678e-01 9.89334325e-01 -7.48670873e-04 -4.70489760e+00] [-4.78805560e-03 5.17831673e-05 9.99988536e-01 -2.58967018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.584203822 meters Centerline goodness [0,1] 0.9999787116277089 Centerline is valid? [True, True] Translation: X:75.40, Y:-4.71, Z:-2.59 [[ 9.89077762e-01 1.47319457e-01 4.70734287e-03 7.53969982e+01] [-1.47317588e-01 9.89088962e-01 -7.43373086e-04 -4.70943530e+00] [-4.76549420e-03 4.17793905e-05 9.99988644e-01 -2.59073707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.614203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.43, Y:-4.71, Z:-2.59 [[ 9.88768290e-01 1.49384895e-01 4.62831222e-03 7.54295520e+01] [-1.49383094e-01 9.88779122e-01 -7.34503042e-04 -4.71290190e+00] [-4.68610215e-03 3.48617206e-05 9.99989020e-01 -2.59094096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.644203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.46, Y:-4.71, Z:-2.59 [[ 9.87895943e-01 1.55048124e-01 4.65679824e-03 7.54622719e+01] [-1.55046376e-01 9.87906918e-01 -7.36235476e-04 -4.71048258e+00] [-4.71463513e-03 5.30434658e-06 9.99988886e-01 -2.58846356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.674203822 meters Centerline goodness [0,1] 0.9999137224451059 Centerline is valid? [True, True] Translation: X:75.49, Y:-4.71, Z:-2.59 [[ 9.87436480e-01 1.57944366e-01 4.77230464e-03 7.54944657e+01] [-1.57942561e-01 9.87448012e-01 -7.55182814e-04 -4.71268060e+00] [-4.83167961e-03 -8.05495626e-06 9.99988327e-01 -2.59074887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.704203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.53, Y:-4.72, Z:-2.59 [[ 9.86964444e-01 1.60861880e-01 4.96397581e-03 7.55266162e+01] [-1.60859957e-01 9.86976927e-01 -7.86753219e-04 -4.71559791e+00] [-5.02588819e-03 -2.20074827e-05 9.99987370e-01 -2.59178560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.734203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.56, Y:-4.72, Z:-2.59 [[ 9.86514343e-01 1.63614144e-01 4.45682264e-03 7.55590143e+01] [-1.63612619e-01 9.86524410e-01 -7.07036250e-04 -4.71697895e+00] [-4.51244545e-03 -3.16910249e-05 9.99989818e-01 -2.59297747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.764203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.59, Y:-4.71, Z:-2.60 [[ 9.85688189e-01 1.68551891e-01 3.00900385e-03 7.55907059e+01] [-1.68551211e-01 9.85692781e-01 -4.79947210e-04 -4.71074920e+00] [-3.04684938e-03 -3.40929450e-05 9.99995358e-01 -2.59754015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.794203822 meters Centerline goodness [0,1] 0.9998708927764508 Centerline is valid? [True, True] Translation: X:75.62, Y:-4.71, Z:-2.60 [[ 9.85258058e-01 1.71053172e-01 2.71504381e-03 7.56220337e+01] [-1.71052637e-01 9.85261798e-01 -4.29626501e-04 -4.70953588e+00] [-2.74851792e-03 -4.11224314e-05 9.99996222e-01 -2.60106787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.824203822 meters Centerline goodness [0,1] 0.9999785761724189 Centerline is valid? [True, True] Translation: X:75.66, Y:-4.71, Z:-2.60 [[ 9.84250546e-01 1.76725348e-01 4.36061650e-03 7.56553485e+01] [-1.76724010e-01 9.84260201e-01 -6.93284334e-04 -4.70542264e+00] [-4.41450219e-03 -8.82601511e-05 9.99990252e-01 -2.59562901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.854203822 meters Centerline goodness [0,1] 0.9999138673557278 Centerline is valid? [True, True] Translation: X:75.69, Y:-4.71, Z:-2.60 [[ 9.83759866e-01 1.79429210e-01 4.65674451e-03 7.56864268e+01] [-1.79427691e-01 9.83770882e-01 -7.45408692e-04 -4.70517479e+00] [-4.71491775e-03 -1.02245760e-04 9.99988879e-01 -2.59514627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.884203822 meters Centerline goodness [0,1] 0.9999358974358974 Centerline is valid? [True, True] Translation: X:75.72, Y:-4.70, Z:-2.60 [[ 9.83308155e-01 1.81887367e-01 4.69657432e-03 7.57177516e+01] [-1.81885857e-01 9.83319364e-01 -7.50320664e-04 -4.70334985e+00] [-4.75470633e-03 -1.16444016e-04 9.99988690e-01 -2.59759484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.914203822 meters Centerline goodness [0,1] 0.9966067906601913 Centerline is valid? [True, True] Translation: X:75.75, Y:-4.69, Z:-2.60 [[ 9.82344547e-01 1.87049427e-01 3.42087414e-03 7.57488985e+01] [-1.87048652e-01 9.82350498e-01 -5.47917622e-04 -4.69282099e+00] [-3.46298509e-03 -1.01626009e-04 9.99993999e-01 -2.60258740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.944203822 meters Centerline goodness [0,1] 0.9850445908445782 Centerline is valid? [True, True] Translation: X:75.78, Y:-4.69, Z:-2.61 [[ 9.81971622e-01 1.89012204e-01 2.47381879e-03 7.57780959e+01] [-1.89011802e-01 9.81974735e-01 -3.97393327e-04 -4.68872291e+00] [-2.50433974e-03 -7.73519767e-05 9.99996861e-01 -2.60669701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.974203822 meters Centerline goodness [0,1] 0.9975519144458522 Centerline is valid? [True, True] Translation: X:75.81, Y:-4.69, Z:-2.60 [[ 9.81702790e-01 1.90414479e-01 1.39969368e-03 7.58076264e+01] [-1.90414352e-01 9.81703786e-01 -2.24751172e-04 -4.69401960e+00] [-1.41688046e-03 -4.58829125e-05 9.99998995e-01 -2.60381097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.004203822 meters Centerline goodness [0,1] 0.9847985542680983 Centerline is valid? [True, True] Translation: X:75.84, Y:-4.69, Z:-2.61 [[ 9.81648960e-01 1.90684484e-01 2.17871783e-03 7.58367157e+01] [-1.90684174e-01 9.81651375e-01 -3.51097390e-04 -4.68721697e+00] [-2.20569018e-03 -7.07926231e-05 9.99997565e-01 -2.60817774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.034203822 meters Centerline goodness [0,1] 0.9982774753317455 Centerline is valid? [True, True] Translation: X:75.87, Y:-4.69, Z:-2.60 [[ 9.81837665e-01 1.89695853e-01 3.20679452e-03 7.58660787e+01] [-1.89695183e-01 9.81842896e-01 -5.14508231e-04 -4.69419559e+00] [-3.24616849e-03 -1.03149913e-04 9.99994726e-01 -2.60308645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.064203822 meters Centerline goodness [0,1] 0.9982165226437929 Centerline is valid? [True, True] Translation: X:75.90, Y:-4.70, Z:-2.60 [[ 9.82092554e-01 1.88362330e-01 3.72143105e-03 7.58950458e+01] [-1.88361418e-01 9.82099598e-01 -5.97193877e-04 -4.69503210e+00] [-3.76730476e-03 -1.14474369e-04 9.99992897e-01 -2.60392121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.094203822 meters Centerline goodness [0,1] 0.9989821451291403 Centerline is valid? [True, True] Translation: X:75.92, Y:-4.70, Z:-2.60 [[ 9.82322020e-01 1.87161819e-01 3.72858942e-03 7.59242227e+01] [-1.87160894e-01 9.82329090e-01 -5.98515831e-04 -4.69748851e+00] [-3.77472116e-03 -1.09910851e-04 9.99992870e-01 -2.60396847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.124203822 meters Centerline goodness [0,1] 0.9998726520216492 Centerline is valid? [True, True] Translation: X:75.95, Y:-4.70, Z:-2.61 [[ 9.82923708e-01 1.83987156e-01 3.11619403e-03 7.59535742e+01] [-1.83986496e-01 9.82928644e-01 -4.99649663e-04 -4.70036140e+00] [-3.15492549e-03 -8.22201210e-05 9.99995020e-01 -2.60604791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.154203822 meters Centerline goodness [0,1] 0.9998073465193937 Centerline is valid? [True, True] Translation: X:75.98, Y:-4.71, Z:-2.61 [[ 9.83287105e-01 1.82053850e-01 1.69278199e-03 7.59826828e+01] [-1.82053652e-01 9.83288561e-01 -2.71727918e-04 -4.70516768e+00] [-1.71396228e-03 -4.09905841e-05 9.99998530e-01 -2.60814734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.184203822 meters Centerline goodness [0,1] 0.999872830164685 Centerline is valid? [True, True] Translation: X:76.01, Y:-4.71, Z:-2.61 [[ 9.83696880e-01 1.79830900e-01 1.13841792e-03 7.60110135e+01] [-1.79830808e-01 9.83697538e-01 -1.83681816e-04 -4.70839919e+00] [-1.15289057e-03 -2.40353853e-05 9.99999335e-01 -2.61109038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.214203822 meters Centerline goodness [0,1] 0.9999141151715549 Centerline is valid? [True, True] Translation: X:76.04, Y:-4.71, Z:-2.61 [[ 9.84068253e-01 1.77786453e-01 1.28470108e-03 7.60397238e+01] [-1.77786335e-01 9.84069091e-01 -2.06663941e-04 -4.71062216e+00] [-1.30097668e-03 -2.50308744e-05 9.99999153e-01 -2.61267421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.244203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.07, Y:-4.71, Z:-2.61 [[ 9.84929761e-01 1.72938511e-01 2.37418367e-03 7.60691302e+01] [-1.72938096e-01 9.84932622e-01 -3.80541032e-04 -4.71201225e+00] [-2.40422114e-03 -3.57806152e-05 9.99997109e-01 -2.61318268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.274203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.10, Y:-4.72, Z:-2.61 [[ 9.85414704e-01 1.70150464e-01 2.58458337e-03 7.60985465e+01] [-1.70149962e-01 9.85418093e-01 -4.14172303e-04 -4.71919076e+00] [-2.61736683e-03 -3.16352865e-05 9.99996574e-01 -2.60790296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.304203822 meters Centerline goodness [0,1] 0.9999784357276864 Centerline is valid? [True, True] Translation: X:76.13, Y:-4.72, Z:-2.61 [[ 9.85915369e-01 1.67228556e-01 2.34404820e-03 7.61271416e+01] [-1.67228134e-01 9.85918156e-01 -3.75998257e-04 -4.72323693e+00] [-2.37391732e-03 -2.12883456e-05 9.99997182e-01 -2.61288045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.334203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.16, Y:-4.73, Z:-2.61 [[ 9.87011819e-01 1.60646945e-01 4.77664073e-04 7.61565510e+01] [-1.60646927e-01 9.87011935e-01 -7.63823870e-05 -4.73122796e+00] [-4.83730738e-04 -1.34494691e-06 9.99999883e-01 -2.61277329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.364203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.19, Y:-4.74, Z:-2.61 [[ 9.87646187e-01 1.56700168e-01 -2.56591318e-04 7.61863575e+01] [-1.56700162e-01 9.87646221e-01 4.10310476e-05 -4.73831827e+00] [ 2.59851017e-04 -3.16256587e-07 9.99999966e-01 -2.61450953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.394203822 meters Centerline goodness [0,1] 0.9999784816663797 Centerline is valid? [True, True] Translation: X:76.21, Y:-4.75, Z:-2.62 [[ 9.88305353e-01 1.52487117e-01 -4.56418769e-04 7.62145399e+01] [-1.52487100e-01 9.88305458e-01 7.25922695e-05 -4.74660104e+00] [ 4.62150546e-04 -2.14535415e-06 9.99999893e-01 -2.61911144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.424203822 meters Centerline goodness [0,1] 0.9999356568364611 Centerline is valid? [True, True] Translation: X:76.24, Y:-4.76, Z:-2.62 [[ 9.89589612e-01 1.43914259e-01 -1.04215619e-03 7.62438981e+01] [-1.43914163e-01 9.89590161e-01 1.67026102e-04 -4.75913461e+00] [ 1.05534495e-03 -1.53062594e-05 9.99999443e-01 -2.62103167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.454203822 meters Centerline goodness [0,1] 0.9999784890724488 Centerline is valid? [True, True] Translation: X:76.27, Y:-4.77, Z:-2.62 [[ 9.90203652e-01 1.39630120e-01 -3.97279111e-04 7.62749432e+01] [-1.39630106e-01 9.90203731e-01 6.43154102e-05 -4.76508895e+00] [ 4.02367627e-04 -8.21322973e-06 9.99999919e-01 -2.61780676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.484203822 meters Centerline goodness [0,1] 0.9999570354457572 Centerline is valid? [True, True] Translation: X:76.31, Y:-4.77, Z:-2.62 [[ 9.90730141e-01 1.35841468e-01 9.39386077e-04 7.63060461e+01] [-1.35841392e-01 9.90730587e-01 -1.44947562e-04 -4.77262768e+00] [-9.50368409e-04 1.59964059e-05 9.99999548e-01 -2.61605331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.514203822 meters Centerline goodness [0,1] 0.9988716201830956 Centerline is valid? [True, True] Translation: X:76.34, Y:-4.79, Z:-2.62 [[ 9.91153083e-01 1.32708964e-01 1.97416715e-03 7.63355249e+01] [-1.32708607e-01 9.91155048e-01 -3.11378667e-04 -4.78544063e+00] [-1.99802848e-03 4.66349523e-05 9.99998003e-01 -2.61972544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.544203822 meters Centerline goodness [0,1] 0.9991354902850721 Centerline is valid? [True, True] Translation: X:76.37, Y:-4.79, Z:-2.61 [[ 9.91843747e-01 1.27443958e-01 2.00461184e-03 7.63660144e+01] [-1.27443569e-01 9.91845771e-01 -3.20921463e-04 -4.79362424e+00] [-2.02916528e-03 6.28290590e-05 9.99997939e-01 -2.61404914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.574203822 meters Centerline goodness [0,1] 0.9981403501271829 Centerline is valid? [True, True] Translation: X:76.40, Y:-4.80, Z:-2.61 [[ 9.91982783e-01 1.26356056e-01 2.07492906e-03 7.63960252e+01] [-1.26355647e-01 9.91984951e-01 -3.27911664e-04 -4.80140791e+00] [-2.09973202e-03 6.31037231e-05 9.99997794e-01 -2.61428872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.604203822 meters Centerline goodness [0,1] 0.9986095118082864 Centerline is valid? [True, True] Translation: X:76.43, Y:-4.80, Z:-2.62 [[ 9.92039231e-01 1.25927133e-01 7.21402317e-04 7.64276942e+01] [-1.25927084e-01 9.92039494e-01 -1.13047949e-04 -4.80434152e+00] [-7.29895394e-04 2.13039107e-05 9.99999733e-01 -2.61590552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.634203822 meters Centerline goodness [0,1] 0.9964050458518104 Centerline is valid? [True, True] Translation: X:76.46, Y:-4.81, Z:-2.62 [[ 9.91663298e-01 1.28855274e-01 -4.70067222e-04 7.64590715e+01] [-1.28855250e-01 9.91663410e-01 8.09015814e-05 -4.80523907e+00] [ 4.76573059e-04 -1.96564999e-05 9.99999886e-01 -2.62137863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.664203822 meters Centerline goodness [0,1] 0.9993724845284978 Centerline is valid? [True, True] Translation: X:76.49, Y:-4.81, Z:-2.62 [[ 9.91369451e-01 1.31097365e-01 -3.02907627e-04 7.64911499e+01] [-1.31097356e-01 9.91369498e-01 4.98482968e-05 -4.80598621e+00] [ 3.06828362e-04 -9.70768971e-06 9.99999953e-01 -2.62023294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.694203822 meters Centerline goodness [0,1] 0.9998711533918869 Centerline is valid? [True, True] Translation: X:76.52, Y:-4.81, Z:-2.62 [[ 9.91040412e-01 1.33561579e-01 4.53469289e-04 7.65223104e+01] [-1.33561560e-01 9.91040516e-01 -7.21330026e-05 -4.81084920e+00] [-4.59040636e-04 1.09206552e-05 9.99999895e-01 -2.62097441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.724203822 meters Centerline goodness [0,1] 0.9998074660391486 Centerline is valid? [True, True] Translation: X:76.55, Y:-4.81, Z:-2.62 [[ 9.90254017e-01 1.39250408e-01 2.51103747e-03 7.65518729e+01] [-1.39249831e-01 9.90257200e-01 -4.04014291e-04 -4.81195174e+00] [-2.54283209e-03 5.04152320e-05 9.99996766e-01 -2.62113924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.754203822 meters Centerline goodness [0,1] 0.9999570750971176 Centerline is valid? [True, True] Translation: X:76.58, Y:-4.81, Z:-2.62 [[ 9.89797611e-01 1.42429969e-01 3.79387579e-03 7.65831317e+01] [-1.42428680e-01 9.89804880e-01 -6.09234423e-04 -4.81408773e+00] [-3.84197001e-03 6.26620552e-05 9.99992618e-01 -2.61856795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.784203822 meters Centerline goodness [0,1] 0.9999783732347153 Centerline is valid? [True, True] Translation: X:76.61, Y:-4.82, Z:-2.62 [[ 9.89365550e-01 1.45379082e-01 4.55309134e-03 7.66145893e+01] [-1.45377256e-01 9.89376025e-01 -7.31397134e-04 -4.81566117e+00] [-4.61104926e-03 6.17032034e-05 9.99989367e-01 -2.61606889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.814203822 meters Centerline goodness [0,1] 0.9999787193292332 Centerline is valid? [True, True] Translation: X:76.65, Y:-4.81, Z:-2.62 [[ 9.88477218e-01 1.51312309e-01 4.16827900e-03 7.66451159e+01] [-1.51310828e-01 9.88486006e-01 -6.70284034e-04 -4.81359461e+00] [-4.22170768e-03 3.18547505e-05 9.99991088e-01 -2.61760090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.844203822 meters Centerline goodness [0,1] 0.9999787193292332 Centerline is valid? [True, True] Translation: X:76.67, Y:-4.82, Z:-2.62 [[ 9.88477218e-01 1.51312309e-01 4.16827900e-03 7.66747326e+01] [-1.51310828e-01 9.88486006e-01 -6.70284034e-04 -4.81835714e+00] [-4.22170768e-03 3.18547505e-05 9.99991088e-01 -2.61854411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.874203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.71, Y:-4.82, Z:-2.62 [[ 9.87971595e-01 1.54601857e-01 3.22374463e-03 7.67057687e+01] [-1.54600989e-01 9.87976855e-01 -5.18397294e-04 -4.81875834e+00] [-3.26513026e-03 1.37676944e-05 9.99994669e-01 -2.61969677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.904203822 meters Centerline goodness [0,1] 0.9999785908497292 Centerline is valid? [True, True] Translation: X:76.73, Y:-4.82, Z:-2.62 [[ 9.86803627e-01 1.61889482e-01 3.22436316e-03 7.67346500e+01] [-1.61888650e-01 9.86808895e-01 -5.19210579e-04 -4.81718966e+00] [-3.26588498e-03 -9.62891652e-06 9.99994667e-01 -2.62313129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.934203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.76, Y:-4.82, Z:-2.62 [[ 9.86203145e-01 1.65498019e-01 3.70979900e-03 7.67635872e+01] [-1.65496941e-01 9.86210122e-01 -5.97799652e-04 -4.81865198e+00] [-3.75757598e-03 -2.44084908e-05 9.99992940e-01 -2.62137513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.964203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.79, Y:-4.82, Z:-2.62 [[ 9.85562087e-01 1.69246757e-01 4.78616691e-03 7.67919851e+01] [-1.69245009e-01 9.85573707e-01 -7.70882253e-04 -4.81808831e+00] [-4.84758959e-03 -5.02825411e-05 9.99988249e-01 -2.62091017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.994203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.82, Y:-4.82, Z:-2.62 [[ 9.84917063e-01 1.72909638e-01 6.37469373e-03 7.68205557e+01] [-1.72906619e-01 9.84937688e-01 -1.02577503e-03 -4.81995525e+00] [-6.45604249e-03 -9.19234168e-05 9.99979155e-01 -2.61561545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.024203822 meters Centerline goodness [0,1] 0.9999145536496272 Centerline is valid? [True, True] Translation: X:76.85, Y:-4.82, Z:-2.62 [[ 9.84281037e-01 1.76478428e-01 6.79740209e-03 7.68496637e+01] [-1.76475089e-01 9.84304500e-01 -1.09262011e-03 -4.81895423e+00] [-6.88353735e-03 -1.24126885e-04 9.99976300e-01 -2.61813793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.054203822 meters Centerline goodness [0,1] 0.9993218758608998 Centerline is valid? [True, True] Translation: X:76.88, Y:-4.82, Z:-2.63 [[ 9.83176847e-01 1.82648383e-01 1.69017661e-03 7.68795780e+01] [-1.82648186e-01 9.83178298e-01 -2.71237127e-04 -4.81548430e+00] [-1.71128598e-03 -4.20336286e-05 9.99998535e-01 -2.63001091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.084203822 meters Centerline goodness [0,1] 0.9989341746248295 Centerline is valid? [True, True] Translation: X:76.91, Y:-4.82, Z:-2.63 [[ 9.82821938e-01 1.84556028e-01 -3.33595233e-04 7.69098195e+01] [-1.84556021e-01 9.82821994e-01 5.35672103e-05 -4.81813454e+00] [ 3.37750884e-04 8.91997946e-06 9.99999943e-01 -2.63398718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.114203822 meters Centerline goodness [0,1] 0.9983956876082911 Centerline is valid? [True, True] Translation: X:76.94, Y:-4.82, Z:-2.64 [[ 9.82634690e-01 1.85549051e-01 -7.84870050e-04 7.69378461e+01] [-1.85549011e-01 9.82635003e-01 1.24118911e-04 -4.82210042e+00] [ 7.94270930e-04 2.36683141e-05 9.99999684e-01 -2.63579453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.144203822 meters Centerline goodness [0,1] 0.9996788833704402 Centerline is valid? [True, True] Translation: X:76.97, Y:-4.83, Z:-2.63 [[ 9.82680666e-01 1.85307060e-01 4.95645180e-05 7.69657409e+01] [-1.85307060e-01 9.82680667e-01 -9.11718846e-06 -4.83381830e+00] [-5.03955731e-05 -2.25370274e-07 9.99999999e-01 -2.63106499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.174203822 meters Centerline goodness [0,1] 0.9988610233597662 Centerline is valid? [True, True] Translation: X:76.99, Y:-4.84, Z:-2.63 [[ 9.82826298e-01 1.84532792e-01 -3.41246154e-04 7.69934562e+01] [-1.84532785e-01 9.82826357e-01 5.28143766e-05 -4.83837561e+00] [ 3.45131699e-04 1.10637449e-05 9.99999940e-01 -2.63444663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.204203822 meters Centerline goodness [0,1] 0.9995871539698405 Centerline is valid? [True, True] Translation: X:77.02, Y:-4.84, Z:-2.64 [[ 9.82946516e-01 1.83886200e-01 -1.41887418e-03 7.70213456e+01] [-1.83886065e-01 9.82947539e-01 2.26027019e-04 -4.84359915e+00] [ 1.43624213e-03 3.87387191e-05 9.99998968e-01 -2.63596422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.234203822 meters Centerline goodness [0,1] 0.9993582475880806 Centerline is valid? [True, True] Translation: X:77.05, Y:-4.85, Z:-2.64 [[ 9.83077847e-01 1.83179450e-01 -1.79883149e-03 7.70490396e+01] [-1.83179233e-01 9.83079492e-01 2.86476333e-04 -4.84525141e+00] [ 1.82087092e-03 4.78800346e-05 9.99998341e-01 -2.63799109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.264203822 meters Centerline goodness [0,1] 0.9975345377258236 Centerline is valid? [True, True] Translation: X:77.08, Y:-4.85, Z:-2.64 [[ 9.83227816e-01 1.82377768e-01 -1.18776095e-03 7.70766086e+01] [-1.82377673e-01 9.83228533e-01 1.88468003e-04 -4.84612224e+00] [ 1.20221283e-03 3.13140957e-05 9.99999277e-01 -2.64281903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.294203822 meters Centerline goodness [0,1] 0.9996565049377415 Centerline is valid? [True, True] Translation: X:77.11, Y:-4.85, Z:-2.64 [[ 9.83542035e-01 1.80677841e-01 7.63394824e-04 7.71055683e+01] [-1.80677800e-01 9.83542331e-01 -1.23044147e-04 -4.85440677e+00] [-7.73062476e-04 -1.69094070e-05 9.99999701e-01 -2.63796061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.324203822 meters Centerline goodness [0,1] 0.9998504976293195 Centerline is valid? [True, True] Translation: X:77.13, Y:-4.86, Z:-2.63 [[ 9.83656452e-01 1.80044245e-01 2.01346060e-03 7.71339985e+01] [-1.80043960e-01 9.83658512e-01 -3.23672172e-04 -4.86323723e+00] [-2.03883297e-03 -4.41291996e-05 9.99997921e-01 -2.63301735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.354203822 meters Centerline goodness [0,1] 0.9998941306004913 Centerline is valid? [True, True] Translation: X:77.16, Y:-4.87, Z:-2.64 [[ 9.83777897e-01 1.79373650e-01 2.47847627e-03 7.71618034e+01] [-1.79373214e-01 9.83781018e-01 -3.98762862e-04 -4.86768691e+00] [-2.50980546e-03 -5.22781649e-05 9.99996849e-01 -2.63562726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.384203822 meters Centerline goodness [0,1] 0.9999142881631954 Centerline is valid? [True, True] Translation: X:77.19, Y:-4.87, Z:-2.64 [[ 9.83955358e-01 1.78402734e-01 2.07787221e-03 7.71901748e+01] [-1.78402426e-01 9.83957551e-01 -3.34114554e-04 -4.87461361e+00] [-2.10414500e-03 -4.19436363e-05 9.99997785e-01 -2.63601019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.414203822 meters Centerline goodness [0,1] 0.9999137893874736 Centerline is valid? [True, True] Translation: X:77.22, Y:-4.88, Z:-2.64 [[ 9.84376043e-01 1.76077383e-01 7.49469892e-04 7.72183502e+01] [-1.76077341e-01 9.84376328e-01 -1.21791248e-04 -4.87652014e+00] [-7.59205104e-04 -1.20762792e-05 9.99999712e-01 -2.64049267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.444203822 meters Centerline goodness [0,1] 0.9999784366576819 Centerline is valid? [True, True] Translation: X:77.25, Y:-4.88, Z:-2.64 [[ 9.84565845e-01 1.75011614e-01 1.01613935e-03 7.72470681e+01] [-1.75011537e-01 9.84566369e-01 -1.64104148e-04 -4.88044247e+00] [-1.02917677e-03 -1.62647713e-05 9.99999470e-01 -2.63738594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.474203822 meters Centerline goodness [0,1] 0.9999569753683984 Centerline is valid? [True, True] Translation: X:77.27, Y:-4.88, Z:-2.64 [[ 9.84780857e-01 1.73790173e-01 1.90764619e-03 7.72745758e+01] [-1.73789905e-01 9.84782704e-01 -3.06908299e-04 -4.88241764e+00] [-1.93195462e-03 -2.92922317e-05 9.99998133e-01 -2.63789774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.504203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.30, Y:-4.89, Z:-2.64 [[ 9.85101633e-01 1.71947111e-01 2.99401609e-03 7.73020167e+01] [-1.71946444e-01 9.85106182e-01 -4.80484637e-04 -4.88708390e+00] [-3.03204170e-03 -4.14842205e-05 9.99995402e-01 -2.63881165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.534203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.33, Y:-4.90, Z:-2.64 [[ 9.85845390e-01 1.67646077e-01 1.91290629e-03 7.73299837e+01] [-1.67645797e-01 9.85847246e-01 -3.06855590e-04 -4.89817308e+00] [-1.93727654e-03 -1.81785306e-05 9.99998123e-01 -2.63949031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.564203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.36, Y:-4.91, Z:-2.64 [[ 9.86182163e-01 1.65664125e-01 3.73047309e-04 7.73582726e+01] [-1.65664114e-01 9.86182233e-01 -6.07860739e-05 -4.90577103e+00] [-3.77962700e-04 -1.85441020e-06 9.99999929e-01 -2.64156256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.594203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.39, Y:-4.91, Z:-2.64 [[ 9.86629875e-01 1.62970918e-01 1.40356784e-03 7.73873826e+01] [-1.62970763e-01 9.86630873e-01 -2.25013963e-04 -4.91391784e+00] [-1.42147409e-03 -6.73502243e-06 9.99998990e-01 -2.63964491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.624203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.42, Y:-4.92, Z:-2.64 [[ 9.86734173e-01 1.62329544e-01 2.18861504e-03 7.74156112e+01] [-1.62329166e-01 9.86736601e-01 -3.50732238e-04 -4.91684236e+00] [-2.21652077e-03 -9.19656812e-06 9.99997543e-01 -2.64375060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.654203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.44, Y:-4.92, Z:-2.64 [[ 9.86795524e-01 1.61960210e-01 1.86641911e-03 7.74443293e+01] [-1.61959934e-01 9.86797289e-01 -2.99525330e-04 -4.91972169e+00] [-1.89028851e-03 -6.71486000e-06 9.99998213e-01 -2.64311128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.684203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.47, Y:-4.92, Z:-2.65 [[ 9.86861312e-01 1.61561667e-01 1.60565097e-03 7.74720711e+01] [-1.61561461e-01 9.86862618e-01 -2.58173190e-04 -4.92201631e+00] [-1.62626781e-03 -4.63018438e-06 9.99998678e-01 -2.64624188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.714203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.50, Y:-4.93, Z:-2.65 [[ 9.87174820e-01 1.59636018e-01 1.48846942e-03 7.75000623e+01] [-1.59635840e-01 9.87175943e-01 -2.38987846e-04 -4.92632427e+00] [-1.50753227e-03 -1.69028135e-06 9.99998864e-01 -2.64799447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.744203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.53, Y:-4.93, Z:-2.64 [[ 9.87397389e-01 1.58241297e-01 2.46734909e-03 7.75292819e+01] [-1.58240806e-01 9.87400472e-01 -3.94373940e-04 -4.93321390e+00] [-2.49866790e-03 -1.03150942e-06 9.99996878e-01 -2.64441172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.774203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.56, Y:-4.94, Z:-2.65 [[ 9.87693973e-01 1.56356284e-01 3.65074192e-03 7.75573265e+01] [-1.56355195e-01 9.87700720e-01 -5.83393217e-04 -4.94091825e+00] [-3.69705762e-03 5.40149907e-06 9.99993166e-01 -2.64695591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.804203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.59, Y:-4.95, Z:-2.65 [[ 9.88183664e-01 1.53243857e-01 3.06062907e-03 7.75863955e+01] [-1.53243080e-01 9.88188403e-01 -4.88108606e-04 -4.95328210e+00] [-3.09927780e-03 1.33207261e-05 9.99995197e-01 -2.64554100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.834203822 meters Centerline goodness [0,1] 0.9999785674482404 Centerline is valid? [True, True] Translation: X:77.62, Y:-4.96, Z:-2.65 [[ 9.88357882e-01 1.52129754e-01 2.28793690e-03 7.76151601e+01] [-1.52129317e-01 9.88360530e-01 -3.64692035e-04 -4.96093003e+00] [-2.31678704e-03 1.23839696e-05 9.99997316e-01 -2.65191318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.864203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.65, Y:-4.97, Z:-2.65 [[ 9.88410333e-01 1.51797621e-01 1.57966480e-03 7.76452082e+01] [-1.51797412e-01 9.88411596e-01 -2.51934998e-04 -4.96629115e+00] [-1.59960214e-03 9.22612539e-06 9.99998721e-01 -2.65388064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.894203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.67, Y:-4.97, Z:-2.65 [[ 9.88418908e-01 1.51736720e-01 2.00771067e-03 7.76749146e+01] [-1.51736381e-01 9.88420947e-01 -3.20929330e-04 -4.96845694e+00] [-2.03316004e-03 1.25698656e-05 9.99997933e-01 -2.65129234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.924203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.71, Y:-4.97, Z:-2.65 [[ 9.88382901e-01 1.51957668e-01 2.84755149e-03 7.77051160e+01] [-1.51956991e-01 9.88387003e-01 -4.54074302e-04 -4.97232129e+00] [-2.88348295e-03 1.60939202e-05 9.99995843e-01 -2.64893243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.954203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.73, Y:-4.98, Z:-2.65 [[ 9.88319351e-01 1.52362161e-01 3.26077870e-03 7.77339075e+01] [-1.52361273e-01 9.88324730e-01 -5.20322072e-04 -4.97838061e+00] [-3.30198563e-03 1.74279772e-05 9.99994548e-01 -2.65280941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.984203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.76, Y:-4.98, Z:-2.65 [[ 9.88131672e-01 1.53580312e-01 2.98092537e-03 7.77644271e+01] [-1.53579577e-01 9.88136169e-01 -4.75304265e-04 -4.98344575e+00] [-3.01855755e-03 1.18539420e-05 9.99995444e-01 -2.65037950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.014203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.79, Y:-4.99, Z:-2.65 [[ 9.87918445e-01 1.54944903e-01 3.03696555e-03 7.77934995e+01] [-1.54944145e-01 9.87923113e-01 -4.84594094e-04 -4.98509051e+00] [-3.07537384e-03 8.17941287e-06 9.99995271e-01 -2.65408942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.044203822 meters Centerline goodness [0,1] 0.9999132189269521 Centerline is valid? [True, True] Translation: X:77.82, Y:-4.98, Z:-2.65 [[ 9.87566883e-01 1.57174959e-01 2.77192065e-03 7.78240926e+01] [-1.57174335e-01 9.87570773e-01 -4.42647001e-04 -4.98439097e+00] [-2.80704084e-03 1.46873462e-06 9.99996060e-01 -2.65381477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.074203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.85, Y:-4.98, Z:-2.65 [[ 9.86475389e-01 1.63768972e-01 6.78466053e-03 7.78548472e+01] [-1.63765402e-01 9.86498719e-01 -1.08215120e-03 -4.97817806e+00] [-6.87028171e-03 -4.35771406e-05 9.99976398e-01 -2.65060087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.104203822 meters Centerline goodness [0,1] 0.9999787829924467 Centerline is valid? [True, True] Translation: X:77.88, Y:-4.98, Z:-2.65 [[ 9.85787349e-01 1.67811291e-01 7.91665632e-03 7.78839968e+01] [-1.67806560e-01 9.85819133e-01 -1.26291398e-03 -4.97721700e+00] [-8.01632250e-03 -8.35022395e-05 9.99967865e-01 -2.64912909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.134203822 meters Centerline goodness [0,1] 0.999914998512474 Centerline is valid? [True, True] Translation: X:77.91, Y:-4.98, Z:-2.65 [[ 9.85048955e-01 1.72115986e-01 7.39214664e-03 7.79142564e+01] [-1.72111988e-01 9.85076685e-01 -1.17841845e-03 -4.97574681e+00] [-7.48465596e-03 -1.11477191e-04 9.99971983e-01 -2.65015022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.164203822 meters Centerline goodness [0,1] 0.9998087710351862 Centerline is valid? [True, True] Translation: X:77.95, Y:-4.97, Z:-2.66 [[ 9.83790878e-01 1.79239440e-01 5.36025134e-03 7.79460835e+01] [-1.79237446e-01 9.83805473e-01 -8.53994607e-04 -4.96667961e+00] [-5.42651412e-03 -1.20605658e-04 9.99985269e-01 -2.65517756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.194203822 meters Centerline goodness [0,1] 0.9995309268459095 Centerline is valid? [True, True] Translation: X:77.98, Y:-4.96, Z:-2.66 [[ 9.83387320e-01 1.81421301e-01 5.97416496e-03 7.79751494e+01] [-1.81418856e-01 9.83405456e-01 -9.53241823e-04 -4.96295192e+00] [-6.04796479e-03 -1.46420250e-04 9.99981700e-01 -2.65900901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.224203822 meters Centerline goodness [0,1] 0.9997865801604917 Centerline is valid? [True, True] Translation: X:78.00, Y:-4.97, Z:-2.66 [[ 9.83095634e-01 1.83003437e-01 5.71975129e-03 7.80041522e+01] [-1.83001225e-01 9.83112262e-01 -9.12104749e-04 -4.96560633e+00] [-5.79007593e-03 -1.50035299e-04 9.99983226e-01 -2.65732253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.254203822 meters Centerline goodness [0,1] 0.9994433144202977 Centerline is valid? [True, True] Translation: X:78.03, Y:-4.96, Z:-2.66 [[ 9.82955614e-01 1.83789507e-01 4.43597726e-03 7.80327756e+01] [-1.83788185e-01 9.82965616e-01 -7.07482748e-04 -4.96455273e+00] [-4.49044103e-03 -1.19856069e-04 9.99989911e-01 -2.66113794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.284203822 meters Centerline goodness [0,1] 0.9994160141886923 Centerline is valid? [True, True] Translation: X:78.06, Y:-4.96, Z:-2.66 [[ 9.82932538e-01 1.83928987e-01 3.70846394e-03 7.80625441e+01] [-1.83928063e-01 9.82939529e-01 -5.91534599e-04 -4.96174695e+00] [-3.75399616e-03 -1.00651986e-04 9.99992949e-01 -2.66286080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.314203822 meters Centerline goodness [0,1] 0.9996581196581197 Centerline is valid? [True, True] Translation: X:78.09, Y:-4.97, Z:-2.66 [[ 9.83059203e-01 1.83235625e-01 4.39429771e-03 7.80911373e+01] [-1.83234323e-01 9.83069017e-01 -7.00481662e-04 -4.96815791e+00] [-4.44825113e-03 -1.16571224e-04 9.99990100e-01 -2.66042048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.344203822 meters Centerline goodness [0,1] 0.9996383209582367 Centerline is valid? [True, True] Translation: X:78.12, Y:-4.97, Z:-2.66 [[ 9.83279897e-01 1.82026168e-01 5.20746333e-03 7.81186065e+01] [-1.82024324e-01 9.83293678e-01 -8.29880427e-04 -4.97210731e+00] [-5.27152573e-03 -1.31880250e-04 9.99986097e-01 -2.66099922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.374203822 meters Centerline goodness [0,1] 0.9999575641841715 Centerline is valid? [True, True] Translation: X:78.15, Y:-4.98, Z:-2.66 [[ 9.83625150e-01 1.80104414e-01 6.63058230e-03 7.81474522e+01] [-1.80101393e-01 9.83647485e-01 -1.05487684e-03 -4.97940653e+00] [-6.71214358e-03 -1.56573723e-04 9.99977461e-01 -2.65757391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.404203822 meters Centerline goodness [0,1] 0.9999786539159391 Centerline is valid? [True, True] Translation: X:78.18, Y:-4.99, Z:-2.65 [[ 9.84746022e-01 1.73688404e-01 1.03735016e-02 7.81763195e+01] [-1.73680662e-01 9.84800643e-01 -1.64945236e-03 -4.98651770e+00] [-1.05023218e-02 -1.77384981e-04 9.99944833e-01 -2.65447337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.434203822 meters Centerline goodness [0,1] 0.999978483981324 Centerline is valid? [True, True] Translation: X:78.20, Y:-5.00, Z:-2.66 [[ 9.85539192e-01 1.69125938e-01 1.04363603e-02 7.82035055e+01] [-1.69117841e-01 9.85594440e-01 -1.65999738e-03 -4.99806334e+00] [-1.05667673e-02 -1.28982231e-04 9.99944162e-01 -2.65507861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.464203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.23, Y:-5.02, Z:-2.66 [[ 9.87275788e-01 1.58781348e-01 8.66032809e-03 7.82304480e+01] [-1.58775382e-01 9.87313771e-01 -1.37653373e-03 -5.01963701e+00] [-8.76902907e-03 -1.60284722e-05 9.99961551e-01 -2.66012835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.494203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.26, Y:-5.03, Z:-2.66 [[ 9.87996286e-01 1.54259974e-01 8.19750578e-03 7.82587296e+01] [-1.54254473e-01 9.88030293e-01 -1.30288858e-03 -5.03086073e+00] [-8.30036760e-03 2.27471428e-05 9.99965551e-01 -2.66461560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.524203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.29, Y:-5.04, Z:-2.67 [[ 9.88641093e-01 1.50118119e-01 7.30338387e-03 7.82874690e+01] [-1.50113642e-01 9.88668068e-01 -1.16043707e-03 -5.04210941e+00] [-7.39482505e-03 5.09182162e-05 9.99972657e-01 -2.66645069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.554203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.32, Y:-5.05, Z:-2.67 [[ 9.89167064e-01 1.46657526e-01 6.33156348e-03 7.83166513e+01] [-1.46654091e-01 9.89187326e-01 -1.00602420e-03 -5.05257512e+00] [-6.41064336e-03 6.65763218e-05 9.99979449e-01 -2.66659985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.584203822 meters Centerline goodness [0,1] 0.9999358535750941 Centerline is valid? [True, True] Translation: X:78.34, Y:-5.07, Z:-2.67 [[ 9.89780084e-01 1.42514656e-01 4.99581397e-03 7.83441908e+01] [-1.42512470e-01 9.89792689e-01 -7.92809280e-04 -5.07015571e+00] [-5.05780709e-03 7.27410478e-05 9.99987207e-01 -2.67262485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.614203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.37, Y:-5.07, Z:-2.67 [[ 9.89852452e-01 1.42037440e-01 4.18189145e-03 7.83748936e+01] [-1.42035903e-01 9.89861284e-01 -6.63943524e-04 -5.07485710e+00] [-4.23379727e-03 6.32273988e-05 9.99991035e-01 -2.67021897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.644203822 meters Centerline goodness [0,1] 0.9999784063917081 Centerline is valid? [True, True] Translation: X:78.41, Y:-5.08, Z:-2.67 [[ 9.89760456e-01 1.42711618e-01 2.76285624e-03 7.84053835e+01] [-1.42710948e-01 9.89764312e-01 -4.39164384e-04 -5.07911408e+00] [-2.79725037e-03 4.03777072e-05 9.99996087e-01 -2.67337870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.674203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.43, Y:-5.08, Z:-2.68 [[ 9.89219082e-01 1.46441860e-01 6.23818006e-04 7.84343683e+01] [-1.46441828e-01 9.89219279e-01 -9.80201014e-05 -5.08028172e+00] [-6.31447044e-04 5.61030587e-06 9.99999801e-01 -2.68085430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.704203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.46, Y:-5.08, Z:-2.68 [[ 9.88747280e-01 1.49582347e-01 1.98459440e-03 7.84629810e+01] [-1.49582013e-01 9.88749271e-01 -3.16581206e-04 -5.08219805e+00] [-2.00962123e-03 1.61591811e-05 9.99997981e-01 -2.68049069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.734203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.49, Y:-5.09, Z:-2.68 [[ 9.88750809e-01 1.49559016e-01 1.98465939e-03 7.84917915e+01] [-1.49558682e-01 9.88752801e-01 -3.16172404e-04 -5.08673131e+00] [-2.00962396e-03 1.57926774e-05 9.99997981e-01 -2.68140768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.764203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.52, Y:-5.09, Z:-2.68 [[ 9.88198105e-01 1.53143992e-01 3.37965467e-03 7.85218084e+01] [-1.53143048e-01 9.88203885e-01 -5.37831203e-04 -5.08731007e+00] [-3.42215349e-03 1.39131581e-05 9.99994144e-01 -2.67564097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.794203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.55, Y:-5.08, Z:-2.68 [[ 9.86859618e-01 1.61541031e-01 3.54818368e-03 7.85509733e+01] [-1.61540041e-01 9.86865997e-01 -5.65691419e-04 -5.08112179e+00] [-3.59296420e-03 -1.49157204e-05 9.99993545e-01 -2.68012660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.824203822 meters Centerline goodness [0,1] 0.9999788328429609 Centerline is valid? [True, True] Translation: X:78.58, Y:-5.08, Z:-2.68 [[ 9.86003620e-01 1.66681973e-01 3.73925672e-03 7.85809398e+01] [-1.66680914e-01 9.86010709e-01 -5.95229206e-04 -5.07704656e+00] [-3.78616115e-03 -3.63645762e-05 9.99992832e-01 -2.68018023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.854203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.61, Y:-5.07, Z:-2.68 [[ 9.85067996e-01 1.72082298e-01 5.35959308e-03 7.86108775e+01] [-1.72080207e-01 9.85082573e-01 -8.52295010e-04 -5.07305536e+00] [-5.42630662e-03 -8.27113503e-05 9.99985274e-01 -2.67647441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.884203822 meters Centerline goodness [0,1] 0.9997863613057597 Centerline is valid? [True, True] Translation: X:78.64, Y:-5.06, Z:-2.67 [[ 9.83244572e-01 1.82160544e-01 6.90278699e-03 7.86442135e+01] [-1.82157337e-01 9.83268785e-01 -1.09585548e-03 -5.05884757e+00] [-6.98691661e-03 -1.79899340e-04 9.99975575e-01 -2.67401301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.914203822 meters Centerline goodness [0,1] 0.9956895640966045 Centerline is valid? [True, True] Translation: X:78.68, Y:-5.05, Z:-2.68 [[ 9.82405300e-01 1.86632139e-01 6.94771431e-03 7.86750159e+01] [-1.86628998e-01 9.82429845e-01 -1.10343197e-03 -5.05133858e+00] [-7.03157776e-03 -2.12627547e-04 9.99975256e-01 -2.67799484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.944203822 meters Centerline goodness [0,1] 0.996467112024666 Centerline is valid? [True, True] Translation: X:78.70, Y:-5.05, Z:-2.68 [[ 9.81676733e-01 1.90405073e-01 7.52989225e-03 7.87049918e+01] [-1.90401498e-01 9.81705577e-01 -1.19536801e-03 -5.05304058e+00] [-7.61974136e-03 -2.60237804e-04 9.99970935e-01 -2.67610427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.974203822 meters Centerline goodness [0,1] 0.974048111137153 Centerline is valid? [True, True] Translation: X:78.74, Y:-5.05, Z:-2.68 [[ 9.81000731e-01 1.93841717e-01 7.93445448e-03 7.87354715e+01] [-1.93837861e-01 9.81032771e-01 -1.25947476e-03 -5.04994295e+00] [-8.02809861e-03 -3.02452022e-04 9.99967729e-01 -2.67885398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.004203822 meters Centerline goodness [0,1] 0.9576008492569003 Centerline is valid? [True, True] Translation: X:78.77, Y:-5.05, Z:-2.68 [[ 9.79777261e-01 1.99951135e-01 7.48748155e-03 7.87668386e+01] [-1.99947883e-01 9.79805814e-01 -1.18814949e-03 -5.04724230e+00] [-7.57384979e-03 -3.32984226e-04 9.99971263e-01 -2.67931754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.034203822 meters Centerline goodness [0,1] 0.9562103102482413 Centerline is valid? [True, True] Translation: X:78.80, Y:-5.05, Z:-2.68 [[ 9.79303723e-01 2.02219197e-01 8.46254379e-03 7.87965903e+01] [-2.02215116e-01 9.79340207e-01 -1.34405612e-03 -5.04566184e+00] [-8.55950333e-03 -3.95015112e-04 9.99963289e-01 -2.67801429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.064203822 meters Centerline goodness [0,1] 0.9619612411309965 Centerline is valid? [True, True] Translation: X:78.83, Y:-5.04, Z:-2.67 [[ 9.78900328e-01 2.04077407e-01 1.03227678e-02 7.88264329e+01] [-2.04071422e-01 9.78954627e-01 -1.64100518e-03 -5.04389552e+00] [-1.04404134e-02 -5.00201392e-04 9.99945372e-01 -2.67467644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.094203822 meters Centerline goodness [0,1] 0.9387928471307819 Centerline is valid? [True, False] Translation: X:78.83, Y:-5.04, Z:-2.67 [[ 9.78160578e-01 2.07553777e-01 1.11046505e-02 7.88265376e+01] [-2.07579955e-01 9.78217260e-01 1.24647435e-03 -5.03756405e+00] [-1.06040503e-02 -3.52435493e-03 9.99937565e-01 -2.67374432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.124203822 meters Centerline goodness [0,1] 0.9631687637052649 Centerline is valid? [False, True] Translation: X:78.79, Y:-5.02, Z:-2.67 [[ 9.78601723e-01 2.05587647e-01 8.50803326e-03 7.87878593e+01] [-2.05574304e-01 9.78638509e-01 -2.42353734e-03 -5.02260107e+00] [-8.82453833e-03 6.22644796e-04 9.99960869e-01 -2.67418487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.154203822 meters Centerline goodness [0,1] 0.9868810289389067 Centerline is valid? [True, True] Translation: X:78.82, Y:-5.03, Z:-2.68 [[ 9.79870601e-01 1.99522468e-01 6.66250176e-03 7.88168757e+01] [-1.99519899e-01 9.79893207e-01 -1.05492773e-03 -5.03183117e+00] [-6.73902201e-03 -2.95609011e-04 9.99977249e-01 -2.67933105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.184203822 meters Centerline goodness [0,1] 0.9976193029490616 Centerline is valid? [True, True] Translation: X:78.85, Y:-5.04, Z:-2.68 [[ 9.80999468e-01 1.93868645e-01 7.41560392e-03 7.88452782e+01] [-1.93865299e-01 9.81027455e-01 -1.17438645e-03 -5.04108610e+00] [-7.50258775e-03 -2.85555782e-04 9.99971814e-01 -2.68020519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.214203822 meters Centerline goodness [0,1] 0.9998923666422698 Centerline is valid? [True, True] Translation: X:78.87, Y:-5.06, Z:-2.68 [[ 9.82324468e-01 1.86972640e-01 8.93709499e-03 7.88737420e+01] [-1.86967498e-01 9.82365081e-01 -1.41482136e-03 -5.05647594e+00] [-9.04402294e-03 -2.81132647e-04 9.99959062e-01 -2.67765556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.244203822 meters Centerline goodness [0,1] 0.9998075524954027 Centerline is valid? [True, True] Translation: X:78.90, Y:-5.07, Z:-2.68 [[ 9.83733311e-01 1.79376071e-01 9.64356191e-03 7.89013752e+01] [-1.79369721e-01 9.83780551e-01 -1.52645854e-03 -5.06954630e+00] [-9.76095879e-03 -2.28134897e-04 9.99952335e-01 -2.67845917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.274203822 meters Centerline goodness [0,1] 0.9999567829206102 Centerline is valid? [True, True] Translation: X:78.93, Y:-5.09, Z:-2.68 [[ 9.86349095e-01 1.64411893e-01 9.17561857e-03 7.89275859e+01] [-1.64405493e-01 9.86391770e-01 -1.45260973e-03 -5.09061469e+00] [-9.28958096e-03 -7.57418005e-05 9.99956848e-01 -2.68138319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.304203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.96, Y:-5.10, Z:-2.68 [[ 9.87448206e-01 1.57695786e-01 8.83629443e-03 7.89551422e+01] [-1.57689576e-01 9.87487741e-01 -1.39951071e-03 -5.10213032e+00] [-8.94642937e-03 -1.14471815e-05 9.99959980e-01 -2.68009681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.334203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.98, Y:-5.13, Z:-2.69 [[ 9.89333948e-01 1.45402168e-01 8.74918600e-03 7.89806359e+01] [-1.45395606e-01 9.89372630e-01 -1.38476587e-03 -5.12536741e+00] [-8.85755312e-03 9.79026796e-05 9.99960766e-01 -2.68504577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.364203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.01, Y:-5.14, Z:-2.69 [[ 9.90084131e-01 1.40263046e-01 7.72606431e-03 7.90078561e+01] [-1.40257778e-01 9.90114267e-01 -1.22218794e-03 -5.14297011e+00] [-7.82111431e-03 1.26428267e-04 9.99969407e-01 -2.68909621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.394203822 meters Centerline goodness [0,1] 0.999978531097705 Centerline is valid? [True, True] Translation: X:79.04, Y:-5.16, Z:-2.69 [[ 9.90724604e-01 1.35736088e-01 6.36191976e-03 7.90376627e+01] [-1.35732427e-01 9.90745021e-01 -1.00582270e-03 -5.15651006e+00] [-6.43956677e-03 1.32974486e-04 9.99979257e-01 -2.68924405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.424203822 meters Centerline goodness [0,1] 0.9999355614743535 Centerline is valid? [True, True] Translation: X:79.07, Y:-5.17, Z:-2.69 [[ 9.91188943e-01 1.32340445e-01 5.52143700e-03 7.90660327e+01] [-1.32337632e-01 9.91204312e-01 -8.73280328e-04 -5.16994858e+00] [-5.58844247e-03 1.34891905e-04 9.99984375e-01 -2.69384484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.454203822 meters Centerline goodness [0,1] 0.9999132753723738 Centerline is valid? [True, True] Translation: X:79.10, Y:-5.17, Z:-2.69 [[ 9.91680753e-01 1.28629226e-01 4.87915905e-03 7.90966819e+01] [-1.28626984e-01 9.91692746e-01 -7.71712566e-04 -5.17357550e+00] [-4.93789143e-03 1.37700983e-04 9.99987799e-01 -2.69223199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.484203822 meters Centerline goodness [0,1] 0.9999569114098587 Centerline is valid? [True, True] Translation: X:79.13, Y:-5.18, Z:-2.69 [[ 9.91735789e-01 1.28240213e-01 3.81735666e-03 7.91274282e+01] [-1.28238840e-01 9.91743130e-01 -6.03424248e-04 -5.17936136e+00] [-3.86322049e-03 1.08904034e-04 9.99992532e-01 -2.69476939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.514203822 meters Centerline goodness [0,1] 0.9999784194397686 Centerline is valid? [True, True] Translation: X:79.16, Y:-5.19, Z:-2.70 [[ 9.91649954e-01 1.28930623e-01 2.69519508e-03 7.91566918e+01] [-1.28929939e-01 9.91653613e-01 -4.26883698e-04 -5.18581566e+00] [-2.72773832e-03 7.58278621e-05 9.99996277e-01 -2.69775922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.544203822 meters Centerline goodness [0,1] 0.9999566602379353 Centerline is valid? [True, True] Translation: X:79.19, Y:-5.19, Z:-2.70 [[ 9.91478621e-01 1.30252598e-01 2.09857053e-03 7.91867344e+01] [-1.30252187e-01 9.91480841e-01 -3.32103362e-04 -5.19119504e+00] [-2.12394980e-03 5.59299825e-05 9.99997743e-01 -2.69970505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.574203822 meters Centerline goodness [0,1] 0.9998044923317548 Centerline is valid? [True, True] Translation: X:79.22, Y:-5.20, Z:-2.70 [[ 9.90915034e-01 1.34462626e-01 2.68295781e-03 7.92156684e+01] [-1.34461967e-01 9.90918664e-01 -4.25245536e-04 -5.19607996e+00] [-2.71577260e-03 6.06264109e-05 9.99996310e-01 -2.69953911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.604203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.24, Y:-5.20, Z:-2.70 [[ 9.90564037e-01 1.36999362e-01 3.75014491e-03 7.92444865e+01] [-1.36998095e-01 9.90571133e-01 -5.94007928e-04 -5.20012866e+00] [-3.79616400e-03 7.46401831e-05 9.99992792e-01 -2.70108798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.634203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.27, Y:-5.20, Z:-2.70 [[ 9.90111783e-01 1.40226776e-01 3.88706711e-03 7.92746919e+01] [-1.40225439e-01 9.90119411e-01 -6.15582926e-04 -5.20008058e+00] [-3.93498180e-03 6.44302163e-05 9.99992256e-01 -2.69981281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.664203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.30, Y:-5.20, Z:-2.70 [[ 9.89006955e-01 1.47773824e-01 5.30468608e-03 7.93049025e+01] [-1.47771446e-01 9.89021180e-01 -8.39681345e-04 -5.19623721e+00] [-5.37052981e-03 4.65695588e-05 9.99985578e-01 -2.70145071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.694203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.33, Y:-5.20, Z:-2.70 [[ 9.88487458e-01 1.51179561e-01 6.10614078e-03 7.93327295e+01] [-1.51176471e-01 9.88506317e-01 -9.67111041e-04 -5.19747778e+00] [-6.18216615e-03 3.28723220e-05 9.99980890e-01 -2.70132960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.724203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.36, Y:-5.20, Z:-2.70 [[ 9.87657435e-01 1.56461102e-01 7.26047663e-03 7.93612857e+01] [-1.56456884e-01 9.87684121e-01 -1.14888904e-03 -5.19959665e+00] [-7.35081392e-03 -1.24275036e-06 9.99972982e-01 -2.69942458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.754203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.39, Y:-5.20, Z:-2.70 [[ 9.87281191e-01 1.58756478e-01 8.49883284e-03 7.93900645e+01] [-1.58750788e-01 9.87317771e-01 -1.34423884e-03 -5.20393675e+00] [-8.60445532e-03 -2.20546913e-05 9.99962981e-01 -2.69566784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.784203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.42, Y:-5.21, Z:-2.70 [[ 9.86848918e-01 1.61388792e-01 9.10336887e-03 7.94177367e+01] [-1.61382379e-01 9.86890904e-01 -1.43954274e-03 -5.20636160e+00] [-9.21635799e-03 -4.85121276e-05 9.99957527e-01 -2.69737448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.814203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.45, Y:-5.21, Z:-2.70 [[ 9.86366280e-01 1.64361542e-01 8.17587435e-03 7.94474003e+01] [-1.64356480e-01 9.86400162e-01 -1.29177074e-03 -5.20822240e+00] [-8.27700121e-03 -6.95988287e-05 9.99965743e-01 -2.69684877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.844203822 meters Centerline goodness [0,1] 0.9999362190662471 Centerline is valid? [True, True] Translation: X:79.48, Y:-5.20, Z:-2.70 [[ 9.85120067e-01 1.71698483e-01 7.62130417e-03 7.94778151e+01] [-1.71694302e-01 9.85149540e-01 -1.20439949e-03 -5.19709494e+00] [-7.71491786e-03 -1.22056396e-04 9.99970232e-01 -2.70258571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.874203822 meters Centerline goodness [0,1] 0.999978507565337 Centerline is valid? [True, True] Translation: X:79.51, Y:-5.20, Z:-2.70 [[ 9.84498879e-01 1.75202410e-01 8.12847666e-03 7.95072599e+01] [-1.75197776e-01 9.84532422e-01 -1.28423361e-03 -5.19799812e+00] [-8.22774964e-03 -1.59764486e-04 9.99966139e-01 -2.69974150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.904203822 meters Centerline goodness [0,1] 0.9998297618794288 Centerline is valid? [True, True] Translation: X:79.54, Y:-5.20, Z:-2.70 [[ 9.83466066e-01 1.80926775e-01 7.74594284e-03 7.95385407e+01] [-1.80922755e-01 9.83496549e-01 -1.22241491e-03 -5.19565739e+00] [-7.83927564e-03 -1.99213734e-04 9.99969253e-01 -2.70114030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.934203822 meters Centerline goodness [0,1] 0.9992489109208352 Centerline is valid? [True, True] Translation: X:79.57, Y:-5.19, Z:-2.71 [[ 9.83149426e-01 1.82683397e-01 6.63201526e-03 7.95678889e+01] [-1.82680484e-01 9.83171777e-01 -1.04746285e-03 -5.19172033e+00] [-6.71176430e-03 -1.81727262e-04 9.99977459e-01 -2.70891589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.964203822 meters Centerline goodness [0,1] 0.9997838351959534 Centerline is valid? [True, True] Translation: X:79.60, Y:-5.20, Z:-2.71 [[ 9.83002068e-01 1.83504238e-01 5.75579342e-03 7.95959690e+01] [-1.83502057e-01 9.83018905e-01 -9.09268786e-04 -5.19890257e+00] [-5.82490842e-03 -1.62386835e-04 9.99983022e-01 -2.70820098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.994203822 meters Centerline goodness [0,1] 0.9977411864048976 Centerline is valid? [True, True] Translation: X:79.62, Y:-5.20, Z:-2.71 [[ 9.82963834e-01 1.83705028e-01 5.87913171e-03 7.96245159e+01] [-1.83702757e-01 9.82981401e-01 -9.28712830e-04 -5.19853001e+00] [-5.94968635e-03 -1.67121578e-04 9.99982286e-01 -2.71281558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.024203822 meters Centerline goodness [0,1] 0.999807593637763 Centerline is valid? [True, True] Translation: X:79.65, Y:-5.21, Z:-2.71 [[ 9.83240902e-01 1.82124661e-01 8.24239249e-03 7.96537007e+01] [-1.82120160e-01 9.83275423e-01 -1.29982171e-03 -5.20983572e+00] [-8.34127156e-03 -2.23067964e-04 9.99965186e-01 -2.70520871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.054203822 meters Centerline goodness [0,1] 0.9999351533622982 Centerline is valid? [True, True] Translation: X:79.68, Y:-5.22, Z:-2.70 [[ 9.83508044e-01 1.80644119e-01 8.92358115e-03 7.96822616e+01] [-1.80638778e-01 9.83548499e-01 -1.40763033e-03 -5.21614985e+00] [-9.03105499e-03 -2.27529049e-04 9.99959193e-01 -2.70313420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.084203822 meters Centerline goodness [0,1] 0.9999564857926113 Centerline is valid? [True, True] Translation: X:79.71, Y:-5.22, Z:-2.70 [[ 9.83799947e-01 1.79083193e-01 8.17767179e-03 7.97111188e+01] [-1.79078653e-01 9.83833915e-01 -1.29002734e-03 -5.22019396e+00] [-8.27649306e-03 -1.95317621e-04 9.99965730e-01 -2.70443903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.114203822 meters Centerline goodness [0,1] 0.9998700933163012 Centerline is valid? [True, True] Translation: X:79.74, Y:-5.22, Z:-2.71 [[ 9.84411257e-01 1.75731845e-01 7.26611359e-03 7.97384752e+01] [-1.75728171e-01 9.84438061e-01 -1.14601750e-03 -5.22251607e+00] [-7.35443055e-03 -1.48708323e-04 9.99972945e-01 -2.71013810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.144203822 meters Centerline goodness [0,1] 0.9999786834924966 Centerline is valid? [True, True] Translation: X:79.77, Y:-5.23, Z:-2.71 [[ 9.84753833e-01 1.73796995e-01 7.38193703e-03 7.97665625e+01] [-1.73793152e-01 9.84781491e-01 -1.16387148e-03 -5.23050397e+00] [-7.47187232e-03 -1.36803201e-04 9.99972076e-01 -2.70958320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.174203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.79, Y:-5.24, Z:-2.71 [[ 9.85399173e-01 1.70127903e-01 6.70573442e-03 7.97932995e+01] [-1.70124646e-01 9.85421984e-01 -1.05731865e-03 -5.23777547e+00] [-6.78785752e-03 -9.89297662e-05 9.99976957e-01 -2.71320786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.204203822 meters Centerline goodness [0,1] 0.9999784969358133 Centerline is valid? [True, True] Translation: X:79.82, Y:-5.25, Z:-2.71 [[ 9.85707466e-01 1.68351758e-01 6.20297645e-03 7.98208754e+01] [-1.68348939e-01 9.85726980e-01 -9.77555951e-04 -5.24545693e+00] [-6.27901451e-03 -8.06803064e-05 9.99980284e-01 -2.71242824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.234203822 meters Centerline goodness [0,1] 0.9999785080272519 Centerline is valid? [True, True] Translation: X:79.85, Y:-5.25, Z:-2.71 [[ 9.86063597e-01 1.66251071e-01 6.25811171e-03 7.98494510e+01] [-1.66248161e-01 9.86083453e-01 -9.85919451e-04 -5.25178628e+00] [-6.33493057e-03 -6.82202849e-05 9.99979932e-01 -2.71337910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.264203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.88, Y:-5.26, Z:-2.71 [[ 9.86421901e-01 1.64081017e-01 7.01806271e-03 7.98773785e+01] [-1.64077307e-01 9.86446864e-01 -1.10511500e-03 -5.25848944e+00] [-7.10427434e-03 -6.13951892e-05 9.99974762e-01 -2.71283353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.294203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.90, Y:-5.27, Z:-2.71 [[ 9.87264006e-01 1.58901514e-01 7.75186449e-03 7.99039954e+01] [-1.58896831e-01 9.87294438e-01 -1.22032486e-03 -5.26958172e+00] [-7.84728417e-03 -2.69638865e-05 9.99969209e-01 -2.71384387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.324203822 meters Centerline goodness [0,1] 0.9997637913633532 Centerline is valid? [True, True] Translation: X:79.93, Y:-5.28, Z:-2.71 [[ 9.87722224e-01 1.56012341e-01 8.05967220e-03 7.99316488e+01] [-1.56007188e-01 9.87755106e-01 -1.26802902e-03 -5.27903297e+00] [-8.15881054e-03 -4.90635233e-06 9.99966716e-01 -2.71265482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.354203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.96, Y:-5.29, Z:-2.72 [[ 9.88153043e-01 1.53282698e-01 7.61430018e-03 7.99593720e+01] [-1.53278022e-01 9.88182379e-01 -1.19739022e-03 -5.28947993e+00] [-7.70785647e-03 1.60999215e-05 9.99970294e-01 -2.71568323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.384203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.99, Y:-5.30, Z:-2.71 [[ 9.88829970e-01 1.48859546e-01 7.49177608e-03 7.99878820e+01] [-1.48854897e-01 9.88858348e-01 -1.17759452e-03 -5.30151878e+00] [-7.58360150e-03 4.92532029e-05 9.99971243e-01 -2.71473811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.414203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.02, Y:-5.31, Z:-2.71 [[ 9.89055977e-01 1.47284805e-01 8.68682213e-03 8.00170244e+01] [-1.47278496e-01 9.89094121e-01 -1.36510923e-03 -5.30826956e+00] [-8.79314456e-03 7.07873491e-05 9.99961337e-01 -2.71375905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.444203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.05, Y:-5.32, Z:-2.71 [[ 9.89244914e-01 1.45980214e-01 9.18031594e-03 8.00464415e+01] [-1.45973118e-01 9.89287506e-01 -1.44191006e-03 -5.31602512e+00] [-9.29246220e-03 8.63228438e-05 9.99956820e-01 -2.71449246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.474203822 meters Centerline goodness [0,1] 0.9998712722591718 Centerline is valid? [True, True] Translation: X:80.07, Y:-5.33, Z:-2.72 [[ 9.89628221e-01 1.43538063e-01 5.72786383e-03 8.00747819e+01] [-1.43535261e-01 9.89644795e-01 -8.99365973e-04 -5.32979501e+00] [-5.79764388e-03 6.78875165e-05 9.99983191e-01 -2.72158712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.504203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.10, Y:-5.34, Z:-2.73 [[ 9.89811470e-01 1.42308501e-01 4.64166636e-03 8.01029227e+01] [-1.42306645e-01 9.89822351e-01 -7.29394413e-04 -5.34040967e+00] [-4.69822413e-03 6.14229924e-05 9.99988961e-01 -2.72592876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.534203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.13, Y:-5.35, Z:-2.73 [[ 9.89941505e-01 1.41376448e-01 5.34001457e-03 8.01329214e+01] [-1.41373980e-01 9.89955905e-01 -8.38732135e-04 -5.34904732e+00] [-5.40495593e-03 7.53566398e-05 9.99985390e-01 -2.72629392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.564203822 meters Centerline goodness [0,1] 0.9999783563837846 Centerline is valid? [True, True] Translation: X:80.16, Y:-5.36, Z:-2.72 [[ 9.89906635e-01 1.41574182e-01 6.45021732e-03 8.01628303e+01] [-1.41570587e-01 9.89927645e-01 -1.01283789e-03 -5.35636612e+00] [-6.52864014e-03 8.94538944e-05 9.99978684e-01 -2.72444041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.594203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.19, Y:-5.36, Z:-2.73 [[ 9.89705211e-01 1.43006874e-01 5.71220339e-03 8.01931553e+01] [-1.43004077e-01 9.89721693e-01 -8.97257113e-04 -5.36065082e+00] [-5.78180554e-03 7.11516654e-05 9.99983283e-01 -2.72600433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.624203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.22, Y:-5.36, Z:-2.73 [[ 9.89031708e-01 1.47637582e-01 4.40736909e-03 8.02219008e+01] [-1.47635959e-01 9.89041528e-01 -6.93168518e-04 -5.35893229e+00] [-4.46140878e-03 3.48794832e-05 9.99990047e-01 -2.72967865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.654203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.25, Y:-5.36, Z:-2.73 [[ 9.89035042e-01 1.47615243e-01 4.40743762e-03 8.02507180e+01] [-1.47613622e-01 9.89044862e-01 -6.92732166e-04 -5.36341069e+00] [-4.46141136e-03 3.45385553e-05 9.99990047e-01 -2.73054670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.684203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.28, Y:-5.36, Z:-2.73 [[ 9.88587735e-01 1.50572437e-01 4.71498583e-03 8.02810764e+01] [-1.50570616e-01 9.88598979e-01 -7.40913099e-04 -5.36319698e+00] [-4.77279126e-03 2.25192817e-05 9.99988610e-01 -2.73212549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.714203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.31, Y:-5.36, Z:-2.73 [[ 9.88164317e-01 1.53283316e-01 5.95874905e-03 8.03100159e+01] [-1.53280455e-01 9.88182283e-01 -9.36579467e-04 -5.36351326e+00] [-6.03189225e-03 1.21346430e-05 9.99981808e-01 -2.73186411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.744203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.34, Y:-5.36, Z:-2.73 [[ 9.87760990e-01 1.55804361e-01 7.29566886e-03 8.03392541e+01] [-1.55800146e-01 9.87787933e-01 -1.14607398e-03 -5.36469399e+00] [-7.38513698e-03 -4.61909803e-06 9.99972729e-01 -2.72991133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.774203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.37, Y:-5.36, Z:-2.73 [[ 9.87095405e-01 1.59904976e-01 8.54756122e-03 8.03678294e+01] [-1.59899347e-01 9.87132411e-01 -1.34239550e-03 -5.36337223e+00] [-8.65223044e-03 -4.16770290e-05 9.99962568e-01 -2.72755975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.804203822 meters Centerline goodness [0,1] 0.9999786584715197 Centerline is valid? [True, True] Translation: X:80.40, Y:-5.37, Z:-2.73 [[ 9.86861641e-01 1.61388137e-01 7.61391266e-03 8.03959277e+01] [-1.61383725e-01 9.86891011e-01 -1.19437739e-03 -5.36512309e+00] [-7.70686031e-03 -5.00763569e-05 9.99970300e-01 -2.73070783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.834203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.43, Y:-5.37, Z:-2.74 [[ 9.86693742e-01 1.62492817e-01 5.61639295e-03 8.04253949e+01] [-1.62490433e-01 9.86709726e-01 -8.81387827e-04 -5.36776076e+00] [-5.68496874e-03 -4.29502687e-05 9.99983840e-01 -2.73613437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.864203822 meters Centerline goodness [0,1] 0.9999788815678324 Centerline is valid? [True, True] Translation: X:80.45, Y:-5.37, Z:-2.74 [[ 9.86606246e-01 1.63054680e-01 4.61372617e-03 8.04531683e+01] [-1.63053072e-01 9.86617033e-01 -7.25093672e-04 -5.37093388e+00] [-4.67021074e-03 -3.69002772e-05 9.99989094e-01 -2.73979157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.894203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.48, Y:-5.37, Z:-2.74 [[ 9.86593642e-01 1.63111637e-01 5.25157376e-03 8.04812720e+01] [-1.63109558e-01 9.86607618e-01 -8.24525488e-04 -5.37285169e+00] [-5.31573238e-03 -4.31102724e-05 9.99985870e-01 -2.73982290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.924203822 meters Centerline goodness [0,1] 0.9999785084891468 Centerline is valid? [True, True] Translation: X:80.51, Y:-5.38, Z:-2.74 [[ 9.86696488e-01 1.62481481e-01 5.45982372e-03 8.05101628e+01] [-1.62479229e-01 9.86711592e-01 -8.56579435e-04 -5.37726328e+00] [-5.52644965e-03 -4.19240278e-05 9.99984728e-01 -2.74018889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.954203822 meters Centerline goodness [0,1] 0.9999786055069425 Centerline is valid? [True, True] Translation: X:80.54, Y:-5.39, Z:-2.74 [[ 9.87033789e-01 1.60426444e-01 5.25878173e-03 8.05363735e+01] [-1.60424325e-01 9.87047798e-01 -8.25112863e-04 -5.38682495e+00] [-5.32303885e-03 -2.92222314e-05 9.99985832e-01 -2.74279720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.984203822 meters Centerline goodness [0,1] 0.9999360341151385 Centerline is valid? [True, True] Translation: X:80.57, Y:-5.39, Z:-2.74 [[ 9.87124247e-01 1.59870812e-01 5.20034757e-03 8.05651318e+01] [-1.59868735e-01 9.87137945e-01 -8.15402774e-04 -5.39262521e+00] [-5.26381952e-03 -2.64691390e-05 9.99986146e-01 -2.74361041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.014203822 meters Centerline goodness [0,1] 0.9999358892165662 Centerline is valid? [True, True] Translation: X:80.59, Y:-5.40, Z:-2.74 [[ 9.87159015e-01 1.59640598e-01 5.65312447e-03 8.05932612e+01] [-1.59638142e-01 9.87175202e-01 -8.86033713e-04 -5.39700347e+00] [-5.72207124e-03 -2.77981171e-05 9.99983628e-01 -2.74342401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.044203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.62, Y:-5.40, Z:-2.74 [[ 9.87260921e-01 1.58962454e-01 6.84193872e-03 8.06209118e+01] [-1.58958842e-01 9.87284628e-01 -1.07203035e-03 -5.40297893e+00] [-6.92535351e-03 -2.92129849e-05 9.99976019e-01 -2.74162438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.074203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.65, Y:-5.41, Z:-2.73 [[ 9.87336170e-01 1.58474291e-01 7.29286427e-03 8.06499591e+01] [-1.58470182e-01 9.87363104e-01 -1.14153101e-03 -5.41177531e+00] [-7.38160841e-03 -2.86266752e-05 9.99972755e-01 -2.73166581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.104203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.68, Y:-5.42, Z:-2.73 [[ 9.87381973e-01 1.58202181e-01 6.99347619e-03 8.06778194e+01] [-1.58198397e-01 9.87406739e-01 -1.09457501e-03 -5.41775986e+00] [-7.07856968e-03 -2.55930934e-05 9.99974946e-01 -2.73384535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.134203822 meters Centerline goodness [0,1] 0.9998936713167744 Centerline is valid? [True, True] Translation: X:80.71, Y:-5.42, Z:-2.75 [[ 9.87538308e-01 1.57327427e-01 4.02124758e-03 8.07062052e+01] [-1.57326169e-01 9.87546495e-01 -6.29227829e-04 -5.42279134e+00] [-4.07016375e-03 -1.12608912e-05 9.99991717e-01 -2.75234875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.164203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.74, Y:-5.43, Z:-2.74 [[ 9.87589923e-01 1.57019804e-01 3.30524900e-03 8.07351819e+01] [-1.57018950e-01 9.87595454e-01 -5.17874616e-04 -5.42807135e+00] [-3.34556546e-03 -7.53897685e-06 9.99994404e-01 -2.74276373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.194203822 meters Centerline goodness [0,1] 0.9999784459532277 Centerline is valid? [True, True] Translation: X:80.76, Y:-5.43, Z:-2.75 [[ 9.87619267e-01 1.56821334e-01 3.90557411e-03 8.07633641e+01] [-1.56820141e-01 9.87626989e-01 -6.11582687e-04 -5.43147548e+00] [-3.95315961e-03 -8.46183938e-06 9.99992186e-01 -2.74633917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.224203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.79, Y:-5.44, Z:-2.74 [[ 9.87617912e-01 1.56788618e-01 5.30929671e-03 8.07926376e+01] [-1.56786418e-01 9.87632183e-01 -8.30495622e-04 -5.43671465e+00] [-5.37384456e-03 -1.22132629e-05 9.99985561e-01 -2.74252052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.254203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.82, Y:-5.44, Z:-2.74 [[ 9.87626063e-01 1.56746097e-01 5.04199582e-03 8.08218505e+01] [-1.56744113e-01 9.87638933e-01 -7.88590870e-04 -5.44470654e+00] [-5.10327991e-03 -1.14702676e-05 9.99986978e-01 -2.74268318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.284203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.85, Y:-5.45, Z:-2.74 [[ 9.87672384e-01 1.56480865e-01 4.12326455e-03 8.08511629e+01] [-1.56479537e-01 9.87680990e-01 -6.44925362e-04 -5.45081643e+00] [-4.17338849e-03 -8.23155551e-06 9.99991291e-01 -2.74481936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.314203822 meters Centerline goodness [0,1] 0.9999788476182419 Centerline is valid? [True, True] Translation: X:80.88, Y:-5.46, Z:-2.76 [[ 9.87767327e-01 1.55896867e-01 3.44598389e-03 8.08792177e+01] [-1.55895934e-01 9.87773338e-01 -5.39345615e-04 -5.45510029e+00] [-3.48793330e-03 -4.46690009e-06 9.99993917e-01 -2.75922101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.344203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.91, Y:-5.46, Z:-2.75 [[ 9.87945208e-01 1.54794305e-01 1.72896439e-03 8.09082187e+01] [-1.54794068e-01 9.87946721e-01 -2.70753488e-04 -5.46229069e+00] [-1.75003580e-03 -1.43820666e-07 9.99998469e-01 -2.75072764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.374203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.94, Y:-5.47, Z:-2.75 [[ 9.88012855e-01 1.54357787e-01 2.06666303e-03 8.09377067e+01] [-1.54357448e-01 9.88015017e-01 -3.23872119e-04 -5.46883864e+00] [-2.09188630e-03 9.84986013e-07 9.99997812e-01 -2.75127861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.404203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.97, Y:-5.48, Z:-2.75 [[ 9.88063626e-01 1.53964754e-01 5.01258642e-03 8.09669169e+01] [-1.53962763e-01 9.88076340e-01 -7.82932151e-04 -5.47790074e+00] [-5.07336200e-03 1.83512396e-06 9.99987130e-01 -2.74521255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.434203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.00, Y:-5.48, Z:-2.75 [[ 9.87972309e-01 1.54489554e-01 6.61020488e-03 8.09957321e+01] [-1.54486105e-01 9.87994422e-01 -1.03226264e-03 -5.48294883e+00] [-6.69031934e-03 -1.33790155e-06 9.99977620e-01 -2.74938346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.464203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.03, Y:-5.49, Z:-2.75 [[ 9.87590914e-01 1.56871171e-01 7.45800388e-03 8.10258151e+01] [-1.56866850e-01 9.87619074e-01 -1.16448633e-03 -5.48593957e+00] [-7.54834122e-03 -1.98774562e-05 9.99971511e-01 -2.74769000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.494203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.06, Y:-5.49, Z:-2.74 [[ 9.87331150e-01 1.58541953e-01 6.45358544e-03 8.10557303e+01] [-1.58538756e-01 9.87352241e-01 -1.00722792e-03 -5.48946084e+00] [-6.53164993e-03 -2.86759036e-05 9.99978668e-01 -2.74396746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.524203822 meters Centerline goodness [0,1] 0.9999572366311018 Centerline is valid? [True, True] Translation: X:81.09, Y:-5.49, Z:-2.75 [[ 9.87013245e-01 1.60549801e-01 5.34930382e-03 8.10851956e+01] [-1.60547631e-01 9.87027740e-01 -8.35327006e-04 -5.49085333e+00] [-5.41402285e-03 -3.43392390e-05 9.99985343e-01 -2.74751858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.554203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.11, Y:-5.49, Z:-2.75 [[ 9.86671435e-01 1.62666527e-01 4.36810853e-03 8.11144845e+01] [-1.62665099e-01 9.86681103e-01 -6.82736634e-04 -5.49166964e+00] [-4.42098854e-03 -3.69020706e-05 9.99990227e-01 -2.75060279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.584203822 meters Centerline goodness [0,1] 0.9999789069585944 Centerline is valid? [True, True] Translation: X:81.14, Y:-5.49, Z:-2.76 [[ 9.86043811e-01 1.66439771e-01 3.92507991e-03 8.11431710e+01] [-1.66438647e-01 9.86051621e-01 -6.13765542e-04 -5.48939128e+00] [-3.97248641e-03 -4.80852757e-05 9.99992108e-01 -2.75591698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.61420382200001 meters Centerline goodness [0,1] 0.9999359535449713 Centerline is valid? [True, True] Translation: X:81.17, Y:-5.49, Z:-2.76 [[ 9.85839115e-01 1.67671010e-01 2.76967405e-03 8.11712109e+01] [-1.67670453e-01 9.85843005e-01 -4.33656644e-04 -5.49136699e+00] [-2.80317544e-03 -3.68768200e-05 9.99996070e-01 -2.75904747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.644203822 meters Centerline goodness [0,1] 0.9999149370534195 Centerline is valid? [True, True] Translation: X:81.20, Y:-5.49, Z:-2.76 [[ 9.85489160e-01 1.69729629e-01 1.72306839e-03 8.12013554e+01] [-1.69729417e-01 9.85490666e-01 -2.69362104e-04 -5.49043011e+00] [-1.74378655e-03 -2.70019613e-05 9.99998479e-01 -2.76087410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.674203822 meters Centerline goodness [0,1] 0.9999354672173464 Centerline is valid? [True, True] Translation: X:81.23, Y:-5.49, Z:-2.76 [[ 9.85349441e-01 1.70534371e-01 2.12327938e-03 8.12303066e+01] [-1.70534051e-01 9.85351728e-01 -3.32402104e-04 -5.49449294e+00] [-2.14886299e-03 -3.45592061e-05 9.99997691e-01 -2.75929377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.704203822 meters Centerline goodness [0,1] 0.9998940498389558 Centerline is valid? [True, True] Translation: X:81.26, Y:-5.50, Z:-2.76 [[ 9.85247790e-01 1.71106216e-01 3.07495828e-03 8.12577568e+01] [-1.71105548e-01 9.85252587e-01 -4.80969821e-04 -5.49555747e+00] [-3.11190752e-03 -5.22679694e-05 9.99995157e-01 -2.76437509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.734203822 meters Centerline goodness [0,1] 0.9999785024829633 Centerline is valid? [True, True] Translation: X:81.29, Y:-5.51, Z:-2.76 [[ 9.85205281e-01 1.71343660e-01 3.45035123e-03 8.12854913e+01] [-1.71342823e-01 9.85211321e-01 -5.38895228e-04 -5.50678973e+00] [-3.49166137e-03 -6.02704949e-05 9.99993902e-01 -2.75538304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.764203822 meters Centerline goodness [0,1] 0.9998726141695505 Centerline is valid? [True, True] Translation: X:81.31, Y:-5.51, Z:-2.76 [[ 9.85215780e-01 1.71276220e-01 3.78471503e-03 8.13134619e+01] [-1.71275213e-01 9.85223047e-01 -5.91092689e-04 -5.50670234e+00] [-3.83002860e-03 -6.58740289e-05 9.99992663e-01 -2.75891329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.794203822 meters Centerline goodness [0,1] 0.999935379644588 Centerline is valid? [True, True] Translation: X:81.34, Y:-5.51, Z:-2.76 [[ 9.85243354e-01 1.71135061e-01 2.88522730e-03 8.13424334e+01] [-1.71134475e-01 9.85247577e-01 -4.50527725e-04 -5.51129263e+00] [-2.91976430e-03 -4.98824124e-05 9.99995736e-01 -2.75721670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.824203822 meters Centerline goodness [0,1] 0.9998935150676179 Centerline is valid? [True, True] Translation: X:81.37, Y:-5.51, Z:-2.76 [[ 9.85370652e-01 1.70378037e-01 4.00044597e-03 8.13700366e+01] [-1.70376906e-01 9.85378770e-01 -6.24208762e-04 -5.51285954e+00] [-4.04830599e-03 -6.65066141e-05 9.99991803e-01 -2.75953136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.854203822 meters Centerline goodness [0,1] 0.9999786993844122 Centerline is valid? [True, True] Translation: X:81.40, Y:-5.52, Z:-2.76 [[ 9.85886172e-01 1.67369496e-01 3.98854429e-03 8.13987779e+01] [-1.67368351e-01 9.85894238e-01 -6.21450171e-04 -5.51868571e+00] [-4.03629464e-03 -5.48769513e-05 9.99991853e-01 -2.76173581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.884203822 meters Centerline goodness [0,1] 0.999957034522761 Centerline is valid? [True, True] Translation: X:81.43, Y:-5.52, Z:-2.77 [[ 9.86241142e-01 1.65290263e-01 2.74558397e-03 8.14259801e+01] [-1.65289709e-01 9.86244964e-01 -4.28809173e-04 -5.52453744e+00] [-2.77869634e-03 -3.09075276e-05 9.99996139e-01 -2.76538993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.914203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.45, Y:-5.54, Z:-2.76 [[ 9.86994346e-01 1.60679725e-01 4.91801879e-03 8.14535293e+01] [-1.60677907e-01 9.87006598e-01 -7.65220649e-04 -5.53631791e+00] [-4.97707244e-03 -3.49485101e-05 9.99987614e-01 -2.76446516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.944203822 meters Centerline goodness [0,1] 0.999936096792059 Centerline is valid? [True, True] Translation: X:81.48, Y:-5.54, Z:-2.76 [[ 9.87249293e-01 1.59093632e-01 5.29623365e-03 8.14816079e+01] [-1.59091498e-01 9.87263499e-01 -8.24462086e-04 -5.54357921e+00] [-5.35994483e-03 -2.86361348e-05 9.99985635e-01 -2.76175110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.974203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.51, Y:-5.55, Z:-2.76 [[ 9.87429530e-01 1.57981766e-01 4.96835141e-03 8.15112336e+01] [-1.57979878e-01 9.87442029e-01 -7.72708637e-04 -5.54847815e+00] [-5.02803287e-03 -2.19042242e-05 9.99987359e-01 -2.76072185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.004203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.54, Y:-5.55, Z:-2.76 [[ 9.87676552e-01 1.56425950e-01 5.09412125e-03 8.15408155e+01] [-1.56423945e-01 9.87689689e-01 -7.92139352e-04 -5.55273150e+00] [-5.15532219e-03 -1.44650786e-05 9.99986711e-01 -2.76010494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.034203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.57, Y:-5.56, Z:-2.76 [[ 9.87791087e-01 1.55644859e-01 6.59143835e-03 8.15693130e+01] [-1.55641485e-01 9.87813078e-01 -1.02487629e-03 -5.55732200e+00] [-6.67062573e-03 -1.35375844e-05 9.99977751e-01 -2.76050491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.064203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.60, Y:-5.56, Z:-2.76 [[ 9.87931508e-01 1.54706769e-01 7.55986919e-03 8.15989983e+01] [-1.54702309e-01 9.87960432e-01 -1.17471529e-03 -5.56225440e+00] [-7.65058804e-03 -8.99096694e-06 9.99970734e-01 -2.75991233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.094203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.63, Y:-5.57, Z:-2.76 [[ 9.88217839e-01 1.52931160e-01 6.12883560e-03 8.16288288e+01] [-1.52928198e-01 9.88236844e-01 -9.51766804e-04 -5.57053950e+00] [-6.20229595e-03 3.28114762e-06 9.99980766e-01 -2.76226509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.124203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.66, Y:-5.58, Z:-2.77 [[ 9.88419673e-01 1.51663899e-01 4.96096697e-03 8.16585542e+01] [-1.51661943e-01 9.88432123e-01 -7.70404688e-04 -5.57800121e+00] [-5.02042169e-03 9.09326143e-06 9.99987398e-01 -2.76503839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.154203822 meters Centerline goodness [0,1] 0.9999787093614938 Centerline is valid? [True, True] Translation: X:81.69, Y:-5.58, Z:-2.77 [[ 9.88599542e-01 1.50496496e-01 4.66382055e-03 8.16873989e+01] [-1.50494752e-01 9.88610542e-01 -7.24569004e-04 -5.58470360e+00] [-4.71974726e-03 1.44280652e-05 9.99988862e-01 -2.77177039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.184203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.72, Y:-5.59, Z:-2.77 [[ 9.88935217e-01 1.48293846e-01 4.00909039e-03 8.17178493e+01] [-1.48292541e-01 9.88943343e-01 -6.22534559e-04 -5.58998208e+00] [-4.05708129e-03 2.11281500e-05 9.99991770e-01 -2.76743937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.214203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.75, Y:-5.60, Z:-2.77 [[ 9.89087875e-01 1.47281133e-01 3.66656356e-03 8.17463354e+01] [-1.47280035e-01 9.89094671e-01 -5.69122927e-04 -5.59601268e+00] [-3.71039954e-03 2.29009775e-05 9.99993116e-01 -2.76976652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.244203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.78, Y:-5.60, Z:-2.77 [[ 9.89224582e-01 1.46373356e-01 3.09311873e-03 8.17750358e+01] [-1.46372568e-01 9.89229417e-01 -4.80654832e-04 -5.60288399e+00] [-3.13015910e-03 2.27278415e-05 9.99995101e-01 -2.77441035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.274203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.81, Y:-5.61, Z:-2.77 [[ 9.89256316e-01 1.46174888e-01 2.20080112e-03 8.18050042e+01] [-1.46174489e-01 9.89258764e-01 -3.42072433e-04 -5.60594395e+00] [-2.22716419e-03 1.66963361e-05 9.99997520e-01 -2.77446411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.304203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.83, Y:-5.61, Z:-2.77 [[ 9.89085608e-01 1.47302906e-01 3.39320176e-03 8.18349842e+01] [-1.47301963e-01 9.89091428e-01 -5.27497525e-04 -5.60702917e+00] [-3.43388869e-03 2.19149321e-05 9.99994104e-01 -2.77265283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.334203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.86, Y:-5.61, Z:-2.77 [[ 9.88831463e-01 1.48962788e-01 4.73551623e-03 8.18639287e+01] [-1.48960972e-01 9.88842802e-01 -7.36063421e-04 -5.60828084e+00] [-4.79232720e-03 2.24355710e-05 9.99988516e-01 -2.77275495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.36420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.89, Y:-5.61, Z:-2.78 [[ 9.88282637e-01 1.52580980e-01 4.05874666e-03 8.18928340e+01] [-1.52579676e-01 9.88290972e-01 -6.30859591e-04 -5.60715493e+00] [-4.10747986e-03 4.18532971e-06 9.99991564e-01 -2.78123394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.394203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.92, Y:-5.61, Z:-2.78 [[ 9.88011547e-01 1.54356199e-01 2.71036337e-03 8.19227292e+01] [-1.54355625e-01 9.88015265e-01 -4.20874911e-04 -5.60771646e+00] [-2.74284504e-03 -2.53055910e-06 9.99996238e-01 -2.77862081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.424203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.95, Y:-5.61, Z:-2.78 [[ 9.87792619e-01 1.55759150e-01 2.19743271e-03 8.19516533e+01] [-1.55758774e-01 9.87795063e-01 -3.42286006e-04 -5.60800667e+00] [-2.22392736e-03 -4.16183345e-06 9.99997527e-01 -2.77930182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.454203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.98, Y:-5.61, Z:-2.78 [[ 9.87540595e-01 1.57341934e-01 2.66267464e-03 8.19812399e+01] [-1.57341389e-01 9.87544184e-01 -4.14332175e-04 -5.60680908e+00] [-2.69470068e-03 -9.77908358e-06 9.99996369e-01 -2.77838112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.484203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.01, Y:-5.61, Z:-2.78 [[ 9.87483471e-01 1.57671213e-01 4.02292695e-03 8.20090785e+01] [-1.57669974e-01 9.87491665e-01 -6.25349988e-04 -5.60804992e+00] [-4.07120652e-03 -1.67720117e-05 9.99991712e-01 -2.77982367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.514203822 meters Centerline goodness [0,1] 0.9999787360721273 Centerline is valid? [True, True] Translation: X:82.04, Y:-5.61, Z:-2.78 [[ 9.87477336e-01 1.57670137e-01 5.35158528e-03 8.20382133e+01] [-1.57667951e-01 9.87491837e-01 -8.30594580e-04 -5.61000164e+00] [-5.41560674e-03 -2.35801625e-05 9.99985335e-01 -2.77782633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.544203822 meters Centerline goodness [0,1] 0.9999787360721273 Centerline is valid? [True, True] Translation: X:82.07, Y:-5.61, Z:-2.78 [[ 9.87484695e-01 1.57624039e-01 5.35162363e-03 8.20662200e+01] [-1.57621854e-01 9.87499196e-01 -8.30347195e-04 -5.61424707e+00] [-5.41560671e-03 -2.35776921e-05 9.99985335e-01 -2.77866951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.574203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.09, Y:-5.62, Z:-2.78 [[ 9.87525513e-01 1.57351922e-01 5.80812827e-03 8.20949298e+01] [-1.57349346e-01 9.87542592e-01 -9.00805418e-04 -5.61658004e+00] [-5.87751751e-03 -2.43368521e-05 9.99982727e-01 -2.77691759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.604203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.12, Y:-5.62, Z:-2.78 [[ 9.87796579e-01 1.55703898e-01 3.77025888e-03 8.21239903e+01] [-1.55702799e-01 9.87803774e-01 -5.85068847e-04 -5.61913336e+00] [-3.81537345e-03 -9.11085359e-06 9.99992721e-01 -2.78101622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.634203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.15, Y:-5.62, Z:-2.78 [[ 9.88053334e-01 1.54075648e-01 3.36201581e-03 8.21523923e+01] [-1.54074764e-01 9.88059054e-01 -5.21741208e-04 -5.62473470e+00] [-3.40225778e-03 -2.49365448e-06 9.99994212e-01 -2.78162998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.664203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.18, Y:-5.63, Z:-2.78 [[ 9.88602007e-01 1.50488048e-01 4.40680381e-03 8.21789254e+01] [-1.50486496e-01 9.88611828e-01 -6.83536176e-04 -5.63278015e+00] [-4.45948239e-03 1.25807728e-05 9.99990056e-01 -2.78411773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.694203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.21, Y:-5.64, Z:-2.78 [[ 9.88887084e-01 1.48579016e-01 5.15855044e-03 8.22056642e+01] [-1.48576867e-01 9.88900539e-01 -7.99477624e-04 -5.63932014e+00] [-5.22007890e-03 2.41518360e-05 9.99986375e-01 -2.78456858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.724203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.23, Y:-5.65, Z:-2.78 [[ 9.89123888e-01 1.46983783e-01 5.44995990e-03 8.22335898e+01] [-1.46981366e-01 9.89138901e-01 -8.43528737e-04 -5.64564549e+00] [-5.51475240e-03 3.33118705e-05 9.99984793e-01 -2.78434888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.754203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.26, Y:-5.65, Z:-2.78 [[ 9.89353846e-01 1.45435763e-01 5.23506458e-03 8.22628518e+01] [-1.45433513e-01 9.89367696e-01 -8.09844742e-04 -5.65069297e+00] [-5.29718416e-03 3.98691768e-05 9.99985969e-01 -2.78358441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.784203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.29, Y:-5.65, Z:-2.78 [[ 9.89616137e-01 1.43669786e-01 4.34682581e-03 8.22921503e+01] [-1.43668217e-01 9.89625682e-01 -6.72789286e-04 -5.65293351e+00] [-4.39838995e-03 4.13024213e-05 9.99990326e-01 -2.78326084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.814203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.32, Y:-5.66, Z:-2.79 [[ 9.89633105e-01 1.43536328e-01 4.86213595e-03 8.23207117e+01] [-1.43534364e-01 9.89645048e-01 -7.52225231e-04 -5.65719570e+00] [-4.91976041e-03 4.65433989e-05 9.99987897e-01 -2.78648296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.844203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.35, Y:-5.66, Z:-2.78 [[ 9.89675648e-01 1.43248110e-01 4.69996576e-03 8.23493316e+01] [-1.43246271e-01 9.89686807e-01 -7.27312074e-04 -5.65917613e+00] [-4.75568018e-03 4.65504779e-05 9.99988691e-01 -2.78439304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.874203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.38, Y:-5.67, Z:-2.79 [[ 9.89754126e-01 1.42725366e-01 4.02999401e-03 8.23768988e+01] [-1.42724011e-01 9.89762329e-01 -6.23317630e-04 -5.66581969e+00] [-4.07769949e-03 4.17542848e-05 9.99991685e-01 -2.79017302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.904203822 meters Centerline goodness [0,1] 0.9999568854013969 Centerline is valid? [True, True] Translation: X:82.41, Y:-5.67, Z:-2.79 [[ 9.89913410e-01 1.41608199e-01 4.30804612e-03 8.24063177e+01] [-1.41606642e-01 9.89922783e-01 -6.65770243e-04 -5.67237965e+00] [-4.35891153e-03 4.90069462e-05 9.99990499e-01 -2.78912229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.934203822 meters Centerline goodness [0,1] 0.9999784566332026 Centerline is valid? [True, True] Translation: X:82.43, Y:-5.68, Z:-2.79 [[ 9.90134163e-01 1.40032094e-01 5.03502434e-03 8.24340555e+01] [-1.40029947e-01 9.90146963e-01 -7.78167054e-04 -5.68225390e+00] [-5.09438242e-03 6.54355934e-05 9.99987021e-01 -2.79065222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.964203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.46, Y:-5.69, Z:-2.79 [[ 9.90605209e-01 1.36604711e-01 6.36182142e-03 8.24634501e+01] [-1.36601222e-01 9.90625632e-01 -9.81857437e-04 -5.69197073e+00] [-6.43630971e-03 1.03600514e-04 9.99979281e-01 -2.78857375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.994203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.49, Y:-5.69, Z:-2.79 [[ 9.90785673e-01 1.35331619e-01 5.39465419e-03 8.24939082e+01] [-1.35329092e-01 9.90800355e-01 -8.32588813e-04 -5.69493762e+00] [-5.45770088e-03 9.48634165e-05 9.99985102e-01 -2.78792410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.024203822 meters Centerline goodness [0,1] 0.9999569355324921 Centerline is valid? [True, True] Translation: X:82.52, Y:-5.71, Z:-2.80 [[ 9.91003922e-01 1.33794116e-01 3.21885741e-03 8.25223340e+01] [-1.33793208e-01 9.91009148e-01 -4.96785258e-04 -5.70616107e+00] [-3.25638409e-03 6.16548791e-05 9.99994696e-01 -2.79602448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.054203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.55, Y:-5.71, Z:-2.80 [[ 9.90943804e-01 1.34239002e-01 3.20439355e-03 8.25518234e+01] [-1.34238105e-01 9.90948983e-01 -4.94552965e-04 -5.71302612e+00] [-3.24177883e-03 5.99224789e-05 9.99994744e-01 -2.79618016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.084203822 meters Centerline goodness [0,1] 0.9998919059149083 Centerline is valid? [True, True] Translation: X:82.58, Y:-5.72, Z:-2.80 [[ 9.90771572e-01 1.35488347e-01 3.82084678e-03 8.25821450e+01] [-1.35487081e-01 9.90778938e-01 -5.89693828e-04 -5.71883886e+00] [-3.86551115e-03 6.65765063e-05 9.99992527e-01 -2.79572247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.11420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.61, Y:-5.72, Z:-2.80 [[ 9.90089585e-01 1.40381813e-01 3.94475675e-03 8.26103874e+01] [-1.40380498e-01 9.90097442e-01 -6.09733944e-04 -5.72210539e+00] [-3.99128913e-03 4.99243102e-05 9.99992034e-01 -2.79667311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.144203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.64, Y:-5.72, Z:-2.80 [[ 9.89640386e-01 1.43524120e-01 3.56834065e-03 8.26407318e+01] [-1.43523065e-01 9.89646819e-01 -5.51211219e-04 -5.72096304e+00] [-3.61050908e-03 3.33616966e-05 9.99993482e-01 -2.79704058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.174203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.67, Y:-5.71, Z:-2.80 [[ 9.88601530e-01 1.50510410e-01 3.69196744e-03 8.26704189e+01] [-1.50509326e-01 9.88608424e-01 -5.71110901e-04 -5.70915979e+00] [-3.73586825e-03 8.92557899e-06 9.99993022e-01 -2.79970692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.204203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.70, Y:-5.71, Z:-2.80 [[ 9.88062050e-01 1.54017164e-01 3.47818197e-03 8.27003885e+01] [-1.54016225e-01 9.88068172e-01 -5.37635195e-04 -5.70611258e+00] [-3.51948595e-03 -4.47952512e-06 9.99993807e-01 -2.80076404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.234203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.73, Y:-5.71, Z:-2.80 [[ 9.87524593e-01 1.57438413e-01 2.88508673e-03 8.27293729e+01] [-1.57437781e-01 9.87528808e-01 -4.46080641e-04 -5.70501384e+00] [-2.91933649e-03 -1.37060499e-05 9.99995739e-01 -2.80192524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.264203822 meters Centerline goodness [0,1] 0.9999572731739623 Centerline is valid? [True, True] Translation: X:82.76, Y:-5.71, Z:-2.80 [[ 9.87017503e-01 1.60588741e-01 2.77582677e-03 8.27577431e+01] [-1.60588168e-01 9.87021406e-01 -4.29440237e-04 -5.70670303e+00] [-2.80876371e-03 -2.18999057e-05 9.99996055e-01 -2.80300726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.294203822 meters Centerline goodness [0,1] 0.9999363894660955 Centerline is valid? [True, True] Translation: X:82.79, Y:-5.71, Z:-2.80 [[ 9.86283839e-01 1.65023625e-01 3.37514741e-03 8.27857712e+01] [-1.65022806e-01 9.86289613e-01 -5.21554472e-04 -5.70732808e+00] [-3.41494164e-03 -4.25755487e-05 9.99994168e-01 -2.80319597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.324203822 meters Centerline goodness [0,1] 0.9999142385454858 Centerline is valid? [True, True] Translation: X:82.81, Y:-5.71, Z:-2.80 [[ 9.86066888e-01 1.66330253e-01 2.51763915e-03 8.28149974e+01] [-1.66329801e-01 9.86070102e-01 -3.89046226e-04 -5.70947593e+00] [-2.54727885e-03 -3.51328188e-05 9.99996755e-01 -2.80256868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.354203822 meters Centerline goodness [0,1] 0.9999784399120348 Centerline is valid? [True, True] Translation: X:82.84, Y:-5.71, Z:-2.80 [[ 9.86152120e-01 1.65827348e-01 2.29948239e-03 8.28436845e+01] [-1.65826968e-01 9.86154800e-01 -3.56045420e-04 -5.70779289e+00] [-2.32668767e-03 -3.02012471e-05 9.99997293e-01 -2.80243851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.384203822 meters Centerline goodness [0,1] 0.9998927521932176 Centerline is valid? [True, True] Translation: X:82.87, Y:-5.71, Z:-2.80 [[ 9.86317513e-01 1.64820818e-01 3.44405331e-03 8.28721243e+01] [-1.64819968e-01 9.86323525e-01 -5.31254869e-04 -5.71051834e+00] [-3.48451266e-03 -4.36627731e-05 9.99993928e-01 -2.80131635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.414203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.90, Y:-5.71, Z:-2.80 [[ 9.86611051e-01 1.63031894e-01 4.38578127e-03 8.28992567e+01] [-1.63030498e-01 9.86620798e-01 -6.76197600e-04 -5.71498523e+00] [-4.43734479e-03 -4.78720819e-05 9.99990154e-01 -2.80228537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.444203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.92, Y:-5.73, Z:-2.81 [[ 9.87517199e-01 1.57480506e-01 3.10994356e-03 8.29249809e+01] [-1.57479776e-01 9.87522096e-01 -4.79812105e-04 -5.73020509e+00] [-3.14669903e-03 -1.59305074e-05 9.99995049e-01 -2.80671361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.474203822 meters Centerline goodness [0,1] 0.9999785204914512 Centerline is valid? [True, True] Translation: X:82.95, Y:-5.74, Z:-2.81 [[ 9.87971777e-01 1.54611727e-01 2.64217286e-03 8.29526300e+01] [-1.54611190e-01 9.87975310e-01 -4.07442393e-04 -5.74190906e+00] [-2.67339693e-03 -5.96790650e-06 9.99996426e-01 -2.80707466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.504203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.98, Y:-5.75, Z:-2.81 [[ 9.88398579e-01 1.51832113e-01 3.90631535e-03 8.29791319e+01] [-1.51830921e-01 9.88406298e-01 -6.01792861e-04 -5.75171535e+00] [-3.95239817e-03 1.71175208e-06 9.99992189e-01 -2.80657128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.534203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.01, Y:-5.76, Z:-2.81 [[ 9.88773357e-01 1.49336782e-01 5.07680894e-03 8.30062073e+01] [-1.49334739e-01 9.88786390e-01 -7.81250108e-04 -5.75968479e+00] [-5.13654896e-03 1.43353529e-05 9.99986808e-01 -2.80757567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.564203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.04, Y:-5.77, Z:-2.81 [[ 9.89145292e-01 1.46864512e-01 4.73352001e-03 8.30351804e+01] [-1.46862713e-01 9.89156618e-01 -7.27316429e-04 -5.76649281e+00] [-4.78900961e-03 2.42440316e-05 9.99988532e-01 -2.80546409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.594203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.06, Y:-5.77, Z:-2.81 [[ 9.89210514e-01 1.46433538e-01 4.44731287e-03 8.30628296e+01] [-1.46431944e-01 9.89220510e-01 -6.83579790e-04 -5.77320247e+00] [-4.49947211e-03 2.49756446e-05 9.99989877e-01 -2.81000960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.624203822 meters Centerline goodness [0,1] 0.9999784496692025 Centerline is valid? [True, True] Translation: X:83.09, Y:-5.78, Z:-2.81 [[ 9.89176179e-01 1.46645542e-01 5.05695806e-03 8.30925178e+01] [-1.46643488e-01 9.89189104e-01 -7.76643916e-04 -5.77786329e+00] [-5.11617919e-03 2.66676936e-05 9.99986912e-01 -2.80655364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.654203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.12, Y:-5.78, Z:-2.80 [[ 9.88887004e-01 1.48499469e-01 7.09935241e-03 8.31226210e+01] [-1.48495471e-01 9.88912487e-01 -1.08990271e-03 -5.78137708e+00] [-7.18248822e-03 2.35689422e-05 9.99974205e-01 -2.80307875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.684203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.15, Y:-5.79, Z:-2.81 [[ 9.88713974e-01 1.49653891e-01 6.95636536e-03 8.31508905e+01] [-1.49650081e-01 9.88738445e-01 -1.06799832e-03 -5.78537576e+00] [-7.03785597e-03 1.49242284e-05 9.99975234e-01 -2.80600576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.714203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.18, Y:-5.79, Z:-2.81 [[ 9.88406023e-01 1.51735658e-01 5.46105594e-03 8.31797179e+01] [-1.51733341e-01 9.88421110e-01 -8.38431913e-04 -5.78655532e+00] [-5.52504299e-03 8.68898921e-08 9.99984737e-01 -2.81028878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.744203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.21, Y:-5.79, Z:-2.81 [[ 9.88331552e-01 1.52229147e-01 5.19904707e-03 8.32084500e+01] [-1.52227053e-01 9.88345227e-01 -7.98412918e-04 -5.79000829e+00] [-5.25999507e-03 -2.33893404e-06 9.99986166e-01 -2.80947662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.774203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.24, Y:-5.80, Z:-2.81 [[ 9.88340745e-01 1.52178741e-01 4.91968771e-03 8.32363085e+01] [-1.52176870e-01 9.88352989e-01 -7.54787182e-04 -5.79552534e+00] [-4.97725061e-03 -2.67574899e-06 9.99987613e-01 -2.81373729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.804203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.26, Y:-5.80, Z:-2.81 [[ 9.88354209e-01 1.52108176e-01 4.36574551e-03 8.32647002e+01] [-1.52106699e-01 9.88363851e-01 -6.70299755e-04 -5.80344690e+00] [-4.41690312e-03 -1.56555524e-06 9.99990245e-01 -2.81448451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.834203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.29, Y:-5.81, Z:-2.81 [[ 9.88251070e-01 1.52746914e-01 5.31071459e-03 8.32925425e+01] [-1.52744743e-01 9.88265339e-01 -8.14511802e-04 -5.81204729e+00] [-5.37280932e-03 -6.24157381e-06 9.99985566e-01 -2.81350754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.86420382200001 meters Centerline goodness [0,1] 0.9999787762378759 Centerline is valid? [True, True] Translation: X:83.32, Y:-5.82, Z:-2.81 [[ 9.88179735e-01 1.53170600e-01 6.29111975e-03 8.33212657e+01] [-1.53167564e-01 9.88199761e-01 -9.64436655e-04 -5.81610300e+00] [-6.36460637e-03 -1.05587309e-05 9.99979746e-01 -2.81311212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.894203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.35, Y:-5.82, Z:-2.81 [[ 9.88117853e-01 1.53575480e-01 6.13837230e-03 8.33505962e+01] [-1.53572600e-01 9.88136920e-01 -9.40537432e-04 -5.82218987e+00] [-6.20999578e-03 -1.33239673e-05 9.99980718e-01 -2.81424552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.924203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.38, Y:-5.83, Z:-2.82 [[ 9.88086447e-01 1.53792034e-01 5.76048592e-03 8.33801268e+01] [-1.53789502e-01 9.88103239e-01 -8.82549095e-04 -5.82777967e+00] [-5.82768381e-03 -1.38674621e-05 9.99983019e-01 -2.81577254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.954203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.41, Y:-5.83, Z:-2.81 [[ 9.87990184e-01 1.54396473e-01 6.09301551e-03 8.34094032e+01] [-1.54393653e-01 9.88008972e-01 -9.33330147e-04 -5.83252255e+00] [-6.16405687e-03 -1.86018956e-05 9.99981002e-01 -2.81401679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.984203822 meters Centerline goodness [0,1] 0.9999786192298646 Centerline is valid? [True, True] Translation: X:83.44, Y:-5.84, Z:-2.82 [[ 9.87859835e-01 1.55210201e-01 6.53750776e-03 8.34378621e+01] [-1.55206972e-01 9.87881467e-01 -1.00148488e-03 -5.83604722e+00] [-6.61372342e-03 -2.53400904e-05 9.99978129e-01 -2.81699726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.014203822 meters Centerline goodness [0,1] 0.9999786775837438 Centerline is valid? [True, True] Translation: X:83.47, Y:-5.84, Z:-2.82 [[ 9.87419027e-01 1.57956566e-01 7.30668700e-03 8.34665209e+01] [-1.57952608e-01 9.87446060e-01 -1.11915078e-03 -5.83873408e+00] [-7.39173650e-03 -4.90394969e-05 9.99972680e-01 -2.81599868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.044203822 meters Centerline goodness [0,1] 0.9999785536587458 Centerline is valid? [True, True] Translation: X:83.50, Y:-5.84, Z:-2.81 [[ 9.87134206e-01 1.59720762e-01 7.43898160e-03 8.34965036e+01] [-1.59716717e-01 9.87162233e-01 -1.13850275e-03 -5.84081416e+00] [-7.52532422e-03 -6.42747161e-05 9.99971682e-01 -2.81475459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.074203822 meters Centerline goodness [0,1] 0.9999365737119178 Centerline is valid? [True, True] Translation: X:83.53, Y:-5.84, Z:-2.82 [[ 9.86851034e-01 1.61442195e-01 7.83931646e-03 8.35250313e+01] [-1.61437755e-01 9.86882167e-01 -1.20007275e-03 -5.84049573e+00] [-7.93022399e-03 -8.12686179e-05 9.99968552e-01 -2.81565242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.104203822 meters Centerline goodness [0,1] 0.9999573406138685 Centerline is valid? [True, True] Translation: X:83.55, Y:-5.84, Z:-2.82 [[ 9.86442147e-01 1.63981317e-01 6.48214757e-03 8.35539947e+01] [-1.63978340e-01 9.86463441e-01 -9.91742045e-04 -5.83716773e+00] [-6.55702876e-03 -8.46356468e-05 9.99978499e-01 -2.81941749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.134203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.58, Y:-5.84, Z:-2.82 [[ 9.86369549e-01 1.64457364e-01 5.37470980e-03 8.35824452e+01] [-1.64455322e-01 9.86384190e-01 -8.22794291e-04 -5.84009028e+00] [-5.43684335e-03 -7.23203939e-05 9.99985218e-01 -2.82210131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.164203822 meters Centerline goodness [0,1] 0.9999569975703627 Centerline is valid? [True, True] Translation: X:83.61, Y:-5.84, Z:-2.82 [[ 9.86366139e-01 1.64481786e-01 5.25177663e-03 8.36099373e+01] [-1.64479836e-01 9.86380118e-01 -8.04042056e-04 -5.84375471e+00] [-5.31249832e-03 -7.07315012e-05 9.99985886e-01 -2.82394487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.194203822 meters Centerline goodness [0,1] 0.9999572229114086 Centerline is valid? [True, True] Translation: X:83.64, Y:-5.85, Z:-2.82 [[ 9.86555446e-01 1.63234587e-01 7.92602870e-03 8.36388898e+01] [-1.63230122e-01 9.86587279e-01 -1.21130119e-03 -5.84993994e+00] [-8.01744534e-03 -9.87508495e-05 9.99967855e-01 -2.82042833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.224203822 meters Centerline goodness [0,1] 0.9999786930304903 Centerline is valid? [True, True] Translation: X:83.67, Y:-5.86, Z:-2.82 [[ 9.86761649e-01 1.61943843e-01 8.69709644e-03 8.36662287e+01] [-1.61938414e-01 9.86799971e-01 -1.32960457e-03 -5.85557887e+00] [-8.79761579e-03 -9.63912089e-05 9.99961296e-01 -2.81947616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.254203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.69, Y:-5.86, Z:-2.82 [[ 9.87030934e-01 1.60287909e-01 8.81595179e-03 8.36939865e+01] [-1.60282271e-01 9.87070301e-01 -1.34698476e-03 -5.86208565e+00] [-8.91786956e-03 -8.35251461e-05 9.99960232e-01 -2.81930825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.284203822 meters Centerline goodness [0,1] 0.9999787437559783 Centerline is valid? [True, True] Translation: X:83.72, Y:-5.87, Z:-2.82 [[ 9.87513534e-01 1.57343937e-01 7.73991071e-03 8.37223796e+01] [-1.57339504e-01 9.87543864e-01 -1.18211096e-03 -5.86716327e+00] [-7.82949932e-03 -5.04431453e-05 9.99969348e-01 -2.82379634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.314203822 meters Centerline goodness [0,1] 0.9999786406937503 Centerline is valid? [True, True] Translation: X:83.75, Y:-5.87, Z:-2.83 [[ 9.87711491e-01 1.56114364e-01 7.36987054e-03 8.37506920e+01] [-1.56110311e-01 9.87738986e-01 -1.12562090e-03 -5.87229576e+00] [-7.45523405e-03 -3.87240811e-05 9.99972209e-01 -2.82534919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.344203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.78, Y:-5.88, Z:-2.82 [[ 9.87920128e-01 1.54751840e-01 8.10484774e-03 8.37796216e+01] [-1.54746900e-01 9.87953373e-01 -1.23689368e-03 -5.88023495e+00] [-8.19862324e-03 -3.22479005e-05 9.99966390e-01 -2.82020234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.374203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.81, Y:-5.89, Z:-2.81 [[ 9.88334973e-01 1.51867384e-01 1.14140164e-02 8.38089692e+01] [-1.51857404e-01 9.88400879e-01 -1.74108815e-03 -5.89009323e+00] [-1.15460383e-02 -1.25245916e-05 9.99933342e-01 -2.81442337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.404203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.84, Y:-5.89, Z:-2.82 [[ 9.88460238e-01 1.51004241e-01 1.20032334e-02 8.38387747e+01] [-1.50993159e-01 9.88533115e-01 -1.82942706e-03 -5.89476772e+00] [-1.21418450e-02 -4.09023080e-06 9.99926285e-01 -2.81506946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.434203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.87, Y:-5.90, Z:-2.82 [[ 9.88558636e-01 1.50432055e-01 1.10462868e-02 8.38690835e+01] [-1.50422613e-01 9.88620350e-01 -1.68536499e-03 -5.89871444e+00] [-1.11741169e-02 4.47077978e-06 9.99937568e-01 -2.81688447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.464203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.90, Y:-5.90, Z:-2.82 [[ 9.88558636e-01 1.50432055e-01 1.10462868e-02 8.38987323e+01] [-1.50422613e-01 9.88620350e-01 -1.68536499e-03 -5.90323805e+00] [-1.11741169e-02 4.47077985e-06 9.99937568e-01 -2.81777725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.494203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.93, Y:-5.91, Z:-2.82 [[ 9.88603102e-01 1.50207014e-01 1.00875836e-02 8.39275310e+01] [-1.50199126e-01 9.88654567e-01 -1.53933344e-03 -5.90739204e+00] [-1.02043543e-02 6.64357305e-06 9.99947934e-01 -2.82346750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.524203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.96, Y:-5.91, Z:-2.82 [[ 9.88646210e-01 1.49840378e-01 1.12486337e-02 8.39575403e+01] [-1.49830551e-01 9.88710201e-01 -1.71609754e-03 -5.91082415e+00] [-1.13787796e-02 1.12243358e-05 9.99935260e-01 -2.82120475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.554203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.99, Y:-5.92, Z:-2.82 [[ 9.88671955e-01 1.49629578e-01 1.17794132e-02 8.39874342e+01] [-1.49618790e-01 9.88742125e-01 -1.79685430e-03 -5.91559588e+00] [-1.19156646e-02 1.40779122e-05 9.99929006e-01 -2.82345097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.584203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.02, Y:-5.92, Z:-2.83 [[ 9.88802320e-01 1.48736826e-01 1.21378953e-02 8.40163276e+01] [-1.48725296e-01 9.88876815e-01 -1.85212243e-03 -5.92195916e+00] [-1.22783621e-02 2.61708782e-05 9.99924618e-01 -2.82624823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.61420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.05, Y:-5.93, Z:-2.82 [[ 9.88905015e-01 1.48053181e-01 1.21295801e-02 8.40469058e+01] [-1.48041625e-01 9.88979400e-01 -1.85007109e-03 -5.92665831e+00] [-1.22698137e-02 3.38618365e-05 9.99924722e-01 -2.82348835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.644203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.08, Y:-5.93, Z:-2.82 [[ 9.89067494e-01 1.47019619e-01 1.14334224e-02 8.40780640e+01] [-1.47009279e-01 9.89133575e-01 -1.74412718e-03 -5.93270428e+00] [-1.15656029e-02 4.42403131e-05 9.99933115e-01 -2.82483163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.674203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.11, Y:-5.94, Z:-2.83 [[ 9.89306751e-01 1.45556752e-01 9.24035349e-03 8.41083627e+01] [-1.45549946e-01 9.89349903e-01 -1.40835485e-03 -5.93980446e+00] [-9.34693838e-03 4.83620093e-05 9.99956315e-01 -2.83040205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.704203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.14, Y:-5.94, Z:-2.83 [[ 9.89360666e-01 1.45191270e-01 9.21776727e-03 8.41381609e+01] [-1.45184457e-01 9.89403604e-01 -1.40756433e-03 -5.94441670e+00] [-9.32445821e-03 5.43122450e-05 9.99956525e-01 -2.83070885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.734203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.17, Y:-5.95, Z:-2.83 [[ 9.89373876e-01 1.45043160e-01 1.00903530e-02 8.41676340e+01] [-1.45034986e-01 9.89425327e-01 -1.54105091e-03 -5.94890567e+00] [-1.02071697e-02 6.12213075e-05 9.99947904e-01 -2.83159065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.764203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.20, Y:-5.95, Z:-2.83 [[ 9.89266191e-01 1.45661932e-01 1.16191186e-02 8.41984347e+01] [-1.45651143e-01 9.89334421e-01 -1.77401678e-03 -5.95282538e+00] [-1.17536007e-02 6.26369273e-05 9.99930922e-01 -2.82824927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.794203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.23, Y:-5.96, Z:-2.83 [[ 9.89191485e-01 1.46159328e-01 1.17327660e-02 8.42286878e+01] [-1.46148364e-01 9.89261061e-01 -1.79108627e-03 -5.95920827e+00] [-1.18685525e-02 5.70027212e-05 9.99929565e-01 -2.82798021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.824203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.26, Y:-5.97, Z:-2.83 [[ 9.89124426e-01 1.46610422e-01 1.17581399e-02 8.42586987e+01] [-1.46599454e-01 9.89194309e-01 -1.79398149e-03 -5.96659182e+00] [-1.18941015e-02 5.07340159e-05 9.99929261e-01 -2.82959076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.854203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.29, Y:-5.97, Z:-2.83 [[ 9.89026199e-01 1.47338417e-01 1.08888951e-02 8.42894444e+01] [-1.47329031e-01 9.89086138e-01 -1.66353262e-03 -5.97206138e+00] [-1.10151575e-02 4.10269784e-05 9.99939330e-01 -2.83134053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.884203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.32, Y:-5.97, Z:-2.84 [[ 9.88797861e-01 1.48877997e-01 1.06832201e-02 8.43189470e+01] [-1.48869042e-01 9.88855572e-01 -1.63304635e-03 -5.97443209e+00] [-1.08072864e-02 2.43519996e-05 9.99941599e-01 -2.83541145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.914203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.35, Y:-5.98, Z:-2.83 [[ 9.88726967e-01 1.49281833e-01 1.15723779e-02 8.43496869e+01] [-1.49271358e-01 9.88794687e-01 -1.76857491e-03 -5.97853692e+00] [-1.17067219e-02 2.12131445e-05 9.99931474e-01 -2.83293437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.944203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.38, Y:-5.98, Z:-2.84 [[ 9.88675329e-01 1.49544944e-01 1.25460537e-02 8.43806323e+01] [-1.49532688e-01 9.88754929e-01 -1.91461441e-03 -5.98484099e+00] [-1.26912933e-02 1.68868969e-05 9.99919462e-01 -2.83542097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.974203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.41, Y:-5.99, Z:-2.83 [[ 9.88648520e-01 1.49610108e-01 1.38173364e-02 8.44101918e+01] [-1.49595177e-01 9.88745071e-01 -2.11374633e-03 -5.99437001e+00] [-1.39780611e-02 2.27452861e-05 9.99902302e-01 -2.83416092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.004203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.44, Y:-6.00, Z:-2.83 [[ 9.88588303e-01 1.49993074e-01 1.39730376e-02 8.44413804e+01] [-1.49977876e-01 9.88687047e-01 -2.13520568e-03 -6.00119076e+00] [-1.41352273e-02 1.51928565e-05 9.99900093e-01 -2.83044120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.034203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.47, Y:-6.01, Z:-2.83 [[ 9.88467300e-01 1.50939440e-01 1.22344728e-02 8.44715698e+01] [-1.50927840e-01 9.88543011e-01 -1.87126190e-03 -6.01074538e+00] [-1.23767498e-02 3.15864143e-06 9.99923405e-01 -2.83432723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.064203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.50, Y:-6.02, Z:-2.84 [[ 9.88348120e-01 1.51824109e-01 1.08366834e-02 8.45018714e+01] [-1.51815034e-01 9.88407527e-01 -1.65999387e-03 -6.01725144e+00] [-1.09630865e-02 -4.51962838e-06 9.99939904e-01 -2.84014830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.094203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.53, Y:-6.02, Z:-2.84 [[ 9.88149752e-01 1.53108868e-01 1.08509032e-02 8.45313950e+01] [-1.53099819e-01 9.88209327e-01 -1.66468544e-03 -6.02242842e+00] [-1.09778419e-02 -1.63128071e-05 9.99939742e-01 -2.84182561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.124203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.56, Y:-6.03, Z:-2.84 [[ 9.87553066e-01 1.56779283e-01 1.26173724e-02 8.45623661e+01] [-1.56767348e-01 9.87633663e-01 -1.93567817e-03 -6.02754367e+00] [-1.27648160e-02 -6.64071027e-05 9.99918524e-01 -2.83797941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.154203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.59, Y:-6.03, Z:-2.84 [[ 9.87238619e-01 1.58723723e-01 1.29108010e-02 8.45930519e+01] [-1.58711416e-01 9.87323033e-01 -1.97881531e-03 -6.03173016e+00] [-1.30612161e-02 -9.55286146e-05 9.99914694e-01 -2.83877593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.184203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.62, Y:-6.03, Z:-2.84 [[ 9.87015193e-01 1.60131338e-01 1.26080647e-02 8.46228717e+01] [-1.60119661e-01 9.87095711e-01 -1.93677256e-03 -6.03492007e+00] [-1.27555046e-02 -1.07175102e-04 9.99918639e-01 -2.84013688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.214203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.65, Y:-6.04, Z:-2.84 [[ 9.86736280e-01 1.61846070e-01 1.25444934e-02 8.46541614e+01] [-1.61834649e-01 9.86816008e-01 -1.92695456e-03 -6.03781165e+00] [-1.26909769e-02 -1.28737719e-04 9.99919458e-01 -2.84075735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.244203822 meters Centerline goodness [0,1] 0.9999575569797546 Centerline is valid? [True, True] Translation: X:84.68, Y:-6.04, Z:-2.84 [[ 9.86152620e-01 1.65360480e-01 1.26064270e-02 8.46840156e+01] [-1.65349224e-01 9.86233178e-01 -1.93718052e-03 -6.04059600e+00] [-1.27532097e-02 -1.74107282e-04 9.99918659e-01 -2.84175173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.274203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.71, Y:-6.05, Z:-2.84 [[ 9.85903505e-01 1.66918756e-01 1.15068680e-02 8.47142404e+01] [-1.66909484e-01 9.85970637e-01 -1.76821557e-03 -6.04549322e+00] [-1.16405823e-02 -1.77315471e-04 9.99932230e-01 -2.84375780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.304203822 meters Centerline goodness [0,1] 0.9999366447034972 Centerline is valid? [True, True] Translation: X:84.74, Y:-6.05, Z:-2.85 [[ 9.85648926e-01 1.68477797e-01 1.05558766e-02 8.47439735e+01] [-1.68470082e-01 9.85705432e-01 -1.62230727e-03 -6.04949416e+00] [-1.06783077e-02 -1.79323978e-04 9.99942969e-01 -2.84565759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.334203822 meters Centerline goodness [0,1] 0.9999357752991801 Centerline is valid? [True, True] Translation: X:84.77, Y:-6.05, Z:-2.85 [[ 9.85314886e-01 1.70391380e-01 1.10160337e-02 8.47747228e+01] [-1.70383100e-01 9.85376443e-01 -1.69265839e-03 -6.05192556e+00] [-1.11433545e-02 -2.09144462e-04 9.99937889e-01 -2.84594560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.36420382200001 meters Centerline goodness [0,1] 0.9999787865931269 Centerline is valid? [True, True] Translation: X:84.80, Y:-6.06, Z:-2.85 [[ 9.85350453e-01 1.70160212e-01 1.14011877e-02 8.48039856e+01] [-1.70151325e-01 9.85416387e-01 -1.75205845e-03 -6.05708251e+00] [-1.15330479e-02 -2.13535620e-04 9.99933469e-01 -2.84720840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.394203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.83, Y:-6.07, Z:-2.85 [[ 9.85641456e-01 1.68515521e-01 1.06507848e-02 8.48317846e+01] [-1.68507677e-01 9.85698983e-01 -1.63611298e-03 -6.06793510e+00] [-1.07741782e-02 -1.82118227e-04 9.99941940e-01 -2.85051370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.424203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.86, Y:-6.08, Z:-2.85 [[ 9.85858907e-01 1.67274856e-01 1.00667146e-02 8.48612363e+01] [-1.67267779e-01 9.85910289e-01 -1.54682646e-03 -6.07733704e+00] [-1.01836227e-02 -1.58884361e-04 9.99948133e-01 -2.85232098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.454203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.89, Y:-6.09, Z:-2.85 [[ 9.86105855e-01 1.65857852e-01 9.29596612e-03 8.48910182e+01] [-1.65851759e-01 9.86149662e-01 -1.42790779e-03 -6.08684916e+00] [-9.40404357e-03 -1.33684101e-04 9.99955772e-01 -2.85378220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.484203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.92, Y:-6.10, Z:-2.86 [[ 9.86738826e-01 1.62085165e-01 8.65386571e-03 8.49208389e+01] [-1.62079762e-01 9.86776768e-01 -1.32668520e-03 -6.09789851e+00] [-8.75446962e-03 -9.35247004e-05 9.99961675e-01 -2.85799674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.514203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.95, Y:-6.11, Z:-2.86 [[ 9.87094500e-01 1.59874565e-01 9.19626189e-03 8.49515902e+01] [-1.59868353e-01 9.87137335e-01 -1.41143182e-03 -6.10587131e+00] [-9.30362550e-03 -7.69746605e-05 9.99956717e-01 -2.85941977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.544203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.98, Y:-6.12, Z:-2.85 [[ 9.87375878e-01 1.58098133e-01 9.68792944e-03 8.49832076e+01] [-1.58091116e-01 9.87423403e-01 -1.49073115e-03 -6.11642791e+00] [-9.80177007e-03 -5.96635931e-05 9.99951960e-01 -2.85432871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.574203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.01, Y:-6.13, Z:-2.86 [[ 9.87824704e-01 1.55311920e-01 8.97562683e-03 8.50137270e+01] [-1.55305801e-01 9.87865480e-01 -1.37901668e-03 -6.13026886e+00] [-9.08088964e-03 -3.17401745e-05 9.99958767e-01 -2.85661544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.604203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.04, Y:-6.14, Z:-2.86 [[ 9.88018128e-01 1.54084481e-01 8.84027830e-03 8.50442332e+01] [-1.54078482e-01 9.88057677e-01 -1.35980496e-03 -6.14043176e+00] [-8.94422968e-03 -1.85847070e-05 9.99959999e-01 -2.85789679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.634203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.08, Y:-6.15, Z:-2.86 [[ 9.88223992e-01 1.52705680e-01 9.71172123e-03 8.50757543e+01] [-1.52698347e-01 9.88271711e-01 -1.49646267e-03 -6.14940911e+00] [-9.82633770e-03 -4.12346813e-06 9.99951720e-01 -2.85685085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.664203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.11, Y:-6.16, Z:-2.86 [[ 9.88385647e-01 1.51598329e-01 1.05716213e-02 8.51073078e+01] [-1.51589553e-01 9.88442182e-01 -1.63123755e-03 -6.15628289e+00] [-1.06967293e-02 9.74444099e-06 9.99942788e-01 -2.85570070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.694203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.14, Y:-6.16, Z:-2.86 [[ 9.88456435e-01 1.51083144e-01 1.13030382e-02 8.51392677e+01] [-1.51073052e-01 9.88521059e-01 -1.74637506e-03 -6.16303523e+00] [-1.14371391e-02 1.86311923e-05 9.99934594e-01 -2.85527152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.724203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.17, Y:-6.17, Z:-2.86 [[ 9.88342570e-01 1.51836841e-01 1.11596373e-02 8.51706014e+01] [-1.51827019e-01 9.88405571e-01 -1.72700173e-03 -6.16876780e+00] [-1.12924702e-02 1.25348597e-05 9.99936238e-01 -2.85777278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.754203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.20, Y:-6.17, Z:-2.86 [[ 9.87857038e-01 1.54989330e-01 1.08064717e-02 8.52029868e+01] [-1.54980307e-01 9.87916144e-01 -1.67253750e-03 -6.17180183e+00] [-1.09351133e-02 -2.25623575e-05 9.99940210e-01 -2.85930656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.784203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.23, Y:-6.18, Z:-2.86 [[ 9.87508666e-01 1.57209895e-01 1.05680845e-02 8.52344828e+01] [-1.57201372e-01 9.87565212e-01 -1.63749289e-03 -6.17649993e+00] [-1.06941027e-02 -4.42789680e-05 9.99942815e-01 -2.85782978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.814203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.27, Y:-6.18, Z:-2.86 [[ 9.87109409e-01 1.59724543e-01 1.01530641e-02 8.52657225e+01] [-1.59716791e-01 9.87161621e-01 -1.57500401e-03 -6.18034751e+00] [-1.02742820e-02 -6.69135382e-05 9.99947216e-01 -2.86033526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.844203822 meters Centerline goodness [0,1] 0.9999357835477449 Centerline is valid? [True, True] Translation: X:85.30, Y:-6.18, Z:-2.86 [[ 9.86086837e-01 1.65970225e-01 9.30776052e-03 8.52983366e+01] [-1.65963977e-01 9.86130757e-01 -1.44501559e-03 -6.17604059e+00] [-9.41849849e-03 -1.19842101e-04 9.99955638e-01 -2.86006895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.874203822 meters Centerline goodness [0,1] 0.9999784895351589 Centerline is valid? [True, True] Translation: X:85.33, Y:-6.17, Z:-2.86 [[ 9.85515351e-01 1.69341282e-01 9.11171318e-03 8.53310052e+01] [-1.69335429e-01 9.85557461e-01 -1.41566451e-03 -6.17474370e+00] [-9.21984735e-03 -1.47776759e-04 9.99957485e-01 -2.86123277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.904203822 meters Centerline goodness [0,1] 0.999936451448907 Centerline is valid? [True, True] Translation: X:85.36, Y:-6.17, Z:-2.86 [[ 9.85043421e-01 1.72024915e-01 9.84316514e-03 8.53614539e+01] [-1.72018166e-01 9.85092582e-01 -1.53454840e-03 -6.17337512e+00] [-9.96040953e-03 -1.81606406e-04 9.99950377e-01 -2.86389700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.934203822 meters Centerline goodness [0,1] 0.9999362515937101 Centerline is valid? [True, True] Translation: X:85.39, Y:-6.17, Z:-2.86 [[ 9.84453174e-01 1.75304939e-01 1.09602530e-02 8.53910255e+01] [-1.75296768e-01 9.84514155e-01 -1.70931992e-03 -6.17472792e+00] [-1.10901765e-02 -2.38551509e-04 9.99938474e-01 -2.86384574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.964203822 meters Centerline goodness [0,1] 0.9998945014136811 Centerline is valid? [True, True] Translation: X:85.42, Y:-6.18, Z:-2.86 [[ 9.84244924e-01 1.76432486e-01 1.15545246e-02 8.54217173e+01] [-1.76423487e-01 9.84312708e-01 -1.80163688e-03 -6.17847841e+00] [-1.16911327e-02 -2.65237573e-04 9.99931621e-01 -2.86367463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.994203822 meters Centerline goodness [0,1] 0.9999576603086564 Centerline is valid? [True, True] Translation: X:85.45, Y:-6.18, Z:-2.86 [[ 9.84056100e-01 1.77491015e-01 1.14250553e-02 8.54531294e+01] [-1.77482292e-01 9.84122383e-01 -1.78102119e-03 -6.18336824e+00] [-1.15597679e-02 -2.75120234e-04 9.99933146e-01 -2.86224844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.024203822 meters Centerline goodness [0,1] 0.9996173632073466 Centerline is valid? [True, True] Translation: X:85.48, Y:-6.18, Z:-2.87 [[ 9.83936409e-01 1.78195435e-01 1.07484986e-02 8.54830744e+01] [-1.78187747e-01 9.83995079e-01 -1.67643442e-03 -6.18052499e+00] [-1.08752026e-02 -2.65745883e-04 9.99940828e-01 -2.86682954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.054203822 meters Centerline goodness [0,1] 0.9998933424347789 Centerline is valid? [True, True] Translation: X:85.51, Y:-6.18, Z:-2.87 [[ 9.83599916e-01 1.80113254e-01 9.50904137e-03 8.55138953e+01] [-1.80107332e-01 9.83645846e-01 -1.48256686e-03 -6.18280466e+00] [-9.62055898e-03 -2.54395429e-04 9.99953689e-01 -2.86665146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.084203822 meters Centerline goodness [0,1] 0.9999573887847282 Centerline is valid? [True, True] Translation: X:85.54, Y:-6.19, Z:-2.87 [[ 9.83401493e-01 1.81236157e-01 8.65783860e-03 8.55441137e+01] [-1.81231289e-01 9.83439575e-01 -1.35018103e-03 -6.18624678e+00] [-8.75916273e-03 -2.41301208e-04 9.99961609e-01 -2.86789992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.11420382200001 meters Centerline goodness [0,1] 0.9993328742360335 Centerline is valid? [True, True] Translation: X:85.57, Y:-6.19, Z:-2.87 [[ 9.83268515e-01 1.81997021e-01 7.75311404e-03 8.55742044e+01] [-1.81993139e-01 9.83299057e-01 -1.20935906e-03 -6.18508778e+00] [-7.84372947e-03 -2.21888874e-04 9.99969213e-01 -2.87263809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.144203822 meters Centerline goodness [0,1] 0.999549790974381 Centerline is valid? [True, True] Translation: X:85.60, Y:-6.19, Z:-2.87 [[ 9.83238300e-01 1.82163046e-01 7.68569000e-03 8.56041859e+01] [-1.82159234e-01 9.83268313e-01 -1.19901674e-03 -6.18823733e+00] [-7.77551198e-03 -2.21100227e-04 9.99969746e-01 -2.87119612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.174203822 meters Centerline goodness [0,1] 0.9993381442418549 Centerline is valid? [True, True] Translation: X:85.63, Y:-6.19, Z:-2.88 [[ 9.83542780e-01 1.80514171e-01 7.63112289e-03 8.56330501e+01] [-1.80510363e-01 9.83572362e-01 -1.19058430e-03 -6.18883410e+00] [-7.72067890e-03 -2.06506174e-04 9.99970174e-01 -2.87547263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.204203822 meters Centerline goodness [0,1] 0.9999147503250144 Centerline is valid? [True, True] Translation: X:85.66, Y:-6.20, Z:-2.87 [[ 9.85020268e-01 1.72220873e-01 8.66266586e-03 8.56618789e+01] [-1.72215656e-01 9.85058346e-01 -1.35020634e-03 -6.20196559e+00] [-8.76576502e-03 -1.61866065e-04 9.99961567e-01 -2.87358862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.234203822 meters Centerline goodness [0,1] 0.9999788099677912 Centerline is valid? [True, True] Translation: X:85.69, Y:-6.21, Z:-2.87 [[ 9.86025487e-01 1.66280111e-01 1.02304858e-02 8.56901408e+01] [-1.66272523e-01 9.86078551e-01 -1.59379666e-03 -6.21252652e+00] [-1.03530793e-02 -1.29524561e-04 9.99946397e-01 -2.87308881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.264203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.72, Y:-6.23, Z:-2.87 [[ 9.87149414e-01 1.59371135e-01 1.16993955e-02 8.57194131e+01] [-1.59360712e-01 9.87218738e-01 -1.82381896e-03 -6.22770437e+00] [-1.18405266e-02 -6.40421788e-05 9.99929896e-01 -2.87003483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.294203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.75, Y:-6.26, Z:-2.87 [[ 9.89315149e-01 1.45165586e-01 1.35088572e-02 8.57481740e+01] [-1.45150394e-01 9.89407367e-01 -2.10357554e-03 -6.25662352e+00] [-1.36711296e-02 1.20283207e-04 9.99906539e-01 -2.86745011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.324203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.78, Y:-6.27, Z:-2.87 [[ 9.90209510e-01 1.38923316e-01 1.36175861e-02 8.57767098e+01] [-1.38907212e-01 9.90303119e-01 -2.12600696e-03 -6.27310565e+00] [-1.37808899e-02 2.13611399e-04 9.99905016e-01 -2.86995506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.354203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.81, Y:-6.28, Z:-2.87 [[ 9.90183753e-01 1.39106745e-01 1.36179332e-02 8.58087807e+01] [-1.39090689e-01 9.90277370e-01 -2.12378574e-03 -6.27831842e+00] [-1.37809640e-02 2.08810416e-04 9.99905016e-01 -2.87092232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.384203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.84, Y:-6.29, Z:-2.87 [[ 9.90947371e-01 1.33679192e-01 1.23766700e-02 8.58384510e+01] [-1.33665445e-01 9.91024624e-01 -1.93506947e-03 -6.29008741e+00] [-1.25242632e-02 2.63218905e-04 9.99921534e-01 -2.87280763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.414203822 meters Centerline goodness [0,1] 0.9999573060091792 Centerline is valid? [True, True] Translation: X:85.87, Y:-6.30, Z:-2.88 [[ 9.91534748e-01 1.29336388e-01 1.14429671e-02 8.58665360e+01] [-1.29324355e-01 9.91600732e-01 -1.78846175e-03 -6.30277466e+00] [-1.15781677e-02 2.93467638e-04 9.99932928e-01 -2.87629383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.444203822 meters Centerline goodness [0,1] 0.9999567090196757 Centerline is valid? [True, True] Translation: X:85.89, Y:-6.32, Z:-2.88 [[ 9.92226856e-01 1.23994419e-01 1.05474900e-02 8.58949276e+01] [-1.23983879e-01 9.92282861e-01 -1.64987746e-03 -6.32032406e+00] [-1.06706691e-02 3.29334010e-04 9.99943013e-01 -2.87701880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.474203822 meters Centerline goodness [0,1] 0.9999572055204878 Centerline is valid? [True, True] Translation: X:85.92, Y:-6.33, Z:-2.88 [[ 9.92289482e-01 1.23466595e-01 1.08436285e-02 8.59249079e+01] [-1.23455455e-01 9.92348670e-01 -1.69339244e-03 -6.33007686e+00] [-1.09697377e-02 3.41630425e-04 9.99939772e-01 -2.87791414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.504203822 meters Centerline goodness [0,1] 0.9999570594297492 Centerline is valid? [True, True] Translation: X:85.96, Y:-6.33, Z:-2.88 [[ 9.92251881e-01 1.23840425e-01 9.98767984e-03 8.59568969e+01] [-1.23830984e-01 9.92302097e-01 -1.56062649e-03 -6.33382907e+00] [-1.01040643e-02 3.11750345e-04 9.99948904e-01 -2.87742134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.534203822 meters Centerline goodness [0,1] 0.9999785098747126 Centerline is valid? [True, True] Translation: X:85.99, Y:-6.34, Z:-2.88 [[ 9.91883914e-01 1.26925423e-01 7.49922905e-03 8.59877655e+01] [-1.26920186e-01 9.91912240e-01 -1.17210891e-03 -6.33919310e+00] [-7.58734751e-03 2.10792425e-04 9.99971193e-01 -2.88310507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.564203822 meters Centerline goodness [0,1] 0.9999354991292383 Centerline is valid? [True, True] Translation: X:86.02, Y:-6.34, Z:-2.89 [[ 9.91517605e-01 1.29788817e-01 6.90660860e-03 8.60180529e+01] [-1.29784416e-01 9.91541644e-01 -1.08355331e-03 -6.34194517e+00] [-6.98882315e-03 1.77992022e-04 9.99975562e-01 -2.88628383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.594203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.05, Y:-6.34, Z:-2.88 [[ 9.90458678e-01 1.37532924e-01 8.73505462e-03 8.60496983e+01] [-1.37526181e-01 9.90497183e-01 -1.37085916e-03 -6.33898788e+00] [-8.84058526e-03 1.56480648e-04 9.99960909e-01 -2.88459847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.624203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.08, Y:-6.34, Z:-2.88 [[ 9.89850585e-01 1.41857826e-01 8.49569632e-03 8.60812170e+01] [-1.41851613e-01 9.89887036e-01 -1.33251175e-03 -6.33873670e+00] [-8.59880687e-03 1.13859303e-04 9.99963023e-01 -2.88381650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.654203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.11, Y:-6.33, Z:-2.89 [[ 9.88452399e-01 1.51338102e-01 7.65727009e-03 8.61125245e+01] [-1.51333334e-01 9.88482057e-01 -1.20173072e-03 -6.33409616e+00] [-7.75094174e-03 2.90534003e-05 9.99969961e-01 -2.88576407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.684203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.14, Y:-6.34, Z:-2.89 [[ 9.87765913e-01 1.55742063e-01 7.93166493e-03 8.61448712e+01] [-1.55737116e-01 9.87797758e-01 -1.24140674e-03 -6.33592760e+00] [-8.02822007e-03 -9.03535673e-06 9.99967773e-01 -2.88508877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.714203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.18, Y:-6.34, Z:-2.89 [[ 9.87261682e-01 1.58892344e-01 8.22153869e-03 8.61762537e+01] [-1.58887115e-01 9.87295914e-01 -1.28948607e-03 -6.33913537e+00] [-8.32198102e-03 -3.32363792e-05 9.99965371e-01 -2.88666607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.744203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.21, Y:-6.34, Z:-2.89 [[ 9.86834967e-01 1.61521522e-01 8.21858966e-03 8.62080240e+01] [-1.61516388e-01 9.86869188e-01 -1.28902653e-03 -6.34217570e+00] [-8.31887843e-03 -5.53804629e-05 9.99965396e-01 -2.88700236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.774203822 meters Centerline goodness [0,1] 0.9999787699297285 Centerline is valid? [True, True] Translation: X:86.24, Y:-6.34, Z:-2.89 [[ 9.86482842e-01 1.63661506e-01 8.15556747e-03 8.62395113e+01] [-1.63656510e-01 9.86516551e-01 -1.28080378e-03 -6.34377460e+00] [-8.25522057e-03 -7.12207537e-05 9.99965923e-01 -2.89010481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.804203822 meters Centerline goodness [0,1] 0.9999786201441002 Centerline is valid? [True, True] Translation: X:86.27, Y:-6.34, Z:-2.89 [[ 9.85916811e-01 1.67032926e-01 8.24884333e-03 8.62722872e+01] [-1.67027923e-01 9.85951313e-01 -1.29658920e-03 -6.34499059e+00] [-8.34953100e-03 -9.94580826e-05 9.99965137e-01 -2.88971774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.834203822 meters Centerline goodness [0,1] 0.999978390993366 Centerline is valid? [True, True] Translation: X:86.30, Y:-6.35, Z:-2.89 [[ 9.85717279e-01 1.68199527e-01 8.38840848e-03 8.63039847e+01] [-1.68194382e-01 9.85752965e-01 -1.32003660e-03 -6.35056058e+00] [-8.49092806e-03 -1.09700295e-04 9.99963945e-01 -2.89045628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.86420382200001 meters Centerline goodness [0,1] 0.9999787125340599 Centerline is valid? [True, True] Translation: X:86.33, Y:-6.36, Z:-2.89 [[ 9.85469479e-01 1.69664766e-01 7.98579564e-03 8.63349751e+01] [-1.69660140e-01 9.85501829e-01 -1.25807196e-03 -6.35687635e+00] [-8.08346669e-03 -1.15079693e-04 9.99967322e-01 -2.89343983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.894203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.37, Y:-6.36, Z:-2.89 [[ 9.85421794e-01 1.69944527e-01 7.92116800e-03 8.63671116e+01] [-1.69939983e-01 9.85453624e-01 -1.24813240e-03 -6.36462464e+00] [-8.01805698e-03 -1.16186292e-04 9.99967848e-01 -2.89180790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.924203822 meters Centerline goodness [0,1] 0.99991513737138 Centerline is valid? [True, True] Translation: X:86.40, Y:-6.37, Z:-2.90 [[ 9.85358858e-01 1.70272845e-01 8.66480333e-03 8.63982569e+01] [-1.70267393e-01 9.85396947e-01 -1.36842476e-03 -6.36876217e+00] [-8.77127632e-03 -1.26944021e-04 9.99961524e-01 -2.89512202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.954203822 meters Centerline goodness [0,1] 0.999956903982072 Centerline is valid? [True, True] Translation: X:86.43, Y:-6.38, Z:-2.90 [[ 9.85255331e-01 1.70915399e-01 7.73693121e-03 8.64290513e+01] [-1.70911068e-01 9.85285701e-01 -1.22238974e-03 -6.37922242e+00] [-7.83201292e-03 -1.17961171e-04 9.99969322e-01 -2.89532783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.984203822 meters Centerline goodness [0,1] 0.9999787883930087 Centerline is valid? [True, True] Translation: X:86.46, Y:-6.38, Z:-2.90 [[ 9.85094891e-01 1.71854229e-01 7.36068270e-03 8.64598755e+01] [-1.71850325e-01 9.85122383e-01 -1.16427508e-03 -6.38444556e+00] [-7.45125888e-03 -1.18014286e-04 9.99972232e-01 -2.89826144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.014203822 meters Centerline goodness [0,1] 0.9999573415237608 Centerline is valid? [True, True] Translation: X:86.49, Y:-6.39, Z:-2.90 [[ 9.84939208e-01 1.72782968e-01 6.38763304e-03 8.64919157e+01] [-1.72780047e-01 9.84959915e-01 -1.01054013e-03 -6.38955561e+00] [-6.46616662e-03 -1.08334935e-04 9.99979088e-01 -2.90088668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.044203822 meters Centerline goodness [0,1] 0.9999573078318782 Centerline is valid? [True, True] Translation: X:86.52, Y:-6.39, Z:-2.90 [[ 9.84492146e-01 1.75335204e-01 5.72543691e-03 8.65236577e+01] [-1.75332896e-01 9.84508788e-01 -9.06545829e-04 -6.38850991e+00] [-5.79569236e-03 -1.11370185e-04 9.99983199e-01 -2.90304918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.074203822 meters Centerline goodness [0,1] 0.9997890028273622 Centerline is valid? [True, True] Translation: X:86.56, Y:-6.39, Z:-2.91 [[ 9.84224247e-01 1.76798303e-01 6.70751946e-03 8.65555385e+01] [-1.76795156e-01 9.84247093e-01 -1.06392978e-03 -6.38676526e+00] [-6.78995751e-03 -1.38711463e-04 9.99976938e-01 -2.90625986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.104203822 meters Centerline goodness [0,1] 0.9999146120183584 Centerline is valid? [True, True] Translation: X:86.59, Y:-6.39, Z:-2.90 [[ 9.84024928e-01 1.77908477e-01 6.59659537e-03 8.65873030e+01] [-1.77905453e-01 9.84047028e-01 -1.04710396e-03 -6.39079885e+00] [-6.67764874e-03 -1.43193890e-04 9.99977694e-01 -2.90460575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.134203822 meters Centerline goodness [0,1] 0.9998517137651993 Centerline is valid? [True, True] Translation: X:86.62, Y:-6.39, Z:-2.91 [[ 9.83952983e-01 1.78287691e-01 7.07288572e-03 8.66174607e+01] [-1.78284189e-01 9.83978392e-01 -1.12762757e-03 -6.39244270e+00] [-7.16060884e-03 -1.51451184e-04 9.99974351e-01 -2.90606056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.164203822 meters Centerline goodness [0,1] 0.9999573224078697 Centerline is valid? [True, True] Translation: X:86.65, Y:-6.40, Z:-2.90 [[ 9.84025119e-01 1.77867629e-01 7.59420166e-03 8.66492599e+01] [-1.77863587e-01 9.84054410e-01 -1.20978926e-03 -6.40145276e+00] [-7.68828998e-03 -1.60268925e-04 9.99970432e-01 -2.90247495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.194203822 meters Centerline goodness [0,1] 0.9999573769793065 Centerline is valid? [True, True] Translation: X:86.68, Y:-6.41, Z:-2.90 [[ 9.84491289e-01 1.75202380e-01 9.00151198e-03 8.66793770e+01] [-1.75196575e-01 9.84532427e-01 -1.43558926e-03 -6.41061646e+00] [-9.11379909e-03 -1.63708942e-04 9.99958455e-01 -2.90016878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.224203822 meters Centerline goodness [0,1] 0.9999787559483345 Centerline is valid? [True, True] Translation: X:86.71, Y:-6.42, Z:-2.90 [[ 9.84816258e-01 1.73346877e-01 9.37010416e-03 8.67094238e+01] [-1.73340525e-01 9.84860821e-01 -1.49194953e-03 -6.41798793e+00] [-9.48687326e-03 -1.54922629e-04 9.99954987e-01 -2.90204509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.254203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.74, Y:-6.43, Z:-2.90 [[ 9.85209750e-01 1.71117042e-01 8.98372081e-03 8.67405037e+01] [-1.71111102e-01 9.85250700e-01 -1.43147395e-03 -6.42700238e+00] [-9.09616681e-03 -1.26912269e-04 9.99958621e-01 -2.90327043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.284203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.77, Y:-6.44, Z:-2.91 [[ 9.86203440e-01 1.65373047e-01 7.38446249e-03 8.67716912e+01] [-1.65368857e-01 9.86231084e-01 -1.17867383e-03 -6.43835643e+00] [-7.47770733e-03 -5.87479334e-05 9.99972040e-01 -2.90740015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.314203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.80, Y:-6.45, Z:-2.91 [[ 9.86709793e-01 1.62301356e-01 7.87744053e-03 8.68028465e+01] [-1.62296496e-01 9.86741237e-01 -1.25659313e-03 -6.44850590e+00] [-7.97694218e-03 -3.85882543e-05 9.99968183e-01 -2.90827166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.344203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.83, Y:-6.46, Z:-2.91 [[ 9.87174896e-01 1.59414273e-01 8.53315367e-03 8.68327959e+01] [-1.59408444e-01 9.87211775e-01 -1.36332559e-03 -6.45835115e+00] [-8.64136334e-03 -1.44159499e-05 9.99962663e-01 -2.90835054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.374203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.86, Y:-6.47, Z:-2.91 [[ 9.87582232e-01 1.56876913e-01 8.42430260e-03 8.68633308e+01] [-1.56871132e-01 9.87618162e-01 -1.34672883e-03 -6.46712898e+00] [-8.53126492e-03 8.47557187e-06 9.99963608e-01 -2.90938326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.404203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.89, Y:-6.48, Z:-2.91 [[ 9.88273002e-01 1.52453691e-01 8.62243546e-03 8.68944448e+01] [-1.52447450e-01 9.88310614e-01 -1.38031010e-03 -6.47707970e+00] [-8.73207785e-03 4.96549047e-05 9.99961873e-01 -2.90946337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.434203822 meters Centerline goodness [0,1] 0.9999786324786325 Centerline is valid? [True, True] Translation: X:86.93, Y:-6.48, Z:-2.91 [[ 9.88552985e-01 1.50656807e-01 8.09456829e-03 8.69252033e+01] [-1.50651236e-01 9.88586123e-01 -1.29709994e-03 -6.48481137e+00] [-8.19759482e-03 6.27953030e-05 9.99966397e-01 -2.91102299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.464203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.96, Y:-6.50, Z:-2.91 [[ 9.88991436e-01 1.47827068e-01 6.56493629e-03 8.69561482e+01] [-1.47823324e-01 9.89013222e-01 -1.05462425e-03 -6.49608305e+00] [-6.64871080e-03 7.25636450e-05 9.99977894e-01 -2.91432055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.494203822 meters Centerline goodness [0,1] 0.9999786447989408 Centerline is valid? [True, True] Translation: X:86.99, Y:-6.50, Z:-2.92 [[ 9.89078032e-01 1.47243332e-01 6.63679810e-03 8.69870696e+01] [-1.47239510e-01 9.89100296e-01 -1.06341413e-03 -6.50414539e+00] [-6.72103961e-03 7.46006513e-05 9.99977411e-01 -2.91591728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.524203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.02, Y:-6.51, Z:-2.91 [[ 9.89121933e-01 1.46909584e-01 7.44153719e-03 8.70184826e+01] [-1.46904753e-01 9.89149921e-01 -1.19466474e-03 -6.50999821e+00] [-7.53630363e-03 8.84719135e-05 9.99971598e-01 -2.91453531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.554203822 meters Centerline goodness [0,1] 0.9999788404570461 Centerline is valid? [True, True] Translation: X:87.05, Y:-6.52, Z:-2.91 [[ 9.89106533e-01 1.46897332e-01 9.45733858e-03 8.70494551e+01] [-1.46889496e-01 9.89151738e-01 -1.52159578e-03 -6.51508341e+00] [-9.57826126e-03 1.15836620e-04 9.99954121e-01 -2.91367403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.584203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.08, Y:-6.52, Z:-2.92 [[ 9.89067033e-01 1.47158408e-01 9.52923757e-03 8.70810145e+01] [-1.47150442e-01 9.89112931e-01 -1.53556404e-03 -6.52205144e+00] [-9.65146325e-03 1.16544251e-04 9.99953417e-01 -2.91614934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.61420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.11, Y:-6.53, Z:-2.91 [[ 9.89017793e-01 1.47542966e-01 8.65320231e-03 8.71125724e+01] [-1.47536416e-01 9.89055642e-01 -1.39398733e-03 -6.52604395e+00] [-8.76417159e-03 1.02015822e-04 9.99961589e-01 -2.91473774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.644203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.14, Y:-6.53, Z:-2.92 [[ 9.88733500e-01 1.49553457e-01 6.31100078e-03 8.71427786e+01] [-1.49549993e-01 9.88753639e-01 -1.01982722e-03 -6.53001326e+00] [-6.39254368e-03 6.45272098e-05 9.99979565e-01 -2.92214454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.674203822 meters Centerline goodness [0,1] 0.999956861222553 Centerline is valid? [True, True] Translation: X:87.18, Y:-6.53, Z:-2.92 [[ 9.88488964e-01 1.51164586e-01 6.23180828e-03 8.71753344e+01] [-1.51161262e-01 9.88508607e-01 -1.00375069e-03 -6.53203899e+00] [-6.31192768e-03 5.01884788e-05 9.99980078e-01 -2.92247357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.704203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.21, Y:-6.54, Z:-2.93 [[ 9.88165333e-01 1.53255491e-01 6.48302537e-03 8.72059534e+01] [-1.53251928e-01 9.88186598e-01 -1.04585188e-03 -6.53657224e+00] [-6.56672133e-03 3.99384402e-05 9.99978438e-01 -2.92519320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.734203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.24, Y:-6.54, Z:-2.92 [[ 9.87418158e-01 1.58004275e-01 6.32689185e-03 8.72383480e+01] [-1.58000974e-01 9.87438428e-01 -1.02133708e-03 -6.53724078e+00] [-6.40879176e-03 8.83169966e-06 9.99979463e-01 -2.92452608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.764203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.27, Y:-6.54, Z:-2.92 [[ 9.87017453e-01 1.60490528e-01 6.27200706e-03 8.72716271e+01] [-1.60487332e-01 9.87037380e-01 -1.01289827e-03 -6.53829443e+00] [-6.35326600e-03 -6.82941306e-06 9.99979818e-01 -2.92450022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.794203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.30, Y:-6.54, Z:-2.92 [[ 9.86649908e-01 1.62713980e-01 6.79112041e-03 8.73040629e+01] [-1.62710271e-01 9.86673279e-01 -1.09887486e-03 -6.53883840e+00] [-6.87941935e-03 -2.07802609e-05 9.99976336e-01 -2.92143408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.824203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.33, Y:-6.54, Z:-2.93 [[ 9.86504032e-01 1.63562661e-01 7.55322733e-03 8.73348043e+01] [-1.63558080e-01 9.86532947e-01 -1.22443437e-03 -6.54347035e+00] [-7.65177936e-03 -2.74819179e-05 9.99970724e-01 -2.92521992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.854203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.36, Y:-6.55, Z:-2.93 [[ 9.86791432e-01 1.61810847e-01 7.74081356e-03 8.73641792e+01] [-1.61805970e-01 9.86821792e-01 -1.25645734e-03 -6.55396284e+00] [-7.84211194e-03 -1.26485108e-05 9.99969250e-01 -2.92672654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.884203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.39, Y:-6.57, Z:-2.93 [[ 9.87152946e-01 1.59538823e-01 8.74211170e-03 8.73938042e+01] [-1.59532495e-01 9.87191655e-01 -1.42098185e-03 -6.56567900e+00] [-8.85684149e-03 8.07552900e-06 9.99960777e-01 -2.92762551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.914203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.42, Y:-6.59, Z:-2.92 [[ 9.88148265e-01 1.53130966e-01 1.06730539e-02 8.74226112e+01] [-1.53121134e-01 9.88205900e-01 -1.73721005e-03 -6.58729467e+00] [-1.08131955e-02 8.23509800e-05 9.99941532e-01 -2.92499445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.944203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.45, Y:-6.60, Z:-2.93 [[ 9.88523097e-01 1.50645432e-01 1.13154794e-02 8.74515014e+01] [-1.50634190e-01 9.88587851e-01 -1.84421995e-03 -6.60121313e+00] [-1.14641687e-02 1.18555949e-04 9.99934277e-01 -2.92605744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.974203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.48, Y:-6.61, Z:-2.92 [[ 9.88746119e-01 1.49137580e-01 1.17938214e-02 8.74824405e+01] [-1.49125238e-01 9.88816445e-01 -1.92393297e-03 -6.61091910e+00] [-1.19488553e-02 1.43524826e-04 9.99928600e-01 -2.92272706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.004203822 meters Centerline goodness [0,1] 0.9999786884896532 Centerline is valid? [True, True] Translation: X:87.51, Y:-6.62, Z:-2.92 [[ 9.88740548e-01 1.49139958e-01 1.22229604e-02 8.75126356e+01] [-1.49126676e-01 9.88816085e-01 -1.99604643e-03 -6.62344697e+00] [-1.23839502e-02 1.50802576e-04 9.99923305e-01 -2.92403993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.034203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.54, Y:-6.63, Z:-2.93 [[ 9.88582558e-01 1.50271812e-01 1.10863791e-02 8.75435707e+01] [-1.50260936e-01 9.88644712e-01 -1.81226148e-03 -6.63085920e+00] [-1.12328219e-02 1.25720381e-04 9.99936902e-01 -2.92587239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.064203822 meters Centerline goodness [0,1] 0.9999784663752449 Centerline is valid? [True, True] Translation: X:87.58, Y:-6.64, Z:-2.93 [[ 9.88339714e-01 1.51961401e-01 9.60954866e-03 8.75751199e+01] [-1.51953301e-01 9.88386424e-01 -1.57167857e-03 -6.63745386e+00] [-9.73678192e-03 9.31497036e-05 9.99952592e-01 -2.92633692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.094203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.60, Y:-6.65, Z:-2.94 [[ 9.87680182e-01 1.56321077e-01 7.18187256e-03 8.76049928e+01] [-1.56316667e-01 9.87706292e-01 -1.17488562e-03 -6.64653262e+00] [-7.27724010e-03 3.77648628e-05 9.99973520e-01 -2.93606693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.124203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.64, Y:-6.65, Z:-2.94 [[ 9.87183530e-01 1.59428162e-01 7.16518543e-03 8.76374732e+01] [-1.59423846e-01 9.87209532e-01 -1.17315165e-03 -6.64963557e+00] [-7.26057277e-03 1.58145711e-05 9.99973642e-01 -2.93548876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.154203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.67, Y:-6.65, Z:-2.94 [[ 9.85992946e-01 1.66625195e-01 7.34536495e-03 8.76697171e+01] [-1.66620851e-01 9.86020306e-01 -1.20379773e-03 -6.64711188e+00] [-7.44326202e-03 -3.69548871e-05 9.99972298e-01 -2.94095715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.184203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.70, Y:-6.65, Z:-2.94 [[ 9.85342124e-01 1.70419397e-01 7.62421160e-03 8.77019425e+01] [-1.70414815e-01 9.85371618e-01 -1.25133990e-03 -6.65006975e+00] [-7.72593431e-03 -6.62806962e-05 9.99970152e-01 -2.93744120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.214203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.73, Y:-6.65, Z:-2.94 [[ 9.84767742e-01 1.73689746e-01 8.02285796e-03 8.77332448e+01] [-1.73684754e-01 9.84800418e-01 -1.32010199e-03 -6.65266849e+00] [-8.13020206e-03 -9.34542565e-05 9.99966945e-01 -2.93762608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.244203822 meters Centerline goodness [0,1] 0.9999572923339739 Centerline is valid? [True, True] Translation: X:87.77, Y:-6.66, Z:-2.94 [[ 9.84155118e-01 1.77089189e-01 8.83872050e-03 8.77653700e+01] [-1.77083272e-01 9.84194798e-01 -1.45384763e-03 -6.65547496e+00] [-8.95648343e-03 -1.34377956e-04 9.99959881e-01 -2.93670142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.274203822 meters Centerline goodness [0,1] 0.9999366594176889 Centerline is valid? [True, True] Translation: X:87.80, Y:-6.66, Z:-2.93 [[ 9.83258548e-01 1.81940531e-01 1.00135145e-02 8.77974499e+01] [-1.81933161e-01 9.83309516e-01 -1.64968014e-03 -6.65685662e+00] [-1.01465277e-02 -1.99728238e-04 9.99948503e-01 -2.93423401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.304203822 meters Centerline goodness [0,1] 0.9999366594176889 Centerline is valid? [True, True] Translation: X:87.83, Y:-6.66, Z:-2.94 [[ 9.83224701e-01 1.82123363e-01 1.00133704e-02 8.78294717e+01] [-1.82115994e-01 9.83275669e-01 -1.65055424e-03 -6.66233170e+00] [-1.01465080e-02 -2.00729194e-04 9.99948503e-01 -2.93520176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.334203822 meters Centerline goodness [0,1] 0.9999357711741029 Centerline is valid? [True, True] Translation: X:87.86, Y:-6.67, Z:-2.94 [[ 9.82924434e-01 1.83760447e-01 9.57372028e-03 8.78615449e+01] [-1.83753769e-01 9.82971035e-01 -1.58011147e-03 -6.66712564e+00] [-9.70105173e-03 -2.06077011e-04 9.99952922e-01 -2.93581853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.36420382200001 meters Centerline goodness [0,1] 0.9998727708390763 Centerline is valid? [True, True] Translation: X:87.89, Y:-6.67, Z:-2.94 [[ 9.82584584e-01 1.85536153e-01 1.01917068e-02 8.78932355e+01] [-1.85528660e-01 9.82637410e-01 -1.68410383e-03 -6.67223188e+00] [-1.03272145e-02 -2.36079237e-04 9.99946645e-01 -2.93578981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.394203822 meters Centerline goodness [0,1] 0.9999354921945556 Centerline is valid? [True, True] Translation: X:87.92, Y:-6.68, Z:-2.94 [[ 9.82665043e-01 1.85106086e-01 1.02542398e-02 8.79234670e+01] [-1.85098456e-01 9.82718517e-01 -1.69647100e-03 -6.67748973e+00] [-1.03910584e-02 -2.30981193e-04 9.99945985e-01 -2.93819537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.424203822 meters Centerline goodness [0,1] 0.9999148646347693 Centerline is valid? [True, True] Translation: X:87.95, Y:-6.68, Z:-2.94 [[ 9.82854553e-01 1.84125506e-01 9.73273844e-03 8.79536343e+01] [-1.84118571e-01 9.82902719e-01 -1.61152483e-03 -6.68359684e+00] [-9.86305790e-03 -2.08083383e-04 9.99951337e-01 -2.94205268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.454203822 meters Centerline goodness [0,1] 0.9999574178163856 Centerline is valid? [True, True] Translation: X:87.98, Y:-6.70, Z:-2.94 [[ 9.83623062e-01 1.79919487e-01 1.07074689e-02 8.79818815e+01] [-1.79910794e-01 9.83681324e-01 -1.77751575e-03 -6.70028090e+00] [-1.08525469e-02 -1.77983751e-04 9.99941094e-01 -2.94205806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.484203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.01, Y:-6.72, Z:-2.94 [[ 9.84036531e-01 1.77587493e-01 1.16098509e-02 8.80126046e+01] [-1.77577116e-01 9.84105002e-01 -1.92696575e-03 -6.71521053e+00] [-1.17675174e-02 -1.65439146e-04 9.99930747e-01 -2.93700233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.514203822 meters Centerline goodness [0,1] 0.9999788220843304 Centerline is valid? [True, True] Translation: X:88.04, Y:-6.72, Z:-2.94 [[ 9.84379800e-01 1.75659226e-01 1.18425089e-02 8.80434438e+01] [-1.75648303e-01 9.84451022e-01 -1.96441978e-03 -6.72171164e+00] [-1.20034385e-02 -1.46381441e-04 9.99927945e-01 -2.94054192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.544203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.07, Y:-6.73, Z:-2.94 [[ 9.85042903e-01 1.71901618e-01 1.18453937e-02 8.80749032e+01] [-1.71890370e-01 9.85114117e-01 -1.96890454e-03 -6.73170155e+00] [-1.20075224e-02 -9.66536505e-05 9.99927902e-01 -2.94081888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.574203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.11, Y:-6.74, Z:-2.94 [[ 9.85287720e-01 1.70485187e-01 1.19544695e-02 8.81061326e+01] [-1.70473640e-01 9.85360236e-01 -1.98586341e-03 -6.73985859e+00] [-1.21180192e-02 -8.12750950e-05 9.99926571e-01 -2.94215270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.604203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.14, Y:-6.75, Z:-2.94 [[ 9.85478597e-01 1.69397607e-01 1.16784505e-02 8.81381488e+01] [-1.69386494e-01 9.85547790e-01 -1.94146165e-03 -6.74927214e+00] [-1.18385501e-02 -6.49028851e-05 9.99929920e-01 -2.94409697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.634203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.17, Y:-6.76, Z:-2.94 [[ 9.85547482e-01 1.69018957e-01 1.13469694e-02 8.81696749e+01] [-1.69008417e-01 9.85612799e-01 -1.88835116e-03 -6.76146269e+00] [-1.15028854e-02 -5.66736194e-05 9.99933838e-01 -2.94426207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.664203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.20, Y:-6.77, Z:-2.94 [[ 9.85458295e-01 1.69467029e-01 1.23642924e-02 8.82010515e+01] [-1.69454508e-01 9.85535855e-01 -2.06101415e-03 -6.76820520e+00] [-1.25347274e-02 -6.41415914e-05 9.99921435e-01 -2.94289703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.694203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.23, Y:-6.77, Z:-2.94 [[ 9.85395219e-01 1.69790213e-01 1.29439571e-02 8.82317991e+01] [-1.69776483e-01 9.85480228e-01 -2.16030769e-03 -6.77468759e+00] [-1.31228128e-02 -6.88226419e-05 9.99913890e-01 -2.94254183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.724203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.26, Y:-6.78, Z:-2.94 [[ 9.85442791e-01 1.69569513e-01 1.21937185e-02 8.82634437e+01] [-1.69557294e-01 9.85518227e-01 -2.03656230e-03 -6.78162599e+00] [-1.23624707e-02 -6.06182696e-05 9.99923580e-01 -2.94460647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.75420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.29, Y:-6.79, Z:-2.95 [[ 9.85597138e-01 1.68726314e-01 1.13891654e-02 8.82949318e+01] [-1.68715579e-01 9.85662939e-01 -1.90381744e-03 -6.78819677e+00] [-1.15471023e-02 -4.51326170e-05 9.99933329e-01 -2.94780565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.784203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.33, Y:-6.79, Z:-2.95 [[ 9.85813664e-01 1.67475096e-01 1.11136011e-02 8.83274211e+01] [-1.67464780e-01 9.85876306e-01 -1.85901610e-03 -6.79485054e+00] [-1.12679749e-02 -2.84932823e-05 9.99936514e-01 -2.94937273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.814203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.36, Y:-6.80, Z:-2.95 [[ 9.86238440e-01 1.64894646e-01 1.19789618e-02 8.83576336e+01] [-1.64882429e-01 9.86311186e-01 -2.00720792e-03 -6.80454845e+00] [-1.21459618e-02 4.46530196e-06 9.99926235e-01 -2.95179262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.844203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.39, Y:-6.82, Z:-2.95 [[ 9.86412957e-01 1.63834273e-01 1.21576428e-02 8.83891716e+01] [-1.63821593e-01 9.86487876e-01 -2.03845865e-03 -6.81558546e+00] [-1.23273366e-02 1.90776195e-05 9.99924015e-01 -2.95082979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.874203822 meters Centerline goodness [0,1] 0.9999143212097845 Centerline is valid? [True, True] Translation: X:88.42, Y:-6.83, Z:-2.95 [[ 9.86677632e-01 1.62248807e-01 1.19404604e-02 8.84188363e+01] [-1.62236427e-01 9.86749879e-01 -2.00473062e-03 -6.83100314e+00] [-1.21075130e-02 4.08452256e-05 9.99926701e-01 -2.95014389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.904203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.45, Y:-6.84, Z:-2.95 [[ 9.86725049e-01 1.61928631e-01 1.23610917e-02 8.84499312e+01] [-1.61915311e-01 9.86802471e-01 -2.07746302e-03 -6.83937480e+00] [-1.25343565e-02 4.84348028e-05 9.99921441e-01 -2.95171758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.934203822 meters Centerline goodness [0,1] 0.9998716577540107 Centerline is valid? [True, True] Translation: X:88.48, Y:-6.85, Z:-2.95 [[ 9.86691689e-01 1.62100618e-01 1.27632238e-02 8.84813923e+01] [-1.62086396e-01 9.86774233e-01 -2.14774494e-03 -6.84589306e+00] [-1.29425711e-02 5.04171321e-05 9.99916240e-01 -2.95041200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.964203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.51, Y:-6.85, Z:-2.95 [[ 9.86620268e-01 1.62435745e-01 1.39669644e-02 8.85117612e+01] [-1.62418705e-01 9.86719122e-01 -2.35340931e-03 -6.85366094e+00] [-1.41637487e-02 5.34250509e-05 9.99899688e-01 -2.95167180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.994203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.54, Y:-6.86, Z:-2.95 [[ 9.86259599e-01 1.64591677e-01 1.41979708e-02 8.85430565e+01] [-1.64574259e-01 9.86361789e-01 -2.39456537e-03 -6.85882690e+00] [-1.43984614e-02 2.50425516e-05 9.99896336e-01 -2.95135688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.024203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.57, Y:-6.86, Z:-2.96 [[ 9.85957897e-01 1.66474199e-01 1.31668342e-02 8.85736281e+01] [-1.66459360e-01 9.86045811e-01 -2.22273673e-03 -6.86251502e+00] [-1.33531300e-02 -2.17957370e-07 9.99910843e-01 -2.95598794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.054203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.60, Y:-6.87, Z:-2.96 [[ 9.85505429e-01 1.69297185e-01 1.08403128e-02 8.86044529e+01] [-1.69287288e-01 9.85565047e-01 -1.83083766e-03 -6.86958594e+00] [-1.09937891e-02 -3.08266991e-05 9.99939566e-01 -2.96046671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.084203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.64, Y:-6.88, Z:-2.96 [[ 9.85367807e-01 1.70115901e-01 1.05292824e-02 8.86366603e+01] [-1.70106602e-01 9.85424060e-01 -1.77911147e-03 -6.87817775e+00] [-1.06784634e-02 -3.80212790e-05 9.99942983e-01 -2.96117727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.11420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.67, Y:-6.88, Z:-2.96 [[ 9.85154585e-01 1.71330364e-01 1.07866034e-02 8.86691980e+01] [-1.71320653e-01 9.85213634e-01 -1.82487780e-03 -6.88453759e+00] [-1.09397657e-02 -5.01812029e-05 9.99940158e-01 -2.96179372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.144203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.70, Y:-6.89, Z:-2.96 [[ 9.84650691e-01 1.74189474e-01 1.10019720e-02 8.87020726e+01] [-1.74179519e-01 9.84712151e-01 -1.86403330e-03 -6.88528630e+00] [-1.11584705e-02 -8.08965265e-05 9.99937739e-01 -2.96332633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.174203822 meters Centerline goodness [0,1] 0.9999787433041408 Centerline is valid? [True, True] Translation: X:88.73, Y:-6.89, Z:-2.97 [[ 9.84393726e-01 1.75620874e-01 1.12383793e-02 8.87327636e+01] [-1.75610540e-01 9.84457871e-01 -1.90750231e-03 -6.88840338e+00] [-1.13987082e-02 -9.58445624e-05 9.99935028e-01 -2.96536025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.204203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.76, Y:-6.89, Z:-2.96 [[ 9.84146696e-01 1.76972608e-01 1.16608702e-02 8.87647939e+01] [-1.76961586e-01 9.84215770e-01 -1.97855655e-03 -6.89472837e+00] [-1.18269627e-02 -1.16336191e-04 9.99930052e-01 -2.96292911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.234203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.80, Y:-6.90, Z:-2.96 [[ 9.83909213e-01 1.78301007e-01 1.14634985e-02 8.87969506e+01] [-1.78290415e-01 9.83975983e-01 -1.94759919e-03 -6.90025630e+00] [-1.16270661e-02 -1.27571128e-04 9.99932395e-01 -2.96242692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.264203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.83, Y:-6.90, Z:-2.97 [[ 9.83669281e-01 1.79701225e-01 1.01101405e-02 8.88280540e+01] [-1.79693045e-01 9.83721228e-01 -1.71911891e-03 -6.90369973e+00] [-1.02544876e-02 -1.25677469e-04 9.99947413e-01 -2.96633991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.294203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.86, Y:-6.91, Z:-2.97 [[ 9.83699352e-01 1.79521520e-01 1.03734406e-02 8.88590169e+01] [-1.79512879e-01 9.83754038e-01 -1.76574656e-03 -6.90992089e+00] [-1.05219036e-02 -1.25202449e-04 9.99944635e-01 -2.96816994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.324203822 meters Centerline goodness [0,1] 0.9999577158079452 Centerline is valid? [True, True] Translation: X:88.89, Y:-6.92, Z:-2.97 [[ 9.84051574e-01 1.77435836e-01 1.26104887e-02 8.88880298e+01] [-1.77422837e-01 9.84132364e-01 -2.15111792e-03 -6.92081780e+00] [-1.27920755e-02 -1.20577712e-04 9.99918171e-01 -2.96611613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.354203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.92, Y:-6.93, Z:-2.96 [[ 9.84291121e-01 1.75969564e-01 1.43423075e-02 8.89189556e+01] [-1.75952595e-01 9.84395601e-01 -2.44642639e-03 -6.92917698e+00] [-1.45490010e-02 -1.15570463e-04 9.99894151e-01 -2.96341013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.384203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.95, Y:-6.94, Z:-2.96 [[ 9.84575086e-01 1.74304013e-01 1.51660944e-02 8.89508961e+01] [-1.74284780e-01 9.84691882e-01 -2.59088606e-03 -6.93633431e+00] [-1.53855319e-02 -9.22975688e-05 9.99881631e-01 -2.96340789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.414203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.98, Y:-6.95, Z:-2.97 [[ 9.85410355e-01 1.69660411e-01 1.34824891e-02 8.89814701e+01] [-1.69644783e-01 9.85502585e-01 -2.30282654e-03 -6.94826995e+00] [-1.36777264e-02 -1.80048155e-05 9.99906455e-01 -2.96634876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.444203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.01, Y:-6.96, Z:-2.97 [[ 9.85834469e-01 1.67176435e-01 1.35070285e-02 8.90122150e+01] [-1.67160486e-01 9.85926995e-01 -2.30922095e-03 -6.95975147e+00] [-1.37029913e-02 1.86681566e-05 9.99906109e-01 -2.96963003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.474203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.04, Y:-6.97, Z:-2.97 [[ 9.86233141e-01 1.64747551e-01 1.42280199e-02 8.90417297e+01] [-1.64729557e-01 9.86335765e-01 -2.43556690e-03 -6.97371872e+00] [-1.44348585e-02 5.82613798e-05 9.99895810e-01 -2.97152995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.50420382200001 meters Centerline goodness [0,1] 0.9997848907244881 Centerline is valid? [True, True] Translation: X:89.07, Y:-6.99, Z:-2.97 [[ 9.86624092e-01 1.62406857e-01 1.40325639e-02 8.90724453e+01] [-1.62389081e-01 9.86723874e-01 -2.40465737e-03 -6.98664473e+00] [-1.42367987e-02 9.37577341e-05 9.99898647e-01 -2.96842859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.534203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.10, Y:-7.01, Z:-2.97 [[ 9.87074198e-01 1.59727552e-01 1.31010237e-02 8.91010248e+01] [-1.59711793e-01 9.87161128e-01 -2.24720883e-03 -7.00682394e+00] [-1.32917625e-02 1.25773869e-04 9.99911653e-01 -2.97036420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.564203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.13, Y:-7.01, Z:-2.97 [[ 9.87047226e-01 1.59946065e-01 1.24511444e-02 8.91322797e+01] [-1.59931828e-01 9.87125748e-01 -2.13732773e-03 -7.01465542e+00] [-1.26327024e-02 1.18309132e-04 9.99920197e-01 -2.97235314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.594203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.16, Y:-7.02, Z:-2.98 [[ 9.86594736e-01 1.62805065e-01 1.11954668e-02 8.91641077e+01] [-1.62793725e-01 9.86658251e-01 -1.92304101e-03 -7.01845156e+00] [-1.13591805e-02 7.47103882e-05 9.99935480e-01 -2.98084919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.624203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.20, Y:-7.02, Z:-2.98 [[ 9.86256622e-01 1.64815494e-01 1.15641065e-02 8.91962374e+01] [-1.64803499e-01 9.86324414e-01 -1.98918914e-03 -7.02293054e+00] [-1.17338098e-02 5.60457458e-05 9.99931155e-01 -2.98271764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.654203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.23, Y:-7.03, Z:-2.98 [[ 9.85837526e-01 1.67298172e-01 1.16487727e-02 8.92279634e+01] [-1.67286152e-01 9.85906345e-01 -2.00568378e-03 -7.02808571e+00] [-1.18201462e-02 2.85999684e-05 9.99930139e-01 -2.98275154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.684203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.26, Y:-7.03, Z:-2.98 [[ 9.84606125e-01 1.74496630e-01 1.00848796e-02 8.92604087e+01] [-1.74487987e-01 9.84657770e-01 -1.73737684e-03 -7.03119867e+00] [-1.02333214e-02 -4.90584553e-05 9.99947637e-01 -2.98317652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.714203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.29, Y:-7.03, Z:-2.99 [[ 9.83865052e-01 1.78667866e-01 9.34624704e-03 8.92911733e+01] [-1.78660593e-01 9.83909440e-01 -1.61420410e-03 -7.03321566e+00] [-9.48426709e-03 -8.16470378e-05 9.99955020e-01 -2.98514450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.744203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.32, Y:-7.03, Z:-2.98 [[ 9.82217909e-01 1.87555869e-01 8.41283427e-03 8.93231311e+01] [-1.87550298e-01 9.82253925e-01 -1.45336290e-03 -7.03100287e+00] [-8.53612623e-03 -1.50310502e-04 9.99963555e-01 -2.98316539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.774203822 meters Centerline goodness [0,1] 0.9998286791159843 Centerline is valid? [True, True] Translation: X:89.35, Y:-7.03, Z:-2.99 [[ 9.81293385e-01 1.92331304e-01 8.48307935e-03 8.93540005e+01] [-1.92325815e-01 9.81330032e-01 -1.46586442e-03 -7.02856031e+00] [-8.60663215e-03 -1.93072092e-04 9.99962944e-01 -2.98510570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.804203822 meters Centerline goodness [0,1] 0.9998084658111472 Centerline is valid? [True, True] Translation: X:89.39, Y:-7.03, Z:-2.99 [[ 9.80289892e-01 1.97348785e-01 9.22953414e-03 8.93863032e+01] [-1.97342514e-01 9.80333306e-01 -1.59436308e-03 -7.02634712e+00] [-9.36266533e-03 -2.58441456e-04 9.99956136e-01 -2.98524413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.834203822 meters Centerline goodness [0,1] 0.999303371260898 Centerline is valid? [True, True] Translation: X:89.42, Y:-7.02, Z:-2.99 [[ 9.79306330e-01 2.02109659e-01 1.05260243e-02 8.94182068e+01] [-2.02101774e-01 9.79362837e-01 -1.81859121e-03 -7.02100541e+00] [-1.06763519e-02 -3.46370309e-04 9.99942946e-01 -2.98608690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.86420382200001 meters Centerline goodness [0,1] 0.987954340011352 Centerline is valid? [True, True] Translation: X:89.45, Y:-7.01, Z:-2.99 [[ 9.77562440e-01 2.10292063e-01 1.22034890e-02 8.94511050e+01] [-2.10282086e-01 9.77638478e-01 -2.10951680e-03 -7.00592995e+00] [-1.23742151e-02 -5.03990741e-04 9.99923309e-01 -2.98595874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.894203822 meters Centerline goodness [0,1] 0.9932004490669152 Centerline is valid? [True, True] Translation: X:89.48, Y:-7.01, Z:-2.98 [[ 9.76907030e-01 2.13266801e-01 1.30356133e-02 8.94823232e+01] [-2.13255687e-01 9.76993826e-01 -2.25294781e-03 -7.00898404e+00] [-1.32161926e-02 -5.78998108e-04 9.99912495e-01 -2.98370198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.924203822 meters Centerline goodness [0,1] 0.9923449859658076 Centerline is valid? [True, True] Translation: X:89.51, Y:-7.01, Z:-2.98 [[ 9.76428058e-01 2.15398062e-01 1.38535933e-02 8.95137031e+01] [-2.15385723e-01 9.76526117e-01 -2.39432208e-03 -7.01063172e+00] [-1.40441281e-02 -6.45982960e-04 9.99901168e-01 -2.98279081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.954203822 meters Centerline goodness [0,1] 0.9797360380241046 Centerline is valid? [True, True] Translation: X:89.55, Y:-7.01, Z:-2.99 [[ 9.76086583e-01 2.17012585e-01 1.26696850e-02 8.95452066e+01] [-2.17002395e-01 9.76168615e-01 -2.19014763e-03 -7.00598175e+00] [-1.28430384e-02 -6.11578263e-04 9.99917338e-01 -2.98585687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.984203822 meters Centerline goodness [0,1] 0.9867423440213478 Centerline is valid? [True, True] Translation: X:89.58, Y:-7.01, Z:-2.99 [[ 9.76139181e-01 2.16822345e-01 1.18478276e-02 8.95774874e+01] [-2.16813456e-01 9.76210911e-01 -2.04507036e-03 -7.01029063e+00] [-1.20093956e-02 -5.72495143e-04 9.99927721e-01 -2.98799750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.014203822 meters Centerline goodness [0,1] 0.9966816781227779 Centerline is valid? [True, True] Translation: X:89.61, Y:-7.01, Z:-2.99 [[ 9.76828753e-01 2.13672420e-01 1.22345836e-02 8.96084816e+01] [-2.13662627e-01 9.76905215e-01 -2.11730826e-03 -7.01272190e+00] [-1.24044389e-02 -5.45825681e-04 9.99922913e-01 -2.98770561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.044203822 meters Centerline goodness [0,1] 0.9967818933549295 Centerline is valid? [True, True] Translation: X:89.64, Y:-7.02, Z:-2.99 [[ 9.77274708e-01 2.11624645e-01 1.22129088e-02 8.96393680e+01] [-2.11614726e-01 9.77350879e-01 -2.11364074e-03 -7.01592279e+00] [-1.23835957e-02 -5.18823717e-04 9.99923186e-01 -2.98997133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.074203822 meters Centerline goodness [0,1] 0.9966662392614438 Centerline is valid? [True, True] Translation: X:89.67, Y:-7.02, Z:-2.99 [[ 9.77814428e-01 2.09145307e-01 1.17125815e-02 8.96698547e+01] [-2.09136005e-01 9.77884463e-01 -2.02710635e-03 -7.01896061e+00] [-1.18775112e-02 -4.67388659e-04 9.99929351e-01 -2.99187902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.104203822 meters Centerline goodness [0,1] 0.999679555650502 Centerline is valid? [True, True] Translation: X:89.70, Y:-7.02, Z:-2.99 [[ 9.79269115e-01 2.02250659e-01 1.12548527e-02 8.97000778e+01] [-2.02241603e-01 9.79333720e-01 -1.94890934e-03 -7.02339891e+00] [-1.14164250e-02 -3.67692729e-04 9.99934763e-01 -2.99419322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.134203822 meters Centerline goodness [0,1] 0.9998070284525826 Centerline is valid? [True, True] Translation: X:89.73, Y:-7.03, Z:-3.00 [[ 9.80148376e-01 1.97981688e-01 1.06024371e-02 8.97301785e+01] [-1.97973405e-01 9.80205673e-01 -1.83568716e-03 -7.03026746e+00] [-1.07560014e-02 -2.99754774e-04 9.99942108e-01 -2.99622099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.164203822 meters Centerline goodness [0,1] 0.9998503250085529 Centerline is valid? [True, True] Translation: X:89.76, Y:-7.04, Z:-3.00 [[ 9.81061942e-01 1.93464871e-01 9.42387329e-03 8.97602525e+01] [-1.93458120e-01 9.81107178e-01 -1.63146519e-03 -7.03726361e+00] [-9.56146093e-03 -2.22556400e-04 9.99954263e-01 -2.99958032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.194203822 meters Centerline goodness [0,1] 0.9998503250085529 Centerline is valid? [True, True] Translation: X:89.79, Y:-7.04, Z:-3.00 [[ 9.81025593e-01 1.93649083e-01 9.42440106e-03 8.97922268e+01] [-1.93642370e-01 9.81070834e-01 -1.62842000e-03 -7.04298454e+00] [-9.56134705e-03 -2.27441659e-04 9.99954263e-01 -3.00054735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.224203822 meters Centerline goodness [0,1] 0.9999151265675063 Centerline is valid? [True, True] Translation: X:89.82, Y:-7.05, Z:-3.00 [[ 9.81991031e-01 1.88731767e-01 8.59860318e-03 8.98215786e+01] [-1.88725947e-01 9.82028663e-01 -1.49065728e-03 -7.05043697e+00] [-8.72540917e-03 -1.58967456e-04 9.99961920e-01 -3.00411172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.25420382200001 meters Centerline goodness [0,1] 0.9999788180470239 Centerline is valid? [True, True] Translation: X:89.85, Y:-7.06, Z:-3.00 [[ 9.83968064e-01 1.78087420e-01 9.57707924e-03 8.98502685e+01] [-1.78079692e-01 9.84014667e-01 -1.66052893e-03 -7.06159286e+00] [-9.71970576e-03 -7.15758859e-05 9.99952760e-01 -3.00456818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.284203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.88, Y:-7.07, Z:-3.00 [[ 9.84994380e-01 1.72261831e-01 1.05798755e-02 8.98801623e+01] [-1.72252095e-01 9.85051197e-01 -1.83158971e-03 -7.07207545e+00] [-1.07372320e-02 -1.83001487e-05 9.99942354e-01 -3.00400653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.314203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.91, Y:-7.08, Z:-3.00 [[ 9.86047430e-01 1.66080473e-01 1.13023600e-02 8.99115997e+01] [-1.66068936e-01 9.86112201e-01 -1.95828441e-03 -7.08484134e+00] [-1.14706279e-02 5.39904095e-05 9.99934209e-01 -3.00152599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.344203822 meters Centerline goodness [0,1] 0.9999788041289557 Centerline is valid? [True, True] Translation: X:89.94, Y:-7.11, Z:-3.00 [[ 9.88126318e-01 1.53118432e-01 1.26935273e-02 8.99380537e+01] [-1.53102737e-01 9.88207817e-01 -2.20494099e-03 -7.10616836e+00] [-1.28814600e-02 2.35346450e-04 9.99917003e-01 -3.00039323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.374203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.97, Y:-7.11, Z:-3.00 [[ 9.89049996e-01 1.46987822e-01 1.32168987e-02 8.99681017e+01] [-1.46970245e-01 9.89138247e-01 -2.29680259e-03 -7.11392195e+00] [-1.34109420e-02 3.29161759e-04 9.99910015e-01 -2.99767033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.404203822 meters Centerline goodness [0,1] 0.9999146265980834 Centerline is valid? [True, True] Translation: X:90.00, Y:-7.13, Z:-3.00 [[ 9.90629645e-01 1.35936938e-01 1.31929880e-02 8.99965026e+01] [-1.35918435e-01 9.90717376e-01 -2.29330481e-03 -7.13041730e+00] [-1.33822673e-02 4.78645448e-04 9.99910339e-01 -2.99931978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.434203822 meters Centerline goodness [0,1] 0.9998717729526415 Centerline is valid? [True, True] Translation: X:90.02, Y:-7.14, Z:-3.00 [[ 9.91322713e-01 1.30877453e-01 1.22625909e-02 9.00238501e+01] [-1.30861087e-01 9.91398424e-01 -2.13115221e-03 -7.14388692e+00] [-1.24360330e-02 5.07963622e-04 9.99922541e-01 -3.00253589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.464203822 meters Centerline goodness [0,1] 0.9998724869299103 Centerline is valid? [True, True] Translation: X:90.05, Y:-7.16, Z:-3.01 [[ 9.91901420e-01 1.26495758e-01 1.14190963e-02 9.00528006e+01] [-1.26481262e-01 9.91967009e-01 -1.98571128e-03 -7.15591683e+00] [-1.15785508e-02 5.25328124e-04 9.99932828e-01 -3.00561086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.494203822 meters Centerline goodness [0,1] 0.9993392164385898 Centerline is valid? [True, True] Translation: X:90.08, Y:-7.17, Z:-3.01 [[ 9.92469822e-01 1.22025925e-01 1.06454443e-02 9.00822210e+01] [-1.22013071e-01 9.92526767e-01 -1.85108185e-03 -7.16840295e+00] [-1.07917684e-02 5.38259528e-04 9.99941622e-01 -3.00762246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.524203822 meters Centerline goodness [0,1] 0.9993824005451912 Centerline is valid? [True, True] Translation: X:90.11, Y:-7.17, Z:-3.01 [[ 9.92447353e-01 1.22192625e-01 1.08265835e-02 9.01144412e+01] [-1.22179375e-01 9.92506256e-01 -1.87938470e-03 -7.17393323e+00] [-1.09750988e-02 5.42405161e-04 9.99939625e-01 -3.00753949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.554203822 meters Centerline goodness [0,1] 0.9927594700186853 Centerline is valid? [True, True] Translation: X:90.14, Y:-7.19, Z:-3.01 [[ 9.92281932e-01 1.23533249e-01 1.07751219e-02 9.01441922e+01] [-1.23520176e-01 9.92340293e-01 -1.87302208e-03 -7.18664878e+00] [-1.09239682e-02 5.27621016e-04 9.99940192e-01 -3.01113090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.584203822 meters Centerline goodness [0,1] 0.999935093033319 Centerline is valid? [True, True] Translation: X:90.18, Y:-7.17, Z:-3.01 [[ 9.92028725e-01 1.25618678e-01 9.94767890e-03 9.01789841e+01] [-1.25607601e-01 9.92078488e-01 -1.73305556e-03 -7.17376727e+00] [-1.00865824e-02 4.69736815e-04 9.99949019e-01 -3.00631096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.61420382200001 meters Centerline goodness [0,1] 0.9998706701442028 Centerline is valid? [True, True] Translation: X:90.21, Y:-7.17, Z:-3.01 [[ 9.91245323e-01 1.31802701e-01 7.79474510e-03 9.02084117e+01] [-1.31796082e-01 9.91275918e-01 -1.35912826e-03 -7.17462292e+00] [-7.90587988e-03 3.19912667e-04 9.99968697e-01 -3.01282770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.644203822 meters Centerline goodness [0,1] 0.9997856836690956 Centerline is valid? [True, True] Translation: X:90.24, Y:-7.17, Z:-3.01 [[ 9.90704459e-01 1.35815097e-01 7.67686828e-03 9.02390039e+01] [-1.35808799e-01 9.90734162e-01 -1.33823589e-03 -7.17480996e+00] [-7.78748830e-03 2.83209998e-04 9.99969637e-01 -3.01493345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.674203822 meters Centerline goodness [0,1] 0.999956979995698 Centerline is valid? [True, True] Translation: X:90.27, Y:-7.17, Z:-3.01 [[ 9.90105444e-01 1.40095707e-01 8.02512271e-03 9.02708417e+01] [-1.40088965e-01 9.90137932e-01 -1.39894379e-03 -7.16957727e+00] [-8.14196443e-03 2.60870726e-04 9.99966820e-01 -3.01325382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.704203822 meters Centerline goodness [0,1] 0.9999568528466335 Centerline is valid? [True, True] Translation: X:90.30, Y:-7.16, Z:-3.01 [[ 9.88885562e-01 1.48413681e-01 8.87264727e-03 9.03014793e+01] [-1.48405772e-01 9.88925343e-01 -1.54696245e-03 -7.16331017e+00] [-9.00397614e-03 2.13016772e-04 9.99959441e-01 -3.01445750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.734203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.33, Y:-7.17, Z:-3.02 [[ 9.88369912e-01 1.51801478e-01 9.01267677e-03 9.03310319e+01] [-1.51793464e-01 9.88410986e-01 -1.57071063e-03 -7.16972073e+00] [-9.14666493e-03 1.84377701e-04 9.99958151e-01 -3.01978948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.764203822 meters Centerline goodness [0,1] 0.9999574114690913 Centerline is valid? [True, True] Translation: X:90.36, Y:-7.17, Z:-3.02 [[ 9.87978825e-01 1.54387686e-01 7.89204049e-03 9.03621617e+01] [-1.54381647e-01 9.88010336e-01 -1.37241447e-03 -7.17414874e+00] [-8.00930147e-03 1.37530223e-04 9.99967916e-01 -3.02272749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.794203822 meters Centerline goodness [0,1] 0.9999785614749706 Centerline is valid? [True, True] Translation: X:90.40, Y:-7.18, Z:-3.02 [[ 9.87617758e-01 1.56761882e-01 6.07258255e-03 9.03955505e+01] [-1.56758359e-01 9.87636423e-01 -1.05494514e-03 -7.17716119e+00] [-6.16287889e-03 8.99544798e-05 9.99981005e-01 -3.02471679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.824203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.43, Y:-7.18, Z:-3.03 [[ 9.86984508e-01 1.60749083e-01 4.61661351e-03 9.04275755e+01] [-1.60747089e-01 9.86995304e-01 -8.02167168e-04 -7.17860162e+00] [-4.68552349e-03 4.96193839e-05 9.99989022e-01 -3.02912171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.854203822 meters Centerline goodness [0,1] 0.9999787057345457 Centerline is valid? [True, True] Translation: X:90.46, Y:-7.18, Z:-3.03 [[ 9.86636196e-01 1.62844951e-01 5.52610231e-03 9.04591632e+01] [-1.62842117e-01 9.86651671e-01 -9.62101479e-04 -7.18263969e+00] [-5.60901145e-03 4.93619464e-05 9.99984268e-01 -3.02772349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.884203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.49, Y:-7.19, Z:-3.02 [[ 9.86215017e-01 1.65345292e-01 6.39339940e-03 9.04911822e+01] [-1.65341539e-01 9.86235739e-01 -1.11486738e-03 -7.18556629e+00] [-6.48973706e-03 4.24044519e-05 9.99978941e-01 -3.02449797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.914203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.52, Y:-7.19, Z:-3.02 [[ 9.85360843e-01 1.70333138e-01 7.11561740e-03 9.05229402e+01] [-1.70328605e-01 9.85386534e-01 -1.24269665e-03 -7.18743054e+00] [-7.22330599e-03 1.25114344e-05 9.99973912e-01 -3.02400737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.944203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.55, Y:-7.19, Z:-3.02 [[ 9.84928636e-01 1.72802999e-01 7.39637384e-03 9.05537526e+01] [-1.72798147e-01 9.84956407e-01 -1.29494183e-03 -7.19207846e+00] [-7.50887564e-03 -2.65440582e-06 9.99971808e-01 -3.02499008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.974203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.59, Y:-7.19, Z:-3.02 [[ 9.83938001e-01 1.78214648e-01 1.02737407e-02 9.05860444e+01] [-1.78205574e-01 9.83991634e-01 -1.79936921e-03 -7.19458830e+00] [-1.04299488e-02 -6.03701073e-05 9.99945605e-01 -3.01902418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.00420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.62, Y:-7.20, Z:-3.02 [[ 9.83446850e-01 1.80824175e-01 1.16151122e-02 9.06176568e+01] [-1.80812711e-01 9.83515434e-01 -2.03837754e-03 -7.19692973e+00] [-1.17922300e-02 -9.55239475e-05 9.99930465e-01 -3.01890147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.034203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.65, Y:-7.20, Z:-3.02 [[ 9.82989802e-01 1.83240332e-01 1.24108606e-02 9.06505089e+01] [-1.83227439e-01 9.83068137e-01 -2.17782280e-03 -7.20043632e+00] [-1.25997866e-02 -1.33232602e-04 9.99920611e-01 -3.01810097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.064203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.68, Y:-7.20, Z:-3.02 [[ 9.82638753e-01 1.85105633e-01 1.25293793e-02 9.06816107e+01] [-1.85092603e-01 9.82718617e-01 -2.20174588e-03 -7.20323554e+00] [-1.27204098e-02 -1.55574595e-04 9.99919080e-01 -3.01998017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.094203822 meters Centerline goodness [0,1] 0.9999573742540494 Centerline is valid? [True, True] Translation: X:90.71, Y:-7.21, Z:-3.02 [[ 9.82444079e-01 1.86153910e-01 1.22618617e-02 9.07124402e+01] [-1.86141488e-01 9.82520583e-01 -2.15668371e-03 -7.20887903e+00] [-1.24490066e-02 -1.63620045e-04 9.99922495e-01 -3.02187652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.124203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.74, Y:-7.22, Z:-3.02 [[ 9.82440272e-01 1.86256523e-01 1.09370353e-02 9.07431626e+01] [-1.86246638e-01 9.82501138e-01 -1.92446529e-03 -7.21757883e+00] [-1.11040938e-02 -1.46313861e-04 9.99938337e-01 -3.02203182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.154203822 meters Centerline goodness [0,1] 0.9999783942615159 Centerline is valid? [True, True] Translation: X:90.77, Y:-7.22, Z:-3.03 [[ 9.82522908e-01 1.85970606e-01 7.97926178e-03 9.07747328e+01] [-1.85965314e-01 9.82555303e-01 -1.40664321e-03 -7.22236595e+00] [-8.10166027e-03 -1.01806747e-04 9.99967176e-01 -3.02866033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.184203822 meters Centerline goodness [0,1] 0.9999786169439336 Centerline is valid? [True, True] Translation: X:90.81, Y:-7.23, Z:-3.03 [[ 9.82509894e-01 1.86032080e-01 8.14701452e-03 9.08073169e+01] [-1.86026587e-01 9.82543665e-01 -1.43352780e-03 -7.22839779e+00] [-8.27147967e-03 -1.07106063e-04 9.99965785e-01 -3.03038504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.214203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.84, Y:-7.24, Z:-3.03 [[ 9.82507468e-01 1.85997395e-01 9.16757253e-03 9.08390198e+01] [-1.85990411e-01 9.82550230e-01 -1.61612570e-03 -7.23547497e+00] [-9.30819567e-03 -1.17225010e-04 9.99956671e-01 -3.02910287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.244203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.87, Y:-7.24, Z:-3.03 [[ 9.82519705e-01 1.85843222e-01 1.08317635e-02 9.08699157e+01] [-1.85833429e-01 9.82579401e-01 -1.91251215e-03 -7.23954782e+00] [-1.09984951e-02 -1.33822880e-04 9.99939506e-01 -3.03282041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.274203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.90, Y:-7.25, Z:-3.03 [[ 9.82700740e-01 1.84903615e-01 1.04837339e-02 9.09006361e+01] [-1.84894375e-01 9.82756653e-01 -1.85233629e-03 -7.25188887e+00] [-1.06454629e-02 -1.18091180e-04 9.99943328e-01 -3.02585289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.304203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.93, Y:-7.26, Z:-3.03 [[ 9.82821662e-01 1.84275425e-01 1.02052730e-02 9.09335569e+01] [-1.84266623e-01 9.82874639e-01 -1.80429894e-03 -7.25765968e+00] [-1.03629919e-02 -1.07187100e-04 9.99946297e-01 -3.02742370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.334203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.97, Y:-7.26, Z:-3.03 [[ 9.83049112e-01 1.83079923e-01 9.80738960e-03 9.09652019e+01] [-1.83071715e-01 9.83098029e-01 -1.73589363e-03 -7.26429201e+00] [-9.95943265e-03 -8.89869427e-05 9.99950400e-01 -3.03020088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.36420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.99, Y:-7.27, Z:-3.04 [[ 9.83836565e-01 1.78885297e-01 8.10326794e-03 9.09948025e+01] [-1.78879542e-01 9.83869935e-01 -1.43535994e-03 -7.27481746e+00] [-8.22932649e-03 -3.73492698e-05 9.99966138e-01 -3.03695463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.394203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.03, Y:-7.28, Z:-3.04 [[ 9.84285367e-01 1.76426532e-01 7.48303305e-03 9.10254285e+01] [-1.76421550e-01 9.84313811e-01 -1.32591726e-03 -7.28410704e+00] [-7.59957976e-03 -1.50873281e-05 9.99971123e-01 -3.03962993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.424203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.06, Y:-7.30, Z:-3.04 [[ 9.85247937e-01 1.70955383e-01 7.79488002e-03 9.10560967e+01] [-1.70949798e-01 9.85278771e-01 -1.38224718e-03 -7.29906797e+00] [-7.91643240e-03 2.93230209e-05 9.99968664e-01 -3.03690876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.454203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.09, Y:-7.31, Z:-3.04 [[ 9.85706870e-01 1.68277979e-01 8.03040023e-03 9.10864363e+01] [-1.68271943e-01 9.85739580e-01 -1.42626224e-03 -7.31053034e+00] [-8.15589187e-03 5.45854348e-05 9.99966739e-01 -3.03689231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.484203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.12, Y:-7.32, Z:-3.04 [[ 9.86100011e-01 1.65942711e-01 8.35370562e-03 9.11158626e+01] [-1.65936068e-01 9.86135391e-01 -1.48706127e-03 -7.32245430e+00] [-8.48465174e-03 8.02100739e-05 9.99964001e-01 -3.03877782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.514203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.15, Y:-7.33, Z:-3.04 [[ 9.86382265e-01 1.64283598e-01 7.80558308e-03 9.11470969e+01] [-1.64277755e-01 9.86413145e-01 -1.38839997e-03 -7.33190310e+00] [-7.92762110e-03 8.72094458e-05 9.99968572e-01 -3.03969162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.544203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.18, Y:-7.34, Z:-3.05 [[ 9.86844626e-01 1.61573692e-01 5.62374995e-03 9.11751650e+01] [-1.61570595e-01 9.86860646e-01 -1.00368532e-03 -7.34363408e+00] [-5.71202666e-03 8.18488350e-05 9.99983683e-01 -3.04582322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.574203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.21, Y:-7.35, Z:-3.05 [[ 9.86947794e-01 1.60972510e-01 4.67995126e-03 9.12064688e+01] [-1.60970378e-01 9.86958888e-01 -8.31261144e-04 -7.35119178e+00] [-4.75272968e-03 6.70778289e-05 9.99988703e-01 -3.04784823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.604203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.24, Y:-7.36, Z:-3.05 [[ 9.86873482e-01 1.61450478e-01 3.80447185e-03 9.12383799e+01] [-1.61449073e-01 9.86880814e-01 -6.75468305e-04 -7.35738780e+00] [-3.86361495e-03 5.23733041e-05 9.99992535e-01 -3.04940788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.634203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.27, Y:-7.36, Z:-3.05 [[ 9.86247084e-01 1.65225032e-01 4.16871338e-03 9.12706341e+01] [-1.65223374e-01 9.86255893e-01 -7.41344370e-04 -7.35824812e+00] [-4.23390679e-03 4.23798306e-05 9.99991036e-01 -3.04879463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.664203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.30, Y:-7.36, Z:-3.05 [[ 9.85736397e-01 1.68211215e-01 5.36117270e-03 9.13020530e+01] [-1.68208505e-01 9.85750975e-01 -9.55822448e-04 -7.36100972e+00] [-5.44556128e-03 4.03941335e-05 9.99985172e-01 -3.05060530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.694203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.33, Y:-7.36, Z:-3.05 [[ 9.85097824e-01 1.71889736e-01 6.01622097e-03 9.13338847e+01] [-1.71886378e-01 9.85116195e-01 -1.07474355e-03 -7.36151196e+00] [-6.11141410e-03 2.46211006e-05 9.99981325e-01 -3.05062877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.724203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.37, Y:-7.35, Z:-3.05 [[ 9.83470033e-01 1.80984534e-01 5.59397891e-03 9.13689263e+01] [-1.80981780e-01 9.83485942e-01 -9.98801228e-04 -7.35425569e+00] [-5.68236719e-03 -3.01171845e-05 9.99983855e-01 -3.04683445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.75420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.40, Y:-7.35, Z:-3.05 [[ 9.82587352e-01 1.85706271e-01 5.93948940e-03 9.14008836e+01] [-1.85703238e-01 9.82605301e-01 -1.06292459e-03 -7.35228459e+00] [-6.03356553e-03 -5.85661583e-05 9.99981796e-01 -3.04887855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.784203822 meters Centerline goodness [0,1] 0.9999784969358133 Centerline is valid? [True, True] Translation: X:91.43, Y:-7.35, Z:-3.04 [[ 9.81763910e-01 1.90003309e-01 6.19409722e-03 9.14339296e+01] [-1.90000092e-01 9.81783446e-01 -1.10925090e-03 -7.35246325e+00] [-6.29202346e-03 -8.78565366e-05 9.99980201e-01 -3.04489951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.814203822 meters Centerline goodness [0,1] 0.9999786036758885 Centerline is valid? [True, True] Translation: X:91.47, Y:-7.34, Z:-3.05 [[ 9.80678020e-01 1.95487894e-01 7.42329101e-03 9.14670765e+01] [-1.95483409e-01 9.80706104e-01 -1.33202107e-03 -7.34335799e+00] [-7.54046080e-03 -1.44846454e-04 9.99971560e-01 -3.04749299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.844203822 meters Centerline goodness [0,1] 0.9999144238586282 Centerline is valid? [True, True] Translation: X:91.50, Y:-7.35, Z:-3.05 [[ 9.80463059e-01 1.96544616e-01 7.89954728e-03 9.15004087e+01] [-1.96539565e-01 9.80494869e-01 -1.41842917e-03 -7.34640163e+00] [-8.02425019e-03 -1.61856177e-04 9.99967792e-01 -3.04878659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.874203822 meters Centerline goodness [0,1] 0.9999786434307193 Centerline is valid? [True, True] Translation: X:91.53, Y:-7.35, Z:-3.05 [[ 9.80466787e-01 1.96502240e-01 8.47045260e-03 9.15322505e+01] [-1.96496408e-01 9.80503361e-01 -1.52348347e-03 -7.35184829e+00] [-8.60467516e-03 -1.70688565e-04 9.99962965e-01 -3.04929998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.904203822 meters Centerline goodness [0,1] 0.9999152901313003 Centerline is valid? [True, True] Translation: X:91.56, Y:-7.36, Z:-3.05 [[ 9.80720038e-01 1.95220325e-01 8.78815943e-03 9.15630303e+01] [-1.95213979e-01 9.80759399e-01 -1.58257569e-03 -7.35795800e+00] [-8.92802090e-03 -1.63507879e-04 9.99960131e-01 -3.05128611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.934203822 meters Centerline goodness [0,1] 0.9998944390491069 Centerline is valid? [True, True] Translation: X:91.59, Y:-7.37, Z:-3.05 [[ 9.81175444e-01 1.92901042e-01 9.16162019e-03 9.15930677e+01] [-1.92894016e-01 9.81218206e-01 -1.65275567e-03 -7.36752630e+00] [-9.30836681e-03 -1.45578436e-04 9.99956666e-01 -3.05151016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.964203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.62, Y:-7.38, Z:-3.05 [[ 9.81768062e-01 1.89826182e-01 9.87384067e-03 9.16216739e+01] [-1.89817839e-01 9.81817705e-01 -1.78397962e-03 -7.37839312e+00] [-1.00329576e-02 -1.22776881e-04 9.99949661e-01 -3.05109952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.994203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.65, Y:-7.39, Z:-3.05 [[ 9.82921309e-01 1.83826994e-01 8.56370352e-03 9.16519214e+01] [-1.83820518e-01 9.82958612e-01 -1.54403177e-03 -7.39391556e+00] [-8.70160085e-03 -5.65226908e-05 9.99962139e-01 -3.05054820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.024203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.68, Y:-7.40, Z:-3.06 [[ 9.83366844e-01 1.81509488e-01 6.62985556e-03 9.16825845e+01] [-1.81505552e-01 9.83389193e-01 -1.19561508e-03 -7.40144391e+00] [-6.73674379e-03 -2.76273655e-05 9.99977308e-01 -3.05561967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.054203822 meters Centerline goodness [0,1] 0.9998711118748926 Centerline is valid? [True, True] Translation: X:91.71, Y:-7.41, Z:-3.06 [[ 9.83857178e-01 1.78883183e-01 5.08533695e-03 9.17139645e+01] [-1.78880836e-01 9.83870320e-01 -9.16494360e-04 -7.40982221e+00] [-5.16725752e-03 -7.96976888e-06 9.99986650e-01 -3.06000840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.084203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.74, Y:-7.42, Z:-3.06 [[ 9.84275060e-01 1.76577393e-01 4.79904650e-03 9.17449673e+01] [-1.76575272e-01 9.84286759e-01 -8.65399595e-04 -7.42038718e+00] [-4.87644793e-03 4.39829528e-06 9.99988110e-01 -3.06181636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.11420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.78, Y:-7.43, Z:-3.06 [[ 9.84241010e-01 1.76767088e-01 4.79900857e-03 9.17768835e+01] [-1.76764969e-01 9.84252710e-01 -8.65611306e-04 -7.42636504e+00] [-4.87644878e-03 3.67354582e-06 9.99988110e-01 -3.06278405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.144203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.81, Y:-7.44, Z:-3.06 [[ 9.84903864e-01 1.72930109e-01 7.71723675e-03 9.18072945e+01] [-1.72924468e-01 9.84934097e-01 -1.39742656e-03 -7.43992678e+00] [-7.84262674e-03 4.18317606e-05 9.99969245e-01 -3.05569257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.174203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.84, Y:-7.45, Z:-3.06 [[ 9.85130314e-01 1.71562683e-01 9.19294940e-03 9.18372842e+01] [-1.71554591e-01 9.85173204e-01 -1.66760928e-03 -7.45041757e+00] [-9.34274694e-03 6.57197868e-05 9.99956353e-01 -3.06013926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.204203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.87, Y:-7.46, Z:-3.06 [[ 9.85341927e-01 1.70379257e-01 8.49677753e-03 9.18685080e+01] [-1.70372292e-01 9.85378559e-01 -1.54227757e-03 -7.45752632e+00] [-8.63531450e-03 7.20552963e-05 9.99962712e-01 -3.05857935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.234203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.90, Y:-7.47, Z:-3.07 [[ 9.85798323e-01 1.67815910e-01 6.28388496e-03 9.18979548e+01] [-1.67812031e-01 9.85818348e-01 -1.14323837e-03 -7.46763619e+00] [-6.38662268e-03 7.24909716e-05 9.99979603e-01 -3.06568847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.264203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.93, Y:-7.47, Z:-3.06 [[ 9.85942528e-01 1.66937833e-01 7.00658291e-03 9.19303300e+01] [-1.66932988e-01 9.85967419e-01 -1.27487944e-03 -7.47283097e+00] [-7.12108808e-03 8.73280327e-05 9.99974641e-01 -3.06146648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.294203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.96, Y:-7.48, Z:-3.06 [[ 9.86020515e-01 1.66398185e-01 8.67112513e-03 9.19605972e+01] [-1.66390741e-01 9.86058635e-01 -1.57797586e-03 -7.48237034e+00] [-8.81281013e-03 1.13121635e-04 9.99961160e-01 -3.06289074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.324203822 meters Centerline goodness [0,1] 0.9999783563837846 Centerline is valid? [True, True] Translation: X:91.99, Y:-7.49, Z:-3.06 [[ 9.86187074e-01 1.65375307e-01 9.27700221e-03 9.19926024e+01] [-1.65366750e-01 9.86230699e-01 -1.68731296e-03 -7.49185876e+00] [-9.42830427e-03 1.29898528e-04 9.99955544e-01 -3.05841524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.354203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.02, Y:-7.50, Z:-3.06 [[ 9.86225997e-01 1.65232507e-01 7.51674872e-03 9.20238979e+01] [-1.65226877e-01 9.86254636e-01 -1.36814629e-03 -7.49915297e+00] [-7.63949052e-03 1.07332515e-04 9.99970813e-01 -3.06192178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.384203822 meters Centerline goodness [0,1] 0.9999786073376832 Centerline is valid? [True, True] Translation: X:92.05, Y:-7.50, Z:-3.07 [[ 9.86043331e-01 1.66417863e-01 4.86246663e-03 9.20546928e+01] [-1.66415525e-01 9.86055318e-01 -8.84366946e-04 -7.50451863e+00] [-4.94183554e-03 6.28341931e-05 9.99987787e-01 -3.07045924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.414203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.09, Y:-7.51, Z:-3.07 [[ 9.85815482e-01 1.67757263e-01 5.03348847e-03 9.20860142e+01] [-1.67754769e-01 9.85828331e-01 -9.16639475e-04 -7.50829551e+00] [-5.11592847e-03 5.92456903e-05 9.99986912e-01 -3.07251626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.444203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.12, Y:-7.51, Z:-3.07 [[ 9.85533570e-01 1.69368800e-01 6.14754561e-03 9.21185371e+01] [-1.69365084e-01 9.85552741e-01 -1.12386921e-03 -7.51215561e+00] [-6.24907880e-03 6.64312583e-05 9.99980472e-01 -3.07217054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.474203822 meters Centerline goodness [0,1] 0.9999143138683004 Centerline is valid? [True, True] Translation: X:92.15, Y:-7.52, Z:-3.07 [[ 9.85216172e-01 1.71169281e-01 7.08314198e-03 9.21510162e+01] [-1.71164407e-01 9.85241632e-01 -1.29311694e-03 -7.51571335e+00] [-7.19994826e-03 6.16179255e-05 9.99974078e-01 -3.07026606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.50420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.18, Y:-7.53, Z:-3.07 [[ 9.84860510e-01 1.73187078e-01 7.48412431e-03 9.21823453e+01] [-1.73181683e-01 9.84888945e-01 -1.36793656e-03 -7.52512208e+00] [-7.60794023e-03 5.11134527e-05 9.99971058e-01 -3.06939056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.534203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.21, Y:-7.53, Z:-3.07 [[ 9.84881057e-01 1.73063194e-01 7.64422872e-03 9.22143975e+01] [-1.73057556e-01 9.84910721e-01 -1.39801468e-03 -7.53465039e+00] [-7.77082771e-03 5.39866421e-05 9.99969805e-01 -3.06861930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.564203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.25, Y:-7.54, Z:-3.07 [[ 9.84936533e-01 1.72756238e-01 7.43692447e-03 9.22460137e+01] [-1.72750878e-01 9.84964608e-01 -1.36196905e-03 -7.54259012e+00] [-7.56039605e-03 5.67178394e-05 9.99971418e-01 -3.06940734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.594203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.28, Y:-7.55, Z:-3.08 [[ 9.85162579e-01 1.71498979e-01 6.54161474e-03 9.22755728e+01] [-1.71494788e-01 9.85184296e-01 -1.20057654e-03 -7.55011551e+00] [-6.65059376e-03 6.09102469e-05 9.99977883e-01 -3.07538779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.624203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.31, Y:-7.56, Z:-3.08 [[ 9.85283977e-01 1.70816549e-01 6.09846947e-03 9.23071821e+01] [-1.70812903e-01 9.85302848e-01 -1.11764227e-03 -7.55820217e+00] [-6.19975113e-03 5.94977505e-05 9.99980780e-01 -3.07667950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.654203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.34, Y:-7.57, Z:-3.08 [[ 9.85340532e-01 1.70484761e-01 6.24361062e-03 9.23390435e+01] [-1.70480929e-01 9.85360311e-01 -1.14482739e-03 -7.56808421e+00] [-6.34738173e-03 6.36282932e-05 9.99979853e-01 -3.07650726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.684203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.37, Y:-7.58, Z:-3.08 [[ 9.85202917e-01 1.71242389e-01 7.15932078e-03 9.23685561e+01] [-1.71237350e-01 9.85228927e-01 -1.31561971e-03 -7.58226635e+00] [-7.27885980e-03 7.02092575e-05 9.99973506e-01 -3.07590729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.714203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.40, Y:-7.59, Z:-3.07 [[ 9.84891320e-01 1.73013578e-01 7.44238051e-03 9.24002898e+01] [-1.73008172e-01 9.84919437e-01 -1.36913290e-03 -7.58842166e+00] [-7.56702381e-03 6.08544633e-05 9.99971368e-01 -3.07411773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.744203822 meters Centerline goodness [0,1] 0.999978315552086 Centerline is valid? [True, True] Translation: X:92.43, Y:-7.59, Z:-3.07 [[ 9.83887604e-01 1.78598201e-01 8.23808912e-03 9.24329381e+01] [-1.78591757e-01 9.83922091e-01 -1.51737497e-03 -7.58864930e+00] [-8.37663832e-03 2.16716118e-05 9.99964915e-01 -3.07101535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.774203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.46, Y:-7.59, Z:-3.07 [[ 9.83253352e-01 1.82014720e-01 9.13716574e-03 9.24643749e+01] [-1.82006916e-01 9.83295806e-01 -1.68550495e-03 -7.59033546e+00] [-9.29132346e-03 -5.74896259e-06 9.99956835e-01 -3.07399400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.804203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.50, Y:-7.59, Z:-3.08 [[ 9.82639833e-01 1.85227373e-01 1.04775290e-02 9.24959149e+01] [-1.85217265e-01 9.82695690e-01 -1.93539058e-03 -7.59078889e+00] [-1.06547099e-02 -3.88273936e-05 9.99943236e-01 -3.07546304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.834203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.53, Y:-7.59, Z:-3.07 [[ 9.82157871e-01 1.87705971e-01 1.15058241e-02 9.25278664e+01] [-1.87693929e-01 9.82225261e-01 -2.12738615e-03 -7.59431842e+00] [-1.17006341e-02 -7.01442657e-05 9.99931543e-01 -3.07331766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.86420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.56, Y:-7.60, Z:-3.08 [[ 9.81565540e-01 1.90883823e-01 9.61543039e-03 9.25579684e+01] [-1.90875541e-01 9.81612631e-01 -1.78036320e-03 -7.59966651e+00] [-9.77847046e-03 -8.78073148e-05 9.99952186e-01 -3.07943533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.894203822 meters Centerline goodness [0,1] 0.999978465447811 Centerline is valid? [True, True] Translation: X:92.59, Y:-7.61, Z:-3.08 [[ 9.81458103e-01 1.91497112e-01 8.29742855e-03 9.25889128e+01] [-1.91490980e-01 9.81493173e-01 -1.53480123e-03 -7.61019228e+00] [-8.43777948e-03 -8.25396202e-05 9.99964398e-01 -3.07754048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.924203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.62, Y:-7.62, Z:-3.08 [[ 9.81430687e-01 1.91652268e-01 7.95075187e-03 9.26207834e+01] [-1.91646637e-01 9.81462889e-01 -1.47130583e-03 -7.61868459e+00] [-8.08534700e-03 -7.97501644e-05 9.99967310e-01 -3.07935433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.954203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.65, Y:-7.63, Z:-3.08 [[ 9.81528195e-01 1.91120984e-01 8.67017116e-03 9.26512495e+01] [-1.91114240e-01 9.81566484e-01 -1.60749102e-03 -7.62710253e+00] [-8.81757469e-03 -7.91954190e-05 9.99961121e-01 -3.08086677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.984203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.68, Y:-7.63, Z:-3.08 [[ 9.81613721e-01 1.90672567e-01 8.85859481e-03 9.26828349e+01] [-1.90665497e-01 9.81653690e-01 -1.64373135e-03 -7.63462578e+00] [-9.00948675e-03 -7.55191271e-05 9.99959411e-01 -3.07996719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.014203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.71, Y:-7.64, Z:-3.08 [[ 9.81887686e-01 1.89275249e-01 8.45292640e-03 9.27149869e+01] [-1.89268755e-01 9.81924069e-01 -1.56908855e-03 -7.64258746e+00] [-8.59712151e-03 -5.92061276e-05 9.99963042e-01 -3.08117274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.044203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.75, Y:-7.65, Z:-3.09 [[ 9.82003112e-01 1.88674699e-01 8.47024701e-03 9.27465678e+01] [-1.88668139e-01 9.82039640e-01 -1.57430894e-03 -7.64868750e+00] [-8.61515060e-03 -5.20894557e-05 9.99962888e-01 -3.08759946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.074203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.78, Y:-7.66, Z:-3.08 [[ 9.82111197e-01 1.88081554e-01 9.10632544e-03 9.27775769e+01] [-1.88073922e-01 9.82153413e-01 -1.69499763e-03 -7.65862523e+00] [-9.26260640e-03 -4.79861890e-05 9.99957100e-01 -3.08374456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.104203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.81, Y:-7.67, Z:-3.08 [[ 9.82367237e-01 1.86681702e-01 1.02251366e-02 9.28068845e+01] [-1.86671976e-01 9.82420450e-01 -1.90589726e-03 -7.67287961e+00] [-1.04011794e-02 -3.64554236e-05 9.99945906e-01 -3.08148461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.134203822 meters Centerline goodness [0,1] 0.9998722860791827 Centerline is valid? [True, True] Translation: X:92.84, Y:-7.68, Z:-3.08 [[ 9.82427233e-01 1.86335142e-01 1.07678166e-02 9.28368266e+01] [-1.86324314e-01 9.82486241e-01 -2.00905240e-03 -7.68032005e+00] [-1.09535888e-02 -3.25582543e-05 9.99940007e-01 -3.08161664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.164203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.87, Y:-7.69, Z:-3.08 [[ 9.82397062e-01 1.86479816e-01 1.10132183e-02 9.28694385e+01] [-1.86468486e-01 9.82458792e-01 -2.05590491e-03 -7.68734763e+00] [-1.12034179e-02 -3.39031948e-05 9.99937239e-01 -3.08117906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.194203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.90, Y:-7.69, Z:-3.08 [[ 9.82194407e-01 1.87514062e-01 1.15162130e-02 9.29008864e+01] [-1.87501705e-01 9.82261918e-01 -2.15307558e-03 -7.69001409e+00] [-1.17156694e-02 -4.45707953e-05 9.99931368e-01 -3.08374622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.224203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.93, Y:-7.69, Z:-3.08 [[ 9.81880386e-01 1.89121052e-01 1.20056303e-02 9.29338407e+01] [-1.89107724e-01 9.81953779e-01 -2.24615555e-03 -7.69383191e+00] [-1.22137693e-02 -6.49013451e-05 9.99925407e-01 -3.08374156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.25420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.96, Y:-7.70, Z:-3.09 [[ 9.81498416e-01 1.91102576e-01 1.18602630e-02 9.29646297e+01] [-1.91089678e-01 9.81570068e-01 -2.22185792e-03 -7.69589271e+00] [-1.20662820e-02 -8.56238254e-05 9.99927196e-01 -3.08591010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.284203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.00, Y:-7.70, Z:-3.09 [[ 9.81087415e-01 1.93242909e-01 1.11652245e-02 9.29968947e+01] [-1.93231604e-01 9.81150940e-01 -2.09291949e-03 -7.69893958e+00] [-1.13592123e-02 -1.04137260e-04 9.99935477e-01 -3.08725801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.314203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.03, Y:-7.70, Z:-3.09 [[ 9.80603950e-01 1.95827483e-01 8.21521372e-03 9.30282870e+01] [-1.95821427e-01 9.80638357e-01 -1.54307223e-03 -7.70144630e+00] [-8.35832964e-03 -9.55721512e-05 9.99965064e-01 -3.09270311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.344203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.06, Y:-7.71, Z:-3.09 [[ 9.80530545e-01 1.96212242e-01 7.78506039e-03 9.30595250e+01] [-1.96206839e-01 9.80561445e-01 -1.45927499e-03 -7.70759160e+00] [-7.92005768e-03 -9.66183926e-05 9.99968631e-01 -3.09410389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.374203822 meters Centerline goodness [0,1] 0.9999785038693035 Centerline is valid? [True, True] Translation: X:93.09, Y:-7.71, Z:-3.09 [[ 9.80634334e-01 1.95641438e-01 8.98504237e-03 9.30912068e+01] [-1.95634196e-01 9.80675490e-01 -1.68653142e-03 -7.71418328e+00] [-9.14136626e-03 -1.03910931e-04 9.99958211e-01 -3.09362471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.404203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.12, Y:-7.72, Z:-3.09 [[ 9.81121471e-01 1.93102670e-01 1.05838276e-02 9.31227496e+01] [-1.93092429e-01 9.81178552e-01 -1.99071561e-03 -7.72284543e+00] [-1.07690372e-02 -9.05231644e-05 9.99942008e-01 -3.09165050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.434203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.15, Y:-7.73, Z:-3.10 [[ 9.81432755e-01 1.91577892e-01 9.36257957e-03 9.31530102e+01] [-1.91569816e-01 9.81477410e-01 -1.76024569e-03 -7.73071420e+00] [-9.52638451e-03 -6.60248701e-05 9.99954621e-01 -3.09599070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.464203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.18, Y:-7.75, Z:-3.10 [[ 9.82187283e-01 1.87679752e-01 9.18972006e-03 9.31814624e+01] [-1.87671788e-01 9.82230273e-01 -1.72924438e-03 -7.74574123e+00] [-9.35096540e-03 -2.62093508e-05 9.99956278e-01 -3.09792271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.494203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.21, Y:-7.76, Z:-3.09 [[ 9.82605813e-01 1.85408460e-01 1.04651169e-02 9.32118909e+01] [-1.85397981e-01 9.82661540e-01 -1.97118007e-03 -7.75735839e+00] [-1.06491414e-02 -3.31856267e-06 9.99943296e-01 -3.09429065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.524203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.24, Y:-7.77, Z:-3.10 [[ 9.82999875e-01 1.83245966e-01 1.14961347e-02 9.32412293e+01] [-1.83233140e-01 9.83067096e-01 -2.16819956e-03 -7.76795610e+00] [-1.16987856e-02 2.48670333e-05 9.99931567e-01 -3.09619744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.554203822 meters Centerline goodness [0,1] 0.999913926665519 Centerline is valid? [True, True] Translation: X:93.27, Y:-7.78, Z:-3.10 [[ 9.83889691e-01 1.78432062e-01 1.10939047e-02 9.32707296e+01] [-1.78419794e-01 9.83952231e-01 -2.09388145e-03 -7.78341742e+00] [-1.12894878e-02 8.07761896e-05 9.99936268e-01 -3.09630077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.584203822 meters Centerline goodness [0,1] 0.9999144330117441 Centerline is valid? [True, True] Translation: X:93.30, Y:-7.80, Z:-3.10 [[ 9.84315196e-01 1.76098295e-01 1.06294290e-02 9.32996245e+01] [-1.76086876e-01 9.84372582e-01 -2.00808721e-03 -7.79621129e+00] [-1.08169392e-02 1.04887803e-04 9.99941490e-01 -3.09979862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.61420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.33, Y:-7.81, Z:-3.10 [[ 9.84652979e-01 1.74216184e-01 1.03553248e-02 9.33300505e+01] [-1.74205229e-01 9.84707422e-01 -1.95754650e-03 -7.80778600e+00] [-1.05380014e-02 1.23552265e-04 9.99944466e-01 -3.09942854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.644203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.36, Y:-7.82, Z:-3.10 [[ 9.84960585e-01 1.72466383e-01 1.03919222e-02 9.33587573e+01] [-1.72455232e-01 9.85015394e-01 -1.96659394e-03 -7.82137858e+00] [-1.05753747e-02 1.44876166e-04 9.99944069e-01 -3.10285659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.674203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.39, Y:-7.84, Z:-3.10 [[ 9.85145931e-01 1.71351072e-01 1.12384971e-02 9.33879205e+01] [-1.71337935e-01 9.85210019e-01 -2.12870906e-03 -7.83697328e+00] [-1.14370366e-02 1.71508172e-04 9.99934580e-01 -3.10329350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.704203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.42, Y:-7.84, Z:-3.10 [[ 9.85034052e-01 1.71980447e-01 1.14298977e-02 9.34192325e+01] [-1.71966874e-01 9.85100349e-01 -2.16725631e-03 -7.84347520e+00] [-1.16323219e-02 1.69257496e-04 9.99932328e-01 -3.10137220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.734203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.45, Y:-7.85, Z:-3.10 [[ 9.84833734e-01 1.73123584e-01 1.14342282e-02 9.34493491e+01] [-1.73110052e-01 9.84900096e-01 -2.17031441e-03 -7.85181692e+00] [-1.16373051e-02 1.58019004e-04 9.99932272e-01 -3.10158395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.764203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.48, Y:-7.86, Z:-3.10 [[ 9.84174247e-01 1.76768925e-01 1.24015783e-02 9.34803290e+01] [-1.76753268e-01 9.84252372e-01 -2.35608205e-03 -7.85990684e+00] [-1.26227650e-02 1.26775786e-04 9.99920322e-01 -3.09919076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.794203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.51, Y:-7.87, Z:-3.10 [[ 9.83711130e-01 1.79292677e-01 1.29054022e-02 9.35118314e+01] [-1.79275907e-01 9.83795774e-01 -2.45426941e-03 -7.86653757e+00] [-1.31363127e-02 1.00664460e-04 9.99913710e-01 -3.09989660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.824203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.54, Y:-7.87, Z:-3.10 [[ 9.83285635e-01 1.81645079e-01 1.24268061e-02 9.35419966e+01] [-1.81629689e-01 9.83364155e-01 -2.36546619e-03 -7.87357051e+00] [-1.26497510e-02 6.88519946e-05 9.99919986e-01 -3.10256501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.854203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.57, Y:-7.88, Z:-3.11 [[ 9.82452237e-01 1.86180741e-01 1.11505228e-02 9.35730867e+01] [-1.86168631e-01 9.82515512e-01 -2.12345280e-03 -7.88189946e+00] [-1.13509077e-02 1.03133783e-05 9.99935576e-01 -3.10817651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.884203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.61, Y:-7.89, Z:-3.11 [[ 9.82043258e-01 1.88326362e-01 1.11454740e-02 9.36056452e+01] [-1.88314381e-01 9.82106502e-01 -2.12433874e-03 -7.88895394e+00] [-1.13461115e-02 -1.26605006e-05 9.99935631e-01 -3.10933524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.914203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.64, Y:-7.90, Z:-3.11 [[ 9.81669772e-01 1.90293981e-01 1.06140848e-02 9.36365695e+01] [-1.90283206e-01 9.81727151e-01 -2.02527273e-03 -7.89702682e+00] [-1.08055324e-02 -3.15330634e-05 9.99941618e-01 -3.11141454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.944203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.67, Y:-7.91, Z:-3.11 [[ 9.81236233e-01 1.92598686e-01 9.01114566e-03 9.36652503e+01] [-1.92590982e-01 9.81277608e-01 -1.72317390e-03 -7.90993961e+00] [-9.17431649e-03 -4.46247203e-05 9.99957914e-01 -3.11412166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.974203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.70, Y:-7.92, Z:-3.11 [[ 9.80916401e-01 1.94215057e-01 9.13927533e-03 9.36970458e+01] [-1.94207233e-01 9.80958973e-01 -1.74438962e-03 -7.91770402e+00] [-9.30404088e-03 -6.38129871e-05 9.99956714e-01 -3.11274669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.00420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.73, Y:-7.92, Z:-3.11 [[ 9.80879062e-01 1.94403566e-01 9.13893562e-03 9.37288790e+01] [-1.94395734e-01 9.80921633e-01 -1.74616552e-03 -7.92397348e+00] [-9.30404046e-03 -6.37929067e-05 9.99956714e-01 -3.11371446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.034203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.76, Y:-7.93, Z:-3.12 [[ 9.80396943e-01 1.96792235e-01 9.72889577e-03 9.37609733e+01] [-1.96783439e-01 9.80445209e-01 -1.86266823e-03 -7.92735372e+00] [-9.90520789e-03 -8.83313320e-05 9.99950938e-01 -3.11714855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.064203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.79, Y:-7.93, Z:-3.12 [[ 9.79295445e-01 2.02261216e-01 8.41623404e-03 9.37921960e+01] [-2.02254813e-01 9.79331602e-01 -1.61398503e-03 -7.93002254e+00] [-8.56873053e-03 -1.21655646e-04 9.99963280e-01 -3.11894897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.094203822 meters Centerline goodness [0,1] 0.999978470084182 Centerline is valid? [True, True] Translation: X:93.82, Y:-7.94, Z:-3.12 [[ 9.78728355e-01 2.04996526e-01 8.19948859e-03 9.38232201e+01] [-2.04990566e-01 9.78762690e-01 -1.56981829e-03 -7.93610435e+00] [-8.34716081e-03 -1.44392129e-04 9.99965151e-01 -3.11907180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.124203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.85, Y:-7.94, Z:-3.12 [[ 9.78175988e-01 2.07566335e-01 9.37828559e-03 9.38546002e+01] [-2.07558638e-01 9.78220927e-01 -1.79733678e-03 -7.94334296e+00] [-9.54710182e-03 -1.88432510e-04 9.99954408e-01 -3.11630912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.154203822 meters Centerline goodness [0,1] 0.99993627326026 Centerline is valid? [True, True] Translation: X:93.89, Y:-7.95, Z:-3.12 [[ 9.77387421e-01 2.11134960e-01 1.16558356e-02 9.38855222e+01] [-2.11123284e-01 9.77456881e-01 -2.23726934e-03 -7.94577671e+00] [-1.18654424e-02 -2.74139374e-04 9.99929566e-01 -3.11589872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.184203822 meters Centerline goodness [0,1] 0.9999359740481475 Centerline is valid? [True, True] Translation: X:93.92, Y:-7.95, Z:-3.11 [[ 9.77165120e-01 2.12155211e-01 1.17683873e-02 9.39168613e+01] [-2.12143363e-01 9.77235941e-01 -2.26053393e-03 -7.95410494e+00] [-1.19800751e-02 -2.87670342e-04 9.99928195e-01 -3.11463971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.214203822 meters Centerline goodness [0,1] 0.9999358124010441 Centerline is valid? [True, True] Translation: X:93.95, Y:-7.96, Z:-3.12 [[ 9.77028253e-01 2.12788878e-01 1.16912894e-02 9.39489889e+01] [-2.12777206e-01 9.77098157e-01 -2.24769612e-03 -7.95854362e+00] [-1.19018220e-02 -2.91577263e-04 9.99929128e-01 -3.11670460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.244203822 meters Centerline goodness [0,1] 0.9998516226127139 Centerline is valid? [True, True] Translation: X:93.98, Y:-7.96, Z:-3.12 [[ 9.76986105e-01 2.12973562e-01 1.18495823e-02 9.39808134e+01] [-2.12961563e-01 9.77057918e-01 -2.28000324e-03 -7.96172230e+00] [-1.20633087e-02 -2.95974081e-04 9.99927192e-01 -3.11987359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.274203822 meters Centerline goodness [0,1] 0.9999359426045737 Centerline is valid? [True, True] Translation: X:94.01, Y:-7.97, Z:-3.12 [[ 9.77592295e-01 2.10166271e-01 1.19767637e-02 9.40100982e+01] [-2.10153742e-01 9.77665624e-01 -2.30941588e-03 -7.97394024e+00] [-1.21946315e-02 -2.59294526e-04 9.99925609e-01 -3.12002615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.304203822 meters Centerline goodness [0,1] 0.9999571109967405 Centerline is valid? [True, True] Translation: X:94.04, Y:-7.99, Z:-3.12 [[ 9.78126344e-01 2.07715011e-01 1.11053887e-02 9.40410322e+01] [-2.07704086e-01 9.78189362e-01 -2.14093436e-03 -7.98556598e+00] [-1.13078773e-02 -2.12530311e-04 9.99936041e-01 -3.12099360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.334203822 meters Centerline goodness [0,1] 0.9999785324803572 Centerline is valid? [True, True] Translation: X:94.07, Y:-8.00, Z:-3.13 [[ 9.79271149e-01 2.02335751e-01 9.39472200e-03 9.40697574e+01] [-2.02327689e-01 9.79316204e-01 -1.81072428e-03 -7.99894165e+00] [-9.56677775e-03 -1.27622351e-04 9.99954229e-01 -3.12634434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.36420382200001 meters Centerline goodness [0,1] 0.999978594515915 Centerline is valid? [True, True] Translation: X:94.10, Y:-8.01, Z:-3.13 [[ 9.79916577e-01 1.99187438e-01 9.37372266e-03 9.41002790e+01] [-1.99179272e-01 9.79961405e-01 -1.80615018e-03 -8.01111434e+00] [-9.54564885e-03 -9.71747623e-05 9.99954435e-01 -3.12757399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.394203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.13, Y:-8.02, Z:-3.13 [[ 9.80630465e-01 1.95631237e-01 9.60781970e-03 9.41294336e+01] [-1.95622468e-01 9.80677529e-01 -1.85326863e-03 -8.02445406e+00] [-9.78473012e-03 -6.21337289e-05 9.99952126e-01 -3.12845419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.424203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.16, Y:-8.05, Z:-3.13 [[ 9.82009708e-01 1.88548086e-01 1.03224777e-02 9.41581821e+01] [-1.88537555e-01 9.82063959e-01 -1.99276128e-03 -8.04511492e+00] [-1.05130647e-02 1.07362011e-05 9.99944736e-01 -3.12615833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.454203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.19, Y:-8.06, Z:-3.13 [[ 9.82533045e-01 1.85776294e-01 1.07696052e-02 9.41889536e+01] [-1.85764644e-01 9.82592065e-01 -2.08098044e-03 -8.05674325e+00] [-1.09687254e-02 4.40201799e-05 9.99939841e-01 -3.12674985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.484203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.22, Y:-8.07, Z:-3.13 [[ 9.82923490e-01 1.83712087e-01 1.05489746e-02 9.42188040e+01] [-1.83700765e-01 9.82980094e-01 -2.04073347e-03 -8.06623390e+00] [-1.07443394e-02 6.80301572e-05 9.99942276e-01 -3.13125270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.514203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.25, Y:-8.07, Z:-3.13 [[ 9.83133537e-01 1.82647846e-01 9.39213705e-03 9.42499990e+01] [-1.82638813e-01 9.83178396e-01 -1.81794001e-03 -8.07167587e+00] [-9.56618907e-03 7.19090300e-05 9.99954240e-01 -3.13227400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.544203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.28, Y:-8.08, Z:-3.14 [[ 9.83188012e-01 1.82417522e-01 8.07350458e-03 9.42799305e+01] [-1.82410834e-01 9.83221157e-01 -1.56337025e-03 -8.07842039e+00] [-8.22322664e-03 6.43921804e-05 9.99966187e-01 -3.14006746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.574203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.31, Y:-8.08, Z:-3.14 [[ 9.83063899e-01 1.83038948e-01 9.06166561e-03 9.43119803e+01] [-1.83030517e-01 9.83105660e-01 -1.75814531e-03 -8.08484546e+00] [-9.23038382e-03 6.98078365e-05 9.99957397e-01 -3.13823874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.604203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.34, Y:-8.09, Z:-3.13 [[ 9.82643054e-01 1.85188447e-01 1.08567104e-02 9.43429733e+01] [-1.85176475e-01 9.82703025e-01 -2.10652549e-03 -8.09223401e+00] [-1.10590264e-02 5.95552630e-05 9.99938845e-01 -3.13449968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.634203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.38, Y:-8.10, Z:-3.13 [[ 9.82315008e-01 1.86873061e-01 1.16483893e-02 9.43752800e+01] [-1.86859370e-01 9.82384068e-01 -2.26242307e-03 -8.09673492e+00] [-1.18659780e-02 4.58014371e-05 9.99929596e-01 -3.13059676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.664203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.41, Y:-8.09, Z:-3.13 [[ 9.81500560e-01 1.91036458e-01 1.27170096e-02 9.44084659e+01] [-1.91020456e-01 9.81582942e-01 -2.47256518e-03 -8.09329828e+00] [-1.29551498e-02 -2.38486451e-06 9.99916079e-01 -3.12932679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.694203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.44, Y:-8.09, Z:-3.13 [[ 9.80973154e-01 1.93762462e-01 1.21564795e-02 9.44398332e+01] [-1.93748022e-01 9.81048473e-01 -2.36572218e-03 -8.09234816e+00] [-1.23844838e-02 -3.45838978e-05 9.99923309e-01 -3.13315669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.724203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.47, Y:-8.09, Z:-3.14 [[ 9.80442801e-01 1.96453906e-01 1.17378435e-02 9.44719181e+01] [-1.96440602e-01 9.80513059e-01 -2.28715314e-03 -8.09227927e+00] [-1.19584290e-02 -6.33662086e-05 9.99928493e-01 -3.13767372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.75420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.50, Y:-8.10, Z:-3.14 [[ 9.79936553e-01 1.98932867e-01 1.22501292e-02 9.45044522e+01] [-1.98918576e-01 9.80013115e-01 -2.38646479e-03 -8.09567593e+00] [-1.24800335e-02 -9.81941812e-05 9.99922117e-01 -3.13558865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.784203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.54, Y:-8.10, Z:-3.13 [[ 9.79061208e-01 2.03096241e-01 1.38227220e-02 9.45367034e+01] [-2.03078404e-01 9.79158766e-01 -2.69682818e-03 -8.09611413e+00] [-1.40823551e-02 -1.66736461e-04 9.99900825e-01 -3.13195953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.814203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.57, Y:-8.10, Z:-3.13 [[ 9.78691619e-01 2.04959887e-01 1.24161313e-02 9.45679500e+01] [-2.04945610e-01 9.78770359e-01 -2.42516560e-03 -8.09809773e+00] [-1.26496030e-02 -1.71142365e-04 9.99919976e-01 -3.13431593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.844203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.60, Y:-8.09, Z:-3.14 [[ 9.78231072e-01 2.07303657e-01 9.44261271e-03 9.45986422e+01] [-2.07295490e-01 9.78276633e-01 -1.84632806e-03 -8.09481166e+00] [-9.62023793e-03 -1.51275549e-04 9.99953713e-01 -3.14030072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.874203822 meters Centerline goodness [0,1] 0.9999568071872841 Centerline is valid? [True, True] Translation: X:94.63, Y:-8.10, Z:-3.14 [[ 9.78027870e-01 2.08236595e-01 9.95020149e-03 9.46320240e+01] [-2.08227614e-01 9.78078469e-01 -1.94169497e-03 -8.09777464e+00] [-1.01364098e-02 -1.72874918e-04 9.99948610e-01 -3.13997882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.904203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.66, Y:-8.10, Z:-3.14 [[ 9.77896671e-01 2.08798140e-01 1.10198447e-02 9.46638700e+01] [-2.08787120e-01 9.77958741e-01 -2.15399262e-03 -8.09610683e+00] [-1.12267031e-02 -1.94419419e-04 9.99936960e-01 -3.14384598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.934203822 meters Centerline goodness [0,1] 0.9999786306521925 Centerline is valid? [True, True] Translation: X:94.70, Y:-8.10, Z:-3.14 [[ 9.78203474e-01 2.07384856e-01 1.04635421e-02 9.46956920e+01] [-2.07374826e-01 9.78259420e-01 -2.04652611e-03 -8.10246598e+00] [-1.06604772e-02 -1.67956279e-04 9.99943161e-01 -3.14283444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.964203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.73, Y:-8.11, Z:-3.15 [[ 9.78568284e-01 2.05702407e-01 9.52018484e-03 9.47261269e+01] [-2.05694012e-01 9.78614583e-01 -1.86323667e-03 -8.10714763e+00] [-9.69986399e-03 -1.34940714e-04 9.99952946e-01 -3.14759904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.994203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.76, Y:-8.12, Z:-3.15 [[ 9.79125828e-01 2.03057274e-01 8.96416646e-03 9.47572926e+01] [-2.03049710e-01 9.79166857e-01 -1.75559876e-03 -8.11714672e+00] [-9.13390180e-03 -1.01219303e-04 9.99958280e-01 -3.14739634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.024203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.79, Y:-8.13, Z:-3.15 [[ 9.80396726e-01 1.96826678e-01 9.02871959e-03 9.47869320e+01] [-1.96818723e-01 9.80438298e-01 -1.77011791e-03 -8.12825834e+00] [-9.20050890e-03 -4.16032552e-05 9.99957674e-01 -3.14808603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.054203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.82, Y:-8.13, Z:-3.15 [[ 9.80968478e-01 1.93961051e-01 8.94180649e-03 9.48172892e+01] [-1.93953116e-01 9.81009231e-01 -1.75452121e-03 -8.13464682e+00] [-9.11230348e-03 -1.31612268e-05 9.99958482e-01 -3.15105775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.084203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.85, Y:-8.14, Z:-3.15 [[ 9.81488002e-01 1.91324036e-01 8.74153897e-03 9.48491876e+01] [-1.91316318e-01 9.81526929e-01 -1.71852323e-03 -8.14017840e+00] [-8.90885070e-03 1.43108876e-05 9.99960315e-01 -3.15247619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.11420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.88, Y:-8.15, Z:-3.16 [[ 9.81918317e-01 1.89099130e-01 8.82824591e-03 9.48799910e+01] [-1.89091186e-01 9.81958002e-01 -1.73362780e-03 -8.14686183e+00] [-8.99679422e-03 3.29373975e-05 9.99959527e-01 -3.15664182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.144203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.91, Y:-8.16, Z:-3.15 [[ 9.82686016e-01 1.84998827e-01 1.01798232e-02 9.49114887e+01] [-1.84988018e-01 9.82738738e-01 -2.00153644e-03 -8.15616327e+00] [-1.03743885e-02 8.37365446e-05 9.99946181e-01 -3.15211687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.174203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.94, Y:-8.16, Z:-3.15 [[ 9.82978289e-01 1.83382832e-01 1.11544105e-02 9.49439962e+01] [-1.83369721e-01 9.83041568e-01 -2.19575550e-03 -8.16341665e+00] [-1.13679131e-02 1.12998838e-04 9.99935377e-01 -3.14879417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.204203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.98, Y:-8.17, Z:-3.15 [[ 9.83477319e-01 1.80614511e-01 1.22784878e-02 9.49752770e+01] [-1.80598364e-01 9.83553950e-01 -2.42053908e-03 -8.17040769e+00] [-1.25137396e-02 1.63070485e-04 9.99921687e-01 -3.14722908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.234203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.01, Y:-8.18, Z:-3.15 [[ 9.83674141e-01 1.79551206e-01 1.21057559e-02 9.50054106e+01] [-1.79535402e-01 9.83748613e-01 -2.38876788e-03 -8.17780023e+00] [-1.23379267e-02 1.76357437e-04 9.99923869e-01 -3.15111939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.264203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.04, Y:-8.18, Z:-3.15 [[ 9.83972807e-01 1.77981952e-01 1.09517298e-02 9.50382940e+01] [-1.77968908e-01 9.84033736e-01 -2.16217658e-03 -8.17826335e+00] [-1.11617000e-02 1.78455573e-04 9.99937690e-01 -3.15241149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.294203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.07, Y:-8.18, Z:-3.15 [[ 9.84060993e-01 1.77489943e-01 1.10128012e-02 9.50702647e+01] [-1.77476700e-01 9.84122597e-01 -2.17616663e-03 -8.18403067e+00] [-1.12241942e-02 1.86965087e-04 9.99936989e-01 -3.15408322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.324203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.10, Y:-8.19, Z:-3.15 [[ 9.84114577e-01 1.77182599e-01 1.11725664e-02 9.51012478e+01] [-1.77168929e-01 9.84177976e-01 -2.20953640e-03 -8.19135899e+00] [-1.13872852e-02 1.95005352e-04 9.99935144e-01 -3.15483103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.354203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.13, Y:-8.20, Z:-3.15 [[ 9.84146266e-01 1.77006135e-01 1.11783505e-02 9.51336934e+01] [-1.76992419e-01 9.84209728e-01 -2.21244610e-03 -8.19803232e+00] [-1.13934578e-02 1.98887268e-04 9.99935073e-01 -3.15361801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.384203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.16, Y:-8.20, Z:-3.16 [[ 9.84021040e-01 1.77716663e-01 1.09261320e-02 9.51646278e+01] [-1.77703577e-01 9.84081679e-01 -2.16486847e-03 -8.20435254e+00] [-1.11369395e-02 1.88663388e-04 9.99937965e-01 -3.15507912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.414203822 meters Centerline goodness [0,1] 0.9999784096552022 Centerline is valid? [True, True] Translation: X:95.20, Y:-8.21, Z:-3.16 [[ 9.83844273e-01 1.78690378e-01 1.09633409e-02 9.51967674e+01] [-1.78677236e-01 9.83905339e-01 -2.17465799e-03 -8.20677802e+00] [-1.11754801e-02 1.80625378e-04 9.99937536e-01 -3.15619057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.444203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.23, Y:-8.21, Z:-3.16 [[ 9.83580051e-01 1.80150067e-01 1.07813414e-02 9.52296424e+01] [-1.80137426e-01 9.83639124e-01 -2.14032020e-03 -8.20699404e+00] [-1.09905281e-02 1.63053156e-04 9.99939589e-01 -3.15828446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.474203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.26, Y:-8.20, Z:-3.16 [[ 9.83005108e-01 1.83257781e-01 1.08417375e-02 9.52634794e+01] [-1.83245167e-01 9.83064885e-01 -2.15416939e-03 -8.20076254e+00] [-1.10528997e-02 1.30863523e-04 9.99938906e-01 -3.16043486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.50420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.30, Y:-8.20, Z:-3.16 [[ 9.82693063e-01 1.84864252e-01 1.18132533e-02 9.52959820e+01] [-1.84849337e-01 9.82764057e-01 -2.35167352e-03 -8.20457392e+00] [-1.20443811e-02 1.27301214e-04 9.99927456e-01 -3.15939461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.534203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.33, Y:-8.21, Z:-3.16 [[ 9.82187340e-01 1.87521380e-01 1.19900929e-02 9.53280384e+01] [-1.87506228e-01 9.82260517e-01 -2.38563359e-03 -8.20742393e+00] [-1.22247522e-02 9.49220142e-05 9.99925270e-01 -3.15640884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.564203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.36, Y:-8.21, Z:-3.16 [[ 9.81974201e-01 1.88707727e-01 1.07732495e-02 9.53591293e+01] [-1.88695534e-01 9.82033293e-01 -2.14641959e-03 -8.21176946e+00] [-1.09847356e-02 7.48645897e-05 9.99939663e-01 -3.16071024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.594203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.39, Y:-8.21, Z:-3.16 [[ 9.81826858e-01 1.89527628e-01 9.76208266e-03 9.53902245e+01] [-1.89517650e-01 9.81875386e-01 -1.94570427e-03 -8.21445666e+00] [-9.95391340e-03 6.02577384e-05 9.99950457e-01 -3.16413823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.624203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.42, Y:-8.21, Z:-3.17 [[ 9.81507551e-01 1.91218945e-01 8.84544862e-03 9.54220008e+01] [-1.91210828e-01 9.81547408e-01 -1.76227378e-03 -8.21279203e+00] [-9.01920729e-03 3.83394725e-05 9.99959325e-01 -3.17056211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.654203822 meters Centerline goodness [0,1] 0.9998709205515995 Centerline is valid? [True, True] Translation: X:95.45, Y:-8.22, Z:-3.17 [[ 9.81358058e-01 1.92032495e-01 7.73835484e-03 9.54543856e+01] [-1.92026306e-01 9.81388567e-01 -1.54208902e-03 -8.21590877e+00] [-7.89046418e-03 2.73737959e-05 9.99968869e-01 -3.17286829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.684203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.49, Y:-8.22, Z:-3.17 [[ 9.81245007e-01 1.92623667e-01 7.37285750e-03 9.54864091e+01] [-1.92618062e-01 9.81272705e-01 -1.46956494e-03 -8.22189743e+00] [-7.51785681e-03 2.18577381e-05 9.99971740e-01 -3.17192825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.714203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.52, Y:-8.23, Z:-3.17 [[ 9.81189040e-01 1.92904522e-01 7.47750128e-03 9.55187655e+01] [-1.92898753e-01 9.81217532e-01 -1.49199014e-03 -8.22934998e+00] [-7.62486699e-03 2.15237039e-05 9.99970930e-01 -3.17132563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.744203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.55, Y:-8.23, Z:-3.17 [[ 9.81068151e-01 1.93449984e-01 9.07675343e-03 9.55496770e+01] [-1.93441471e-01 9.81110138e-01 -1.81502008e-03 -8.23446165e+00] [-9.25641041e-03 2.48378545e-05 9.99957158e-01 -3.17349201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.774203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.58, Y:-8.24, Z:-3.17 [[ 9.81072090e-01 1.93461938e-01 8.36851893e-03 9.55815996e+01] [-1.93454695e-01 9.81107781e-01 -1.67422063e-03 -8.23821240e+00] [-8.53431701e-03 2.36018595e-05 9.99963582e-01 -3.17202474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.804203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.61, Y:-8.24, Z:-3.18 [[ 9.81229409e-01 1.92611055e-01 9.47776757e-03 9.56122821e+01] [-1.92601700e-01 9.81275181e-01 -1.89873121e-03 -8.24462484e+00] [-9.66601470e-03 3.76567534e-05 9.99953282e-01 -3.17543812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.834203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.64, Y:-8.25, Z:-3.17 [[ 9.81417702e-01 1.91623951e-01 9.97773836e-03 9.56448877e+01] [-1.91613520e-01 9.81468420e-01 -2.00003532e-03 -8.25200364e+00] [-1.01760898e-02 5.10005018e-05 9.99948221e-01 -3.17182403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.86420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.68, Y:-8.26, Z:-3.17 [[ 9.81619086e-01 1.90576362e-01 1.02284339e-02 9.56774650e+01] [-1.90565323e-01 9.81672372e-01 -2.05230913e-03 -8.25874533e+00] [-1.04320926e-02 6.54010046e-05 9.99945582e-01 -3.17053411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.89420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.71, Y:-8.27, Z:-3.17 [[ 9.82270174e-01 1.87213955e-01 9.81019434e-03 9.57067540e+01] [-1.87203606e-01 9.82319156e-01 -1.97092846e-03 -8.27011015e+00] [-1.00057271e-02 9.94804807e-05 9.99949937e-01 -3.17404675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.924203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.74, Y:-8.28, Z:-3.18 [[ 9.82234340e-01 1.87401881e-01 9.81000392e-03 9.57385337e+01] [-1.87391533e-01 9.82283322e-01 -1.97187576e-03 -8.27669873e+00] [-1.00057365e-02 9.85324106e-05 9.99949937e-01 -3.17501426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.954203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.77, Y:-8.29, Z:-3.17 [[ 9.82643048e-01 1.85217826e-01 1.03439501e-02 9.57675514e+01] [-1.85206162e-01 9.82697481e-01 -2.08275467e-03 -8.28792357e+00] [-1.05507370e-02 1.30841110e-04 9.99944331e-01 -3.17483796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.984203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.80, Y:-8.30, Z:-3.17 [[ 9.83039042e-01 1.83042387e-01 1.13898011e-02 9.57980017e+01] [-1.83028083e-01 9.83105007e-01 -2.29462655e-03 -8.29869114e+00] [-1.16173844e-02 1.71054030e-04 9.99932501e-01 -3.17285905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.014203822 meters Centerline goodness [0,1] 0.9999567922571725 Centerline is valid? [True, True] Translation: X:95.83, Y:-8.31, Z:-3.17 [[ 9.83679777e-01 1.79583137e-01 1.11352412e-02 9.58278555e+01] [-1.79569221e-01 9.83742778e-01 -2.24539857e-03 -8.31085766e+00] [-1.13574488e-02 2.09206578e-04 9.99935480e-01 -3.17467511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.044203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.86, Y:-8.32, Z:-3.18 [[ 9.83791220e-01 1.78991567e-01 1.08099240e-02 9.58570366e+01] [-1.78978399e-01 9.83850585e-01 -2.18140970e-03 -8.32145092e+00] [-1.10258040e-02 2.11308823e-04 9.99939192e-01 -3.17941102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.074203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.89, Y:-8.33, Z:-3.18 [[ 9.83836669e-01 1.78766114e-01 1.03964195e-02 9.58888340e+01] [-1.78753908e-01 9.83891576e-01 -2.09917860e-03 -8.32560009e+00] [-1.06042116e-02 2.06848262e-04 9.99943752e-01 -3.17900950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.104203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.92, Y:-8.33, Z:-3.18 [[ 9.83602322e-01 1.79971193e-01 1.16979325e-02 9.59194794e+01] [-1.79955793e-01 9.83671856e-01 -2.36469737e-03 -8.33315014e+00] [-1.19325044e-02 2.20811104e-04 9.99928781e-01 -3.17887701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.134203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.95, Y:-8.34, Z:-3.18 [[ 9.83363433e-01 1.81207638e-01 1.26550322e-02 9.59494117e+01] [-1.81189679e-01 9.83444834e-01 -2.56106171e-03 -8.34169823e+00] [-1.29096100e-02 2.25493208e-04 9.99916642e-01 -3.17928583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.164203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.98, Y:-8.34, Z:-3.18 [[ 9.82816620e-01 1.84261467e-01 1.09180443e-02 9.59812924e+01] [-1.84248279e-01 9.82877249e-01 -2.21039842e-03 -8.34439529e+00] [-1.11383886e-02 1.60785443e-04 9.99937953e-01 -3.18021496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.194203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.01, Y:-8.35, Z:-3.19 [[ 9.82447042e-01 1.86339369e-01 8.68616331e-03 9.60123281e+01] [-1.86331096e-01 9.82485434e-01 -1.75930514e-03 -8.34979331e+00] [-8.86185674e-03 1.09921807e-04 9.99960727e-01 -3.18508212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.224203822 meters Centerline goodness [0,1] 0.9999785172613804 Centerline is valid? [True, True] Translation: X:96.04, Y:-8.35, Z:-3.19 [[ 9.81966739e-01 1.88942906e-01 6.47310653e-03 9.60438077e+01] [-1.88938372e-01 9.81988072e-01 -1.31060480e-03 -8.35445341e+00] [-6.60414288e-03 6.39521180e-05 9.99978190e-01 -3.18924207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.25420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.08, Y:-8.36, Z:-3.19 [[ 9.81283820e-01 1.92491965e-01 5.37658080e-03 9.60764606e+01] [-1.92488893e-01 9.81298549e-01 -1.08801527e-03 -8.35785868e+00] [-5.48546514e-03 3.27196919e-05 9.99984954e-01 -3.19124781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.284203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.11, Y:-8.35, Z:-3.19 [[ 9.79703288e-01 2.00358012e-01 6.17536438e-03 9.61091994e+01] [-2.00354097e-01 9.79722750e-01 -1.25267565e-03 -8.35111197e+00] [-6.30112858e-03 -1.00091001e-05 9.99980148e-01 -3.19319746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.314203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.14, Y:-8.35, Z:-3.19 [[ 9.78804577e-01 2.04694101e-01 6.47489588e-03 9.61430899e+01] [-2.04689887e-01 9.78825993e-01 -1.31397267e-03 -8.35019674e+00] [-6.60675884e-03 -3.92232452e-05 9.99978174e-01 -3.19391947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.344203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.17, Y:-8.35, Z:-3.19 [[ 9.77927923e-01 2.08831671e-01 6.80525962e-03 9.61744000e+01] [-2.08827095e-01 9.77951598e-01 -1.38400320e-03 -8.34995161e+00] [-6.94423822e-03 -6.76672263e-05 9.99975886e-01 -3.19416391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.374203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.21, Y:-8.35, Z:-3.19 [[ 9.76377986e-01 2.15915581e-01 8.15418987e-03 9.62079250e+01] [-2.15909229e-01 9.76412025e-01 -1.66198766e-03 -8.34722897e+00] [-8.32069807e-03 -1.37836681e-04 9.99965373e-01 -3.19038020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.404203822 meters Centerline goodness [0,1] 0.9999143523970623 Centerline is valid? [True, True] Translation: X:96.24, Y:-8.35, Z:-3.19 [[ 9.75834705e-01 2.18368379e-01 7.86641640e-03 9.62392398e+01] [-2.18362550e-01 9.75866398e-01 -1.60289056e-03 -8.34841074e+00] [-8.02659206e-03 -1.53574502e-04 9.99967775e-01 -3.19401134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.434203822 meters Centerline goodness [0,1] 0.9999139507367968 Centerline is valid? [True, True] Translation: X:96.27, Y:-8.36, Z:-3.19 [[ 9.75354684e-01 2.20546223e-01 6.52719383e-03 9.62700530e+01] [-2.20542257e-01 9.75376514e-01 -1.33024034e-03 -8.35508512e+00] [-6.65985104e-03 -1.42065917e-04 9.99977813e-01 -3.19428655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.464203822 meters Centerline goodness [0,1] 0.9998706059952556 Centerline is valid? [True, True] Translation: X:96.30, Y:-8.36, Z:-3.20 [[ 9.75243946e-01 2.21021938e-01 6.96769046e-03 9.63020840e+01] [-2.21017442e-01 9.75268824e-01 -1.41843135e-03 -8.35656767e+00] [-7.10887572e-03 -1.56664531e-04 9.99974719e-01 -3.19891602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.494203822 meters Centerline goodness [0,1] 0.9999367302176481 Centerline is valid? [True, True] Translation: X:96.33, Y:-8.36, Z:-3.20 [[ 9.75243741e-01 2.20969985e-01 8.48000289e-03 9.63335891e+01] [-2.20963296e-01 9.75280591e-01 -1.72950748e-03 -8.36266934e+00] [-8.65255147e-03 -1.87078038e-04 9.99962548e-01 -3.19721799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.524203822 meters Centerline goodness [0,1] 0.9999785839722448 Centerline is valid? [True, True] Translation: X:96.36, Y:-8.37, Z:-3.19 [[ 9.75917442e-01 2.17925183e-01 9.68301474e-03 9.63632383e+01] [-2.17916262e-01 9.75965462e-01 -1.97984136e-03 -8.37454355e+00] [-9.88174524e-03 -1.77924660e-04 9.99951159e-01 -3.19356000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.554203822 meters Centerline goodness [0,1] 0.9999787442077966 Centerline is valid? [True, True] Translation: X:96.39, Y:-8.38, Z:-3.20 [[ 9.76323354e-01 2.16120094e-01 9.20939634e-03 9.63933488e+01] [-2.16111967e-01 9.76366776e-01 -1.88053450e-03 -8.38263513e+00] [-9.39816990e-03 -1.54251009e-04 9.99955824e-01 -3.19724736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.584203822 meters Centerline goodness [0,1] 0.9999150075430806 Centerline is valid? [True, True] Translation: X:96.42, Y:-8.39, Z:-3.20 [[ 9.76655428e-01 2.14644034e-01 8.49193556e-03 9.64243695e+01] [-2.14637043e-01 9.76692338e-01 -1.73701976e-03 -8.39383734e+00] [-8.66684933e-03 -1.26214159e-04 9.99962434e-01 -3.19752578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.61420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.46, Y:-8.40, Z:-3.20 [[ 9.76928816e-01 2.13406665e-01 8.22705090e-03 9.64553449e+01] [-2.13400075e-01 9.76963450e-01 -1.68091699e-03 -8.40438055e+00] [-8.39624692e-03 -1.13517032e-04 9.99964744e-01 -3.19775552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.64420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.48, Y:-8.41, Z:-3.20 [[ 9.77154239e-01 2.12277822e-01 1.03788229e-02 9.64849936e+01] [-2.12267207e-01 9.77209348e-01 -2.12647196e-03 -8.41303459e+00] [-1.05936856e-02 -1.25192669e-04 9.99943878e-01 -3.19636466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.674203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.52, Y:-8.42, Z:-3.20 [[ 9.77217154e-01 2.11927071e-01 1.15564217e-02 9.65154537e+01] [-2.11913898e-01 9.77285474e-01 -2.36684098e-03 -8.41902780e+00] [-1.17955207e-02 -1.36048755e-04 9.99930421e-01 -3.19593524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.704203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.55, Y:-8.43, Z:-3.19 [[ 9.77308124e-01 2.11477720e-01 1.20832376e-02 9.65470694e+01] [-2.11463283e-01 9.77382809e-01 -2.47475196e-03 -8.42679696e+00] [-1.23333036e-02 -1.36565908e-04 9.99923933e-01 -3.19358810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.734203822 meters Centerline goodness [0,1] 0.9999786370433668 Centerline is valid? [True, True] Translation: X:96.58, Y:-8.43, Z:-3.20 [[ 9.77525789e-01 2.10490779e-01 1.17031959e-02 9.65781199e+01] [-2.10477127e-01 9.77595836e-01 -2.40010084e-03 -8.43116411e+00] [-1.19461947e-02 -1.17094595e-04 9.99928635e-01 -3.19738033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.764203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.61, Y:-8.44, Z:-3.20 [[ 9.77607533e-01 2.10174179e-01 1.05035677e-02 9.66091991e+01] [-2.10163172e-01 9.77663952e-01 -2.15339198e-03 -8.43812377e+00] [-1.07215469e-02 -1.02290886e-04 9.99942517e-01 -3.19889556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.794203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.64, Y:-8.45, Z:-3.20 [[ 9.77569637e-01 2.10379980e-01 9.89286628e-03 9.66403801e+01] [-2.10370212e-01 9.77619688e-01 -2.02958701e-03 -8.44774401e+00] [-1.00984453e-02 -9.71017413e-05 9.99949005e-01 -3.20065155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.824203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.67, Y:-8.46, Z:-3.20 [[ 9.77553656e-01 2.10449503e-01 9.99282381e-03 9.66725230e+01] [-2.10439527e-01 9.77604724e-01 -2.05139663e-03 -8.45681304e+00] [-1.02007472e-02 -9.75348410e-05 9.99947966e-01 -3.20104832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.854203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.70, Y:-8.46, Z:-3.20 [[ 9.77457217e-01 2.10967058e-01 8.38382069e-03 9.67039850e+01] [-2.10960046e-01 9.77493168e-01 -1.72223768e-03 -8.46399588e+00] [-8.55846286e-03 -8.52375464e-05 9.99963372e-01 -3.20225155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.884203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.74, Y:-8.47, Z:-3.21 [[ 9.77404826e-01 2.11220205e-01 8.11360277e-03 9.67355634e+01] [-2.11213638e-01 9.77438498e-01 -1.66774769e-03 -8.46896193e+00] [-8.28280971e-03 -8.36389113e-05 9.99965693e-01 -3.20539255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.914203822 meters Centerline goodness [0,1] 0.9999784955485785 Centerline is valid? [True, True] Translation: X:96.77, Y:-8.48, Z:-3.21 [[ 9.77454987e-01 2.10996322e-01 7.89309778e-03 9.67681322e+01] [-2.10990090e-01 9.77486852e-01 -1.62359388e-03 -8.47557032e+00] [-8.05797164e-03 -7.83754751e-05 9.99967531e-01 -3.20687301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.944203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.80, Y:-8.48, Z:-3.21 [[ 9.77544724e-01 2.10589351e-01 7.64446305e-03 9.67999515e+01] [-2.10583482e-01 9.77574611e-01 -1.57373989e-03 -8.48296368e+00] [-7.80444585e-03 -7.13965250e-05 9.99969542e-01 -3.20809917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.974203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.83, Y:-8.49, Z:-3.21 [[ 9.77969626e-01 2.08590734e-01 8.08180644e-03 9.68294767e+01] [-2.08584084e-01 9.78003018e-01 -1.66655915e-03 -8.49296409e+00] [-8.25165988e-03 -5.58919593e-05 9.99965953e-01 -3.21168058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.00420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.86, Y:-8.50, Z:-3.21 [[ 9.78199933e-01 2.07495184e-01 8.40470204e-03 9.68598803e+01] [-2.07487940e-01 9.78236038e-01 -1.73445414e-03 -8.50331490e+00] [-8.58167330e-03 -4.72313852e-05 9.99963176e-01 -3.21151824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.034203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.89, Y:-8.51, Z:-3.21 [[ 9.78418200e-01 2.06442048e-01 8.91665176e-03 9.68896621e+01] [-2.06433832e-01 9.78458829e-01 -1.84222376e-03 -8.51329909e+00] [-9.10488908e-03 -3.82333330e-05 9.99958549e-01 -3.21153369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.064203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.92, Y:-8.52, Z:-3.21 [[ 9.78847256e-01 2.04396167e-01 8.95863397e-03 9.69200029e+01] [-2.04387776e-01 9.78888250e-01 -1.85213132e-03 -8.52315595e+00] [-9.14807008e-03 -1.80816188e-05 9.99958155e-01 -3.21289233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.094203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.95, Y:-8.53, Z:-3.22 [[ 9.78892376e-01 2.04209969e-01 8.24648177e-03 9.69514947e+01] [-2.04202843e-01 9.78927111e-01 -1.70593439e-03 -8.52877670e+00] [-8.42107338e-03 -1.40288600e-05 9.99964542e-01 -3.21558638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.124203822 meters Centerline goodness [0,1] 0.999870261854823 Centerline is valid? [True, True] Translation: X:96.98, Y:-8.53, Z:-3.21 [[ 9.78796017e-01 2.04691609e-01 7.72677635e-03 9.69833584e+01] [-2.04685362e-01 9.78826514e-01 -1.59923758e-03 -8.53340835e+00] [-7.89052407e-03 -1.62306392e-05 9.99968869e-01 -3.21455970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.154203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.02, Y:-8.54, Z:-3.21 [[ 9.78616987e-01 2.05540577e-01 7.86534241e-03 9.70152093e+01] [-2.05534124e-01 9.78648594e-01 -1.62885770e-03 -8.54008672e+00] [-8.03220265e-03 -2.25684443e-05 9.99967741e-01 -3.21418914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.184203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.05, Y:-8.55, Z:-3.22 [[ 9.78395002e-01 2.06606853e-01 7.53848748e-03 9.70459532e+01] [-2.06600940e-01 9.78424043e-01 -1.56335798e-03 -8.54512494e+00] [-7.69883787e-03 -2.78769712e-05 9.99970363e-01 -3.21998897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.214203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.08, Y:-8.55, Z:-3.22 [[ 9.78214185e-01 2.07477415e-01 7.08030416e-03 9.70778369e+01] [-2.07472216e-01 9.78239808e-01 -1.46918470e-03 -8.55102669e+00] [-7.23105802e-03 -3.17890802e-05 9.99973855e-01 -3.21991392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.244203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.11, Y:-8.56, Z:-3.22 [[ 9.77953615e-01 2.08682096e-01 7.64918296e-03 9.71087176e+01] [-2.08676049e-01 9.77983528e-01 -1.58921075e-03 -8.55516646e+00] [-7.81241477e-03 -4.20268795e-05 9.99969482e-01 -3.22207932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.274203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.14, Y:-8.56, Z:-3.22 [[ 9.77916523e-01 2.08840315e-01 8.06201112e-03 9.71405456e+01] [-2.08833593e-01 9.77949754e-01 -1.67616080e-03 -8.56233396e+00] [-8.23429174e-03 -4.44734088e-05 9.99966097e-01 -3.21914195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.304203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.17, Y:-8.57, Z:-3.22 [[ 9.78001237e-01 2.08430826e-01 8.37683040e-03 9.71720071e+01] [-2.08423540e-01 9.78037110e-01 -1.74325515e-03 -8.56881426e+00] [-8.55619911e-03 -4.10229554e-05 9.99963394e-01 -3.21946363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.334203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.20, Y:-8.58, Z:-3.22 [[ 9.78563227e-01 2.05690930e-01 1.02592584e-02 9.72038959e+01] [-2.05679806e-01 9.78617004e-01 -2.13925655e-03 -8.57578305e+00] [-1.04799104e-02 -1.67244925e-05 9.99945084e-01 -3.21553675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.36420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.23, Y:-8.58, Z:-3.22 [[ 9.78948592e-01 2.03848436e-01 1.02698260e-02 9.72341281e+01] [-2.03837196e-01 9.79002459e-01 -2.14068153e-03 -8.58481699e+00] [-1.04905595e-02 2.24463609e-06 9.99944973e-01 -3.21963125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.39420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.26, Y:-8.60, Z:-3.22 [[ 9.79919930e-01 1.99215450e-01 8.37469546e-03 9.72631666e+01] [-1.99207776e-01 9.79955715e-01 -1.74920245e-03 -8.60212765e+00] [-8.55529883e-03 4.57738889e-05 9.99963402e-01 -3.22315788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.424203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.29, Y:-8.61, Z:-3.22 [[ 9.80303396e-01 1.97336904e-01 7.96232201e-03 9.72942229e+01] [-1.97329924e-01 9.80335730e-01 -1.66072633e-03 -8.61260387e+00] [-8.13347135e-03 5.68112628e-05 9.99966921e-01 -3.22333884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.454203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.32, Y:-8.62, Z:-3.23 [[ 9.80566923e-01 1.96026191e-01 7.88936129e-03 9.73236671e+01] [-1.96019271e-01 9.80598658e-01 -1.64854002e-03 -8.62192014e+00] [-8.05945411e-03 7.00369654e-05 9.99967520e-01 -3.22565647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.484203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.35, Y:-8.63, Z:-3.23 [[ 9.80878325e-01 1.94457164e-01 8.00767874e-03 9.73544236e+01] [-1.94449990e-01 9.80911007e-01 -1.67239887e-03 -8.63297265e+00] [-8.18003016e-03 8.33267563e-05 9.99966540e-01 -3.22607937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.514203822 meters Centerline goodness [0,1] 0.9999356623560445 Centerline is valid? [True, True] Translation: X:97.39, Y:-8.64, Z:-3.22 [[ 9.80940533e-01 1.94136146e-01 8.17479754e-03 9.73863830e+01] [-1.94128651e-01 9.80974591e-01 -1.70817417e-03 -8.63964933e+00] [-8.35088702e-03 8.86548581e-05 9.99965127e-01 -3.22454858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.544203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.42, Y:-8.65, Z:-3.23 [[ 9.80813354e-01 1.94762380e-01 8.53115519e-03 9.74183308e+01] [-1.94754204e-01 9.80850451e-01 -1.78691828e-03 -8.64643366e+00] [-8.71581187e-03 9.11549694e-05 9.99962012e-01 -3.22524835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.574203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.45, Y:-8.65, Z:-3.23 [[ 9.80197919e-01 1.97805517e-01 9.22045041e-03 9.74487515e+01] [-1.97796104e-01 9.80241283e-01 -1.93103704e-03 -8.65162235e+00] [-9.42023591e-03 6.90293260e-05 9.99955626e-01 -3.22860293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.604203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.48, Y:-8.66, Z:-3.23 [[ 9.79729033e-01 2.00135887e-01 8.75490555e-03 9.74813116e+01] [-2.00127488e-01 9.79768148e-01 -1.83413694e-03 -8.65509133e+00] [-8.94485422e-03 4.48599561e-05 9.99959993e-01 -3.22738848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.634203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.52, Y:-8.65, Z:-3.23 [[ 9.78370061e-01 2.06712796e-01 7.86402297e-03 9.75159191e+01] [-2.06706223e-01 9.78401666e-01 -1.64841908e-03 -8.65076528e+00] [-8.03492249e-03 -1.27786152e-05 9.99967719e-01 -3.22974570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.664203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.55, Y:-8.65, Z:-3.23 [[ 9.77608925e-01 2.10306624e-01 7.20517445e-03 9.75481659e+01] [-2.10301194e-01 9.77635475e-01 -1.51178581e-03 -8.65149999e+00] [-7.36197272e-03 -3.73214818e-05 9.99972900e-01 -3.23138439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.694203822 meters Centerline goodness [0,1] 0.9999786862185089 Centerline is valid? [True, True] Translation: X:97.58, Y:-8.65, Z:-3.23 [[ 9.76907758e-01 2.13548516e-01 6.94722523e-03 9.75809515e+01] [-2.13543542e-01 9.76932458e-01 -1.45866578e-03 -8.65347481e+00] [-7.09846573e-03 -5.85531663e-05 9.99974804e-01 -3.23172061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.724203822 meters Centerline goodness [0,1] 0.9999786311088318 Centerline is valid? [True, True] Translation: X:97.61, Y:-8.65, Z:-3.23 [[ 9.75896161e-01 2.18094750e-01 7.83348803e-03 9.76127847e+01] [-2.18088542e-01 9.75927595e-01 -1.64865743e-03 -8.65106646e+00] [-8.00448067e-03 -9.94755211e-05 9.99967959e-01 -3.23045044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.75420382200001 meters Centerline goodness [0,1] 0.99997854997855 Centerline is valid? [True, True] Translation: X:97.65, Y:-8.65, Z:-3.23 [[ 9.75604833e-01 2.19374493e-01 8.36910908e-03 9.76455910e+01] [-2.19367465e-01 9.75640722e-01 -1.75996895e-03 -8.65464345e+00] [-8.55133592e-03 -1.18876036e-04 9.99963430e-01 -3.23072689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.784203822 meters Centerline goodness [0,1] 0.99997854997855 Centerline is valid? [True, True] Translation: X:97.68, Y:-8.66, Z:-3.23 [[ 9.75563170e-01 2.19559709e-01 8.36877256e-03 9.76773176e+01] [-2.19552674e-01 9.75599057e-01 -1.76156582e-03 -8.66151435e+00] [-8.55133549e-03 -1.18867662e-04 9.99963430e-01 -3.23169474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.814203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.71, Y:-8.67, Z:-3.23 [[ 9.75510845e-01 2.19785268e-01 8.54559859e-03 9.77093967e+01] [-2.19777926e-01 9.75548267e-01 -1.80057989e-03 -8.66687879e+00] [-8.73238483e-03 -1.21648729e-04 9.99961865e-01 -3.23191270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.844203822 meters Centerline goodness [0,1] 0.9999787134403337 Centerline is valid? [True, True] Translation: X:97.74, Y:-8.67, Z:-3.23 [[ 9.75731938e-01 2.18798796e-01 8.61810706e-03 9.77399214e+01] [-2.18791256e-01 9.75769991e-01 -1.81968144e-03 -8.67341203e+00] [-8.80743435e-03 -1.10045174e-04 9.99961208e-01 -3.23461058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.874203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.77, Y:-8.68, Z:-3.24 [[ 9.76646068e-01 2.14670611e-01 8.88739033e-03 9.77702979e+01] [-2.14662427e-01 9.76686502e-01 -1.87605330e-03 -8.68432216e+00] [-9.08292769e-03 -7.55486988e-05 9.99958747e-01 -3.23576169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.904203822 meters Centerline goodness [0,1] 0.9999570769395858 Centerline is valid? [True, True] Translation: X:97.80, Y:-8.69, Z:-3.23 [[ 9.77194011e-01 2.12132520e-01 9.57382319e-03 9.78011274e+01] [-2.12122883e-01 9.77240907e-01 -2.02279804e-03 -8.69458334e+00] [-9.78503291e-03 -5.41608476e-05 9.99952124e-01 -3.23338414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.934203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.83, Y:-8.71, Z:-3.24 [[ 9.78267697e-01 2.07106071e-01 9.96937914e-03 9.78298655e+01] [-2.07095336e-01 9.78318494e-01 -2.10864779e-03 -8.70858784e+00] [-1.01899417e-02 -1.78990662e-06 9.99948081e-01 -3.23594862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.964203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.86, Y:-8.72, Z:-3.24 [[ 9.78750723e-01 2.04863489e-01 8.83023777e-03 9.78601869e+01] [-2.04854968e-01 9.78790555e-01 -1.86850235e-03 -8.71839457e+00] [-9.02574123e-03 1.98799523e-05 9.99959267e-01 -3.23843658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.994203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.89, Y:-8.73, Z:-3.24 [[ 9.79122172e-01 2.03111789e-01 8.08543716e-03 9.78913440e+01] [-2.03104579e-01 9.79155555e-01 -1.71167526e-03 -8.72639873e+00] [-8.26456213e-03 3.37498847e-05 9.99965847e-01 -3.23802360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.024203822 meters Centerline goodness [0,1] 0.9999574268806676 Centerline is valid? [True, True] Translation: X:97.92, Y:-8.74, Z:-3.24 [[ 9.79605867e-01 2.00760105e-01 8.22960865e-03 9.79210877e+01] [-2.00752537e-01 9.79640433e-01 -1.74408048e-03 -8.73687277e+00] [-8.41219915e-03 5.63966582e-05 9.99964615e-01 -3.24347383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.054203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.95, Y:-8.74, Z:-3.24 [[ 9.79693448e-01 2.00345380e-01 7.90420511e-03 9.79530769e+01] [-2.00338379e-01 9.79725331e-01 -1.67599145e-03 -8.74344061e+00] [-8.07972712e-03 5.84422076e-05 9.99967357e-01 -3.24143149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.084203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.98, Y:-8.75, Z:-3.24 [[ 9.79688433e-01 2.00394792e-01 7.24579762e-03 9.79846588e+01] [-2.00388903e-01 9.79715226e-01 -1.53722333e-03 -8.75014350e+00] [-7.40686980e-03 5.40224731e-05 9.99972567e-01 -3.24315290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.11420382200001 meters Centerline goodness [0,1] 0.9998932718579235 Centerline is valid? [True, True] Translation: X:98.02, Y:-8.76, Z:-3.25 [[ 9.79681581e-01 2.00438477e-01 6.95817283e-03 9.80153393e+01] [-2.00433027e-01 9.79706290e-01 -1.47907691e-03 -8.75608303e+00] [-7.11342961e-03 5.43767637e-05 9.99974698e-01 -3.24746394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.14420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.05, Y:-8.76, Z:-3.25 [[ 9.79626658e-01 2.00717330e-01 6.64570285e-03 9.80471335e+01] [-2.00712377e-01 9.79649198e-01 -1.41091504e-03 -8.76317654e+00] [-6.79365257e-03 4.82951683e-05 9.99976922e-01 -3.24813793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.174203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.08, Y:-8.77, Z:-3.25 [[ 9.79517355e-01 2.01244554e-01 6.81036825e-03 9.80771811e+01] [-2.01239349e-01 9.79541029e-01 -1.44825913e-03 -8.76957018e+00] [-6.96248938e-03 4.80808845e-05 9.99975760e-01 -3.24820060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.204203822 meters Centerline goodness [0,1] 0.9998924684932685 Centerline is valid? [True, True] Translation: X:98.11, Y:-8.78, Z:-3.25 [[ 9.79513861e-01 2.01239891e-01 7.42310310e-03 9.81074282e+01] [-2.01233694e-01 9.79541986e-01 -1.58022651e-03 -8.77596454e+00] [-7.58924577e-03 5.40753092e-05 9.99971200e-01 -3.24832135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.234203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.14, Y:-8.78, Z:-3.25 [[ 9.79501886e-01 2.01274202e-01 8.04675815e-03 9.81395512e+01] [-2.01266890e-01 9.79534937e-01 -1.71671658e-03 -8.78237656e+00] [-8.22761149e-03 6.19811413e-05 9.99966151e-01 -3.24627687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.264203822 meters Centerline goodness [0,1] 0.9999135882480017 Centerline is valid? [True, True] Translation: X:98.17, Y:-8.79, Z:-3.25 [[ 9.79427322e-01 2.01640372e-01 7.95498321e-03 9.81722962e+01] [-2.01633259e-01 9.79459625e-01 -1.69458245e-03 -8.78630187e+00] [-8.13328111e-03 5.57311601e-05 9.99966923e-01 -3.24627880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.294203822 meters Centerline goodness [0,1] 0.9999570732544912 Centerline is valid? [True, True] Translation: X:98.20, Y:-8.79, Z:-3.25 [[ 9.79340715e-01 2.02062605e-01 7.90361179e-03 9.82030953e+01] [-2.02055582e-01 9.79372606e-01 -1.68554356e-03 -8.79260819e+00] [-8.08116619e-03 5.37525566e-05 9.99967345e-01 -3.25130593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.324203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.23, Y:-8.80, Z:-3.25 [[ 9.79307045e-01 2.02214080e-01 8.19623183e-03 9.82338748e+01] [-2.02206514e-01 9.79341341e-01 -1.75022239e-03 -8.79971993e+00] [-8.38082828e-03 5.66736497e-05 9.99964879e-01 -3.25295991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.354203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.27, Y:-8.81, Z:-3.25 [[ 9.79310030e-01 2.02182505e-01 8.60813558e-03 9.82650459e+01] [-2.02174143e-01 9.79347860e-01 -1.83981374e-03 -8.80678253e+00] [-8.80233731e-03 6.14056176e-05 9.99961257e-01 -3.25099702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.384203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.30, Y:-8.82, Z:-3.25 [[ 9.79286856e-01 2.02293911e-01 8.62715220e-03 9.82961928e+01] [-2.02285494e-01 9.79324854e-01 -1.84643263e-03 -8.81643783e+00] [-8.82230664e-03 6.30394557e-05 9.99961081e-01 -3.25113099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.414203822 meters Centerline goodness [0,1] 0.9999784691570675 Centerline is valid? [True, True] Translation: X:98.33, Y:-8.82, Z:-3.25 [[ 9.79151867e-01 2.02951421e-01 8.50545859e-03 9.83285495e+01] [-2.02943268e-01 9.79188806e-01 -1.81990663e-03 -8.82269375e+00] [-8.69780248e-03 5.58394069e-05 9.99962172e-01 -3.25150121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.444203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.36, Y:-8.83, Z:-3.25 [[ 9.78903195e-01 2.04137802e-01 8.73452472e-03 9.83612440e+01] [-2.04129211e-01 9.78942161e-01 -1.87351538e-03 -8.82629124e+00] [-8.93304982e-03 5.10185483e-05 9.99960098e-01 -3.25028224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.474203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.39, Y:-8.83, Z:-3.25 [[ 9.78093305e-01 2.07939894e-01 9.72045418e-03 9.83928481e+01] [-2.07929441e-01 9.78141605e-01 -2.08509062e-03 -8.82596867e+00] [-9.94155418e-03 1.82445757e-05 9.99950581e-01 -3.25249379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.50420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.43, Y:-8.83, Z:-3.25 [[ 9.77598563e-01 2.10269251e-01 9.37508712e-03 9.84254203e+01] [-2.10259645e-01 9.77643515e-01 -2.00992449e-03 -8.82931933e+00] [-9.58811844e-03 -6.30319544e-06 9.99954033e-01 -3.25354443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.534203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.46, Y:-8.83, Z:-3.26 [[ 9.76798945e-01 2.13924354e-01 1.00095887e-02 9.84568688e+01] [-2.13913563e-01 9.76850229e-01 -2.14908443e-03 -8.83036259e+00] [-1.02376105e-02 -4.19633892e-05 9.99947593e-01 -3.25712995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.564203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.49, Y:-8.84, Z:-3.25 [[ 9.76565170e-01 2.14945771e-01 1.08988498e-02 9.84885526e+01] [-2.14933020e-01 9.76625984e-01 -2.34187818e-03 -8.83779291e+00] [-1.11474767e-02 -5.55260389e-05 9.99937863e-01 -3.25184986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.594203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.52, Y:-8.84, Z:-3.26 [[ 9.76426189e-01 2.15577369e-01 1.08763397e-02 9.85196109e+01] [-2.15564691e-01 9.76486761e-01 -2.33874847e-03 -8.84416381e+00] [-1.11247830e-02 -6.09395490e-05 9.99938116e-01 -3.25585073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.624203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.55, Y:-8.85, Z:-3.26 [[ 9.76386055e-01 2.15826744e-01 9.43867158e-03 9.85507535e+01] [-2.15817195e-01 9.76431674e-01 -2.03100438e-03 -8.85187491e+00] [-9.65456295e-03 -5.39832686e-05 9.99953392e-01 -3.25706521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.654203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.58, Y:-8.86, Z:-3.26 [[ 9.76445353e-01 2.15649216e-01 7.06319865e-03 9.85823250e+01] [-2.15643845e-01 9.76470898e-01 -1.52251566e-03 -8.85633350e+00] [-7.22533723e-03 -3.64819709e-05 9.99973896e-01 -3.26283178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.684203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.61, Y:-8.86, Z:-3.26 [[ 9.76460006e-01 2.15577863e-01 7.21392232e-03 9.86147085e+01] [-2.15572279e-01 9.76486653e-01 -1.55214925e-03 -8.86281820e+00] [-7.37890788e-03 -3.95100053e-05 9.99972775e-01 -3.26445487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.714203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.65, Y:-8.87, Z:-3.26 [[ 9.76417415e-01 2.15765412e-01 7.37015109e-03 9.86466952e+01] [-2.15759577e-01 9.76445229e-01 -1.58735292e-03 -8.86949245e+00] [-7.53904473e-03 -4.02616480e-05 9.99971580e-01 -3.26470384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.744203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.68, Y:-8.88, Z:-3.26 [[ 9.76278306e-01 2.16398623e-01 7.23221338e-03 9.86786036e+01] [-2.16393012e-01 9.76305093e-01 -1.55886534e-03 -8.87600776e+00] [-7.39818307e-03 -4.31140225e-05 9.99972632e-01 -3.26431540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.774203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.71, Y:-8.88, Z:-3.27 [[ 9.76103210e-01 2.17191821e-01 7.08782033e-03 9.87104942e+01] [-2.17186441e-01 9.76128942e-01 -1.52934843e-03 -8.88198087e+00] [-7.25078853e-03 -4.65765606e-05 9.99973712e-01 -3.26555681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.804203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.74, Y:-8.89, Z:-3.27 [[ 9.75693439e-01 2.19029861e-01 6.94494098e-03 9.87422636e+01] [-2.19024732e-01 9.75718154e-01 -1.49998718e-03 -8.88621638e+00] [-7.10484697e-03 -5.75861886e-05 9.99974759e-01 -3.26614903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.834203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.77, Y:-8.89, Z:-3.26 [[ 9.75533396e-01 2.19719325e-01 7.61657621e-03 9.87734803e+01] [-2.19713163e-01 9.75563127e-01 -1.64681698e-03 -8.89197919e+00] [-7.79228842e-03 -6.69370946e-05 9.99969637e-01 -3.26474674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.86420382200001 meters Centerline goodness [0,1] 0.9999573688024896 Centerline is valid? [True, True] Translation: X:98.80, Y:-8.89, Z:-3.26 [[ 9.75552766e-01 2.19448767e-01 1.17915121e-02 9.88042519e+01] [-2.19433885e-01 9.75624021e-01 -2.55736127e-03 -8.89431867e+00] [-1.20652922e-02 -9.26164451e-05 9.99927207e-01 -3.26356000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.89420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.84, Y:-8.90, Z:-3.26 [[ 9.75811517e-01 2.18251762e-01 1.25718441e-02 9.88353566e+01] [-2.18234778e-01 9.75892495e-01 -2.72413256e-03 -8.90308811e+00] [-1.28633150e-02 -8.53736703e-05 9.99917260e-01 -3.26098726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.924203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.87, Y:-8.91, Z:-3.26 [[ 9.76237984e-01 2.16363482e-01 1.20930384e-02 9.88662963e+01] [-2.16347588e-01 9.76312880e-01 -2.62313461e-03 -8.91214808e+00] [-1.23741397e-02 -5.54960408e-05 9.99923436e-01 -3.26338927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.954203822 meters Centerline goodness [0,1] 0.9998926162965508 Centerline is valid? [True, True] Translation: X:98.90, Y:-8.92, Z:-3.27 [[ 9.76741890e-01 2.14137371e-01 1.09757581e-02 9.88967984e+01] [-2.14124136e-01 9.76803555e-01 -2.38090336e-03 -8.92150400e+00] [-1.12310000e-02 -2.46466785e-05 9.99936930e-01 -3.26575562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.984203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.93, Y:-8.94, Z:-3.27 [[ 9.77752906e-01 2.09492750e-01 1.05850496e-02 9.89270193e+01] [-2.09480150e-01 9.77810200e-01 -2.29779485e-03 -8.93510086e+00] [-1.08315408e-02 2.93178127e-05 9.99941337e-01 -3.26848458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.014203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.96, Y:-8.95, Z:-3.27 [[ 9.78224382e-01 2.07256462e-01 1.10370486e-02 9.89586143e+01] [-2.07242602e-01 9.78286643e-01 -2.39757949e-03 -8.94565891e+00] [-1.12943111e-02 5.80240500e-05 9.99936216e-01 -3.26861172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.044203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.99, Y:-8.96, Z:-3.27 [[ 9.79097117e-01 2.03073194e-01 1.14066815e-02 9.89867728e+01] [-2.03058053e-01 9.79163554e-01 -2.48239405e-03 -8.96016244e+00] [-1.16731145e-02 1.14286313e-04 9.99931860e-01 -3.27111181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.074203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.02, Y:-8.97, Z:-3.27 [[ 9.79495149e-01 2.01165969e-01 1.10229491e-02 9.90179649e+01] [-2.01151694e-01 9.79557163e-01 -2.40019411e-03 -8.96774325e+00] [-1.12804461e-02 1.33693605e-04 9.99936365e-01 -3.26897557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.104203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.05, Y:-8.98, Z:-3.27 [[ 9.80229983e-01 1.97563873e-01 1.08488272e-02 9.90468383e+01] [-1.97549838e-01 9.80290001e-01 -2.36108191e-03 -8.98210901e+00] [-1.11014613e-02 1.71219224e-04 9.99938362e-01 -3.27325716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.134203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.08, Y:-8.99, Z:-3.27 [[ 9.80516800e-01 1.96110862e-01 1.12843199e-02 9.90779680e+01] [-1.96095559e-01 9.80581711e-01 -2.45776132e-03 -8.98973181e+00] [-1.15471914e-02 1.97071249e-04 9.99933310e-01 -3.27074365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.164203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.11, Y:-9.00, Z:-3.27 [[ 9.80841596e-01 1.94462325e-01 1.15830365e-02 9.91076291e+01] [-1.94446058e-01 9.80909962e-01 -2.52522633e-03 -8.99990151e+00] [-1.18529773e-02 2.24571229e-04 9.99929726e-01 -3.27186780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.194203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.14, Y:-9.01, Z:-3.27 [[ 9.81199723e-01 1.92654562e-01 1.14595917e-02 9.91387869e+01] [-1.92638499e-01 9.81266610e-01 -2.49989559e-03 -9.00865983e+00] [-1.17265310e-02 2.45338313e-04 9.99931212e-01 -3.27320358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.224203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.17, Y:-9.02, Z:-3.28 [[ 9.82102101e-01 1.87994236e-01 1.15598439e-02 9.91678171e+01] [-1.87977509e-01 9.82170083e-01 -2.52669306e-03 -9.02098097e+00] [-1.18287365e-02 3.08479909e-04 9.99929990e-01 -3.27542508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.25420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.20, Y:-9.03, Z:-3.28 [[ 9.82588160e-01 1.85421407e-01 1.18071981e-02 9.91978831e+01] [-1.85403776e-01 9.82659036e-01 -2.58026421e-03 -9.03417553e+00] [-1.20808861e-02 3.46237953e-04 9.99926963e-01 -3.27596375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.284203822 meters Centerline goodness [0,1] 0.9999575362534237 Centerline is valid? [True, True] Translation: X:99.23, Y:-9.05, Z:-3.28 [[ 9.82969917e-01 1.83355363e-01 1.22862742e-02 9.92268512e+01] [-1.83336127e-01 9.83046623e-01 -2.68374693e-03 -9.04725433e+00] [-1.25700597e-02 3.85524578e-04 9.99920919e-01 -3.27598450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.314203822 meters Centerline goodness [0,1] 0.9998934946534316 Centerline is valid? [True, True] Translation: X:99.26, Y:-9.06, Z:-3.28 [[ 9.83442024e-01 1.80815882e-01 1.21409039e-02 9.92559741e+01] [-1.80796852e-01 9.83516875e-01 -2.65624955e-03 -9.06004272e+00] [-1.24210760e-02 4.17230220e-04 9.99922768e-01 -3.27701820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.344203822 meters Centerline goodness [0,1] 0.999935365722288 Centerline is valid? [True, True] Translation: X:99.29, Y:-9.07, Z:-3.28 [[ 9.83442512e-01 1.80880327e-01 1.10965200e-02 9.92868031e+01] [-1.80864460e-01 9.83505040e-01 -2.42545918e-03 -9.06700178e+00] [-1.13522012e-02 3.78333576e-04 9.99935490e-01 -3.27882350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.374203822 meters Centerline goodness [0,1] 0.9999571036376115 Centerline is valid? [True, True] Translation: X:99.32, Y:-9.08, Z:-3.28 [[ 9.82961985e-01 1.83502858e-01 1.06036214e-02 9.93156410e+01] [-1.83488474e-01 9.83019119e-01 -2.32205526e-03 -9.07638014e+00] [-1.08496663e-02 3.36849745e-04 9.99941084e-01 -3.28147039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.404203822 meters Centerline goodness [0,1] 0.9998719672236093 Centerline is valid? [True, True] Translation: X:99.35, Y:-9.08, Z:-3.28 [[ 9.82501507e-01 1.85914200e-01 1.12560826e-02 9.93467000e+01] [-1.85898151e-01 9.82565927e-01 -2.46489195e-03 -9.08017218e+00] [-1.15181016e-02 3.29275118e-04 9.99933610e-01 -3.28113963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.434203822 meters Centerline goodness [0,1] 0.9999784950861271 Centerline is valid? [True, True] Translation: X:99.38, Y:-9.08, Z:-3.28 [[ 9.81962738e-01 1.88731954e-01 1.13767939e-02 9.93788921e+01] [-1.88715746e-01 9.82028594e-01 -2.49139966e-03 -9.08170959e+00] [-1.16425437e-02 2.99481478e-04 9.99932178e-01 -3.28233050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.464203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.41, Y:-9.08, Z:-3.28 [[ 9.81436034e-01 1.91478618e-01 1.09202107e-02 9.94119833e+01] [-1.91463880e-01 9.81496752e-01 -2.38922504e-03 -9.08139303e+00] [-1.11756369e-02 2.54045635e-04 9.99937518e-01 -3.28256488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.494203822 meters Centerline goodness [0,1] 0.9999786580160491 Centerline is valid? [True, True] Translation: X:99.44, Y:-9.09, Z:-3.29 [[ 9.80748523e-01 1.94997700e-01 1.04033955e-02 9.94416568e+01] [-1.94984472e-01 9.80803677e-01 -2.28081492e-03 -9.08607966e+00] [-1.06484422e-02 2.08405284e-04 9.99943282e-01 -3.28739084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.524203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.47, Y:-9.09, Z:-3.29 [[ 9.80424430e-01 1.96598130e-01 1.08218299e-02 9.94734347e+01] [-1.96583945e-01 9.80484134e-01 -2.36975624e-03 -9.09077094e+00] [-1.10765221e-02 1.95968893e-04 9.99938634e-01 -3.28595648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.554203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.50, Y:-9.10, Z:-3.29 [[ 9.80012087e-01 1.98629414e-01 1.10754490e-02 9.95033350e+01] [-1.98614660e-01 9.80074652e-01 -2.42757848e-03 -9.09913848e+00] [-1.13369553e-02 1.79309716e-04 9.99935719e-01 -3.28688157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.584203822 meters Centerline goodness [0,1] 0.9999786953001832 Centerline is valid? [True, True] Translation: X:99.54, Y:-9.11, Z:-3.29 [[ 9.79896838e-01 1.99233432e-01 1.04031634e-02 9.95356262e+01] [-1.99220442e-01 9.79952046e-01 -2.28085621e-03 -9.10727982e+00] [-1.06490241e-02 1.62480987e-04 9.99943284e-01 -3.28748591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.61420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.57, Y:-9.12, Z:-3.29 [[ 9.79777553e-01 1.99856880e-01 9.65262504e-03 9.95662789e+01] [-1.99845709e-01 9.79825090e-01 -2.11810653e-03 -9.11551854e+00] [-9.88120236e-03 1.46237533e-04 9.99951169e-01 -3.29060777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.64420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.60, Y:-9.12, Z:-3.29 [[ 9.79433950e-01 2.01507373e-01 1.01939223e-02 9.95986495e+01] [-2.01494979e-01 9.79486988e-01 -2.23931005e-03 -9.11925843e+00] [-1.04360517e-02 1.39232130e-04 9.99945533e-01 -3.29101530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.674203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.63, Y:-9.12, Z:-3.29 [[ 9.79161674e-01 2.02812797e-01 1.04587256e-02 9.96295497e+01] [-2.02799801e-01 9.79217520e-01 -2.29969772e-03 -9.12483093e+00] [-1.07077755e-02 1.30748395e-04 9.99942662e-01 -3.29279064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.704203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.66, Y:-9.13, Z:-3.29 [[ 9.79123397e-01 2.02997521e-01 1.04585105e-02 9.96612023e+01] [-2.02984525e-01 9.79179243e-01 -2.30067570e-03 -9.13200156e+00] [-1.07077878e-02 1.29729625e-04 9.99942662e-01 -3.29375812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.734203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.69, Y:-9.14, Z:-3.30 [[ 9.78816702e-01 2.04505857e-01 9.75803171e-03 9.96931448e+01] [-2.04494603e-01 9.78865334e-01 -2.14811536e-03 -9.13834465e+00] [-9.99110115e-03 1.07146370e-04 9.99950082e-01 -3.29564774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.764203822 meters Centerline goodness [0,1] 0.9999347982004303 Centerline is valid? [True, True] Translation: X:99.73, Y:-9.14, Z:-3.30 [[ 9.78159019e-01 2.07693705e-01 8.26183773e-03 9.97255382e+01] [-2.07685745e-01 9.78193908e-01 -1.81938457e-03 -9.14398122e+00] [-8.45955406e-03 6.37814979e-05 9.99964215e-01 -3.29668772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.794203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.76, Y:-9.15, Z:-3.30 [[ 9.77670822e-01 2.09959441e-01 8.76343310e-03 9.97561321e+01] [-2.09950551e-01 9.77710095e-01 -1.93280424e-03 -9.14991926e+00] [-8.97390751e-03 4.97587056e-05 9.99959732e-01 -3.29810489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.824203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.79, Y:-9.15, Z:-3.30 [[ 9.76406776e-01 2.15701614e-01 1.01302229e-02 9.97898798e+01] [-2.15689998e-01 9.76459325e-01 -2.23858969e-03 -9.14886243e+00] [-1.03746180e-02 7.86382078e-07 9.99946182e-01 -3.29506417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.854203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.82, Y:-9.15, Z:-3.30 [[ 9.75648668e-01 2.19104573e-01 1.01421421e-02 9.98228224e+01] [-2.19093133e-01 9.75701381e-01 -2.23929626e-03 -9.15101746e+00] [-1.03863421e-02 -3.73072711e-05 9.99946060e-01 -3.29650645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.884203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.86, Y:-9.15, Z:-3.30 [[ 9.74832710e-01 2.22688848e-01 1.05292408e-02 9.98551551e+01] [-2.22676698e-01 9.74889569e-01 -2.32751012e-03 -9.15296619e+00] [-1.07831576e-02 -7.56835809e-05 9.99941857e-01 -3.29656891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.914203822 meters Centerline goodness [0,1] 0.999978462201163 Centerline is valid? [True, True] Translation: X:99.89, Y:-9.15, Z:-3.29 [[ 9.73178903e-01 2.29765126e-01 1.14371858e-02 9.98890750e+01] [-2.29751223e-01 9.73246095e-01 -2.53279356e-03 -9.15013565e+00] [-1.17131440e-02 -1.62846164e-04 9.99931386e-01 -3.29451417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.944203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.92, Y:-9.15, Z:-3.30 [[ 9.72380027e-01 2.33154413e-01 1.07750506e-02 9.99205958e+01] [-2.33142284e-01 9.72439706e-01 -2.38599866e-03 -9.15074764e+00] [-1.10343932e-02 -1.92022460e-04 9.99939101e-01 -3.29771921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.974203822 meters Centerline goodness [0,1] 0.9999575091886379 Centerline is valid? [True, True] Translation: X:99.95, Y:-9.15, Z:-3.30 [[ 9.71797430e-01 2.35600582e-01 1.01055185e-02 9.99518613e+01] [-2.35590025e-01 9.71849949e-01 -2.23962899e-03 -9.15005992e+00] [-1.03487055e-02 -2.04293664e-04 9.99946430e-01 -3.30353686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.00420382200001 meters Centerline goodness [0,1] 0.9998930710008554 Centerline is valid? [True, True] Translation: X:99.98, Y:-9.15, Z:-3.30 [[ 9.71401395e-01 2.37229499e-01 1.00744854e-02 9.99845254e+01] [-2.37219120e-01 9.71453609e-01 -2.23032239e-03 -9.15232599e+00] [-1.03159935e-02 -2.23322283e-04 9.99946764e-01 -3.30405917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.034203822 meters Centerline goodness [0,1] 0.9999361131223646 Centerline is valid? [True, True] Translation: X:100.02, Y:-9.16, Z:-3.30 [[ 9.71707979e-01 2.35979122e-01 9.87204251e-03 1.00016104e+02] [-2.35969076e-01 9.71758104e-01 -2.18697745e-03 -9.15984758e+00] [-1.01093183e-02 -2.04393314e-04 9.99948879e-01 -3.30489794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.064203822 meters Centerline goodness [0,1] 0.999978418974038 Centerline is valid? [True, True] Translation: X:100.05, Y:-9.17, Z:-3.31 [[ 9.73180320e-01 2.29895190e-01 8.26239476e-03 1.00045013e+02] [-2.29887903e-01 9.73215386e-01 -1.83399258e-03 -9.17435440e+00] [-8.46271578e-03 -1.14619120e-04 9.99964184e-01 -3.30637086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.094203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.07, Y:-9.19, Z:-3.31 [[ 9.74020175e-01 2.26308921e-01 8.30490452e-03 1.00074901e+02] [-2.26301454e-01 9.74055576e-01 -1.84047932e-03 -9.18510247e+00] [-8.50595544e-03 -8.67479831e-05 9.99963820e-01 -3.30943878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.124203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.10, Y:-9.20, Z:-3.31 [[ 9.74867006e-01 2.22611876e-01 8.84727353e-03 1.00104148e+02] [-2.22603229e-01 9.74907149e-01 -1.96292706e-03 -9.19658219e+00] [-9.06224109e-03 -5.58388258e-05 9.99958935e-01 -3.31250271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.154203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.13, Y:-9.21, Z:-3.31 [[ 9.75669996e-01 2.19044089e-01 9.36724828e-03 1.00133941e+02] [-2.19034215e-01 9.75714962e-01 -2.07988041e-03 -9.20971371e+00] [-9.59534980e-03 -2.24709640e-05 9.99953963e-01 -3.31106259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.184203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.16, Y:-9.22, Z:-3.31 [[ 9.77054278e-01 2.12797397e-01 9.06678809e-03 1.00163851e+02] [-2.12787864e-01 9.77096344e-01 -2.01456784e-03 -9.22478527e+00] [-9.28782029e-03 3.90396546e-05 9.99956867e-01 -3.31153659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.214203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.20, Y:-9.23, Z:-3.31 [[ 9.77495542e-01 2.10749042e-01 9.34383234e-03 1.00196237e+02] [-2.10738812e-01 9.77540197e-01 -2.07740556e-03 -9.23262848e+00] [-9.57178294e-03 6.15465482e-05 9.99954188e-01 -3.31258586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.244203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.23, Y:-9.24, Z:-3.31 [[ 9.78071523e-01 2.08013233e-01 1.03242635e-02 1.00228130e+02] [-2.08000564e-01 9.78126007e-01 -2.29800341e-03 -9.23899173e+00] [-1.05764457e-02 1.00159075e-04 9.99944063e-01 -3.31259673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.274203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.26, Y:-9.25, Z:-3.31 [[ 9.78351474e-01 2.06689180e-01 1.03911247e-02 1.00258272e+02] [-2.06676241e-01 9.78406648e-01 -2.31568489e-03 -9.24878940e+00] [-1.06453725e-02 1.17955145e-04 9.99943329e-01 -3.31445218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.304203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.29, Y:-9.26, Z:-3.31 [[ 9.78634640e-01 2.05353237e-01 1.02122697e-02 1.00289330e+02] [-2.05340655e-01 9.78687913e-01 -2.27696260e-03 -9.25634161e+00] [-1.04622066e-02 1.31320327e-04 9.99945261e-01 -3.31129669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.334203822 meters Centerline goodness [0,1] 0.999935179983579 Centerline is valid? [True, True] Translation: X:100.32, Y:-9.27, Z:-3.31 [[ 9.79120945e-01 2.02994721e-01 1.07386601e-02 1.00318853e+02] [-2.02980639e-01 9.79179818e-01 -2.39680728e-03 -9.26548877e+00] [-1.10016184e-02 1.67024123e-04 9.99939466e-01 -3.31246859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.36420382200001 meters Centerline goodness [0,1] 0.9998917162966974 Centerline is valid? [True, True] Translation: X:100.35, Y:-9.27, Z:-3.31 [[ 9.79450184e-01 2.01373899e-01 1.12200589e-02 1.00349858e+02] [-2.01358398e-01 9.79514428e-01 -2.50615222e-03 -9.27316998e+00] [-1.14948832e-02 1.95398169e-04 9.99933913e-01 -3.31312085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.39420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.38, Y:-9.28, Z:-3.32 [[ 9.79840407e-01 1.99451679e-01 1.14806030e-02 1.00379766e+02] [-1.99435274e-01 9.79907637e-01 -2.56804893e-03 -9.28304788e+00] [-1.17621322e-02 2.26640905e-04 9.99930798e-01 -3.31516254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.424203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.41, Y:-9.29, Z:-3.32 [[ 9.80838970e-01 1.94511847e-01 1.09569982e-02 1.00407592e+02] [-1.94496567e-01 9.80900130e-01 -2.45355578e-03 -9.29494066e+00] [-1.12249666e-02 2.75444585e-04 9.99936960e-01 -3.31743997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.454203822 meters Centerline goodness [0,1] 0.9999572786500054 Centerline is valid? [True, True] Translation: X:100.44, Y:-9.31, Z:-3.32 [[ 9.81264269e-01 1.92413134e-01 9.88029757e-03 1.00437827e+02] [-1.92400613e-01 9.81313973e-01 -2.21149476e-03 -9.30553729e+00] [-1.01211947e-02 2.69085482e-04 9.99948743e-01 -3.32069297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.484203822 meters Centerline goodness [0,1] 0.9999134086677923 Centerline is valid? [True, True] Translation: X:100.47, Y:-9.31, Z:-3.32 [[ 9.81683624e-01 1.90315138e-01 8.79836795e-03 1.00468447e+02] [-1.90305144e-01 9.81723017e-01 -1.96717647e-03 -9.31398118e+00] [-9.01194379e-03 2.56770245e-04 9.99959359e-01 -3.32151621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.514203822 meters Centerline goodness [0,1] 0.9999786939384255 Centerline is valid? [True, True] Translation: X:100.49, Y:-9.34, Z:-3.33 [[ 9.82389469e-01 1.86683163e-01 7.76709981e-03 1.00494106e+02] [-1.86675226e-01 9.82420139e-01 -1.74096768e-03 -9.33517701e+00] [-7.95556463e-03 2.60383204e-04 9.99968320e-01 -3.32520167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.544203822 meters Centerline goodness [0,1] 0.9999139692440048 Centerline is valid? [True, True] Translation: X:100.52, Y:-9.35, Z:-3.33 [[ 9.82532494e-01 1.85924060e-01 7.88299064e-03 1.00524859e+02] [-1.85915891e-01 9.82564081e-01 -1.76319523e-03 -9.34555308e+00] [-8.07336387e-03 2.66823381e-04 9.99967374e-01 -3.32530429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.574203822 meters Centerline goodness [0,1] 0.9999787928913771 Centerline is valid? [True, True] Translation: X:100.56, Y:-9.35, Z:-3.32 [[ 9.82308425e-01 1.87013012e-01 9.81284034e-03 1.00555650e+02] [-1.87000348e-01 9.82357382e-01 -2.20076555e-03 -9.35027000e+00] [-1.00512879e-02 3.26825983e-04 9.99949431e-01 -3.32366369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.604203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.59, Y:-9.35, Z:-3.32 [[ 9.81990509e-01 1.88649634e-01 1.02934866e-02 1.00587412e+02] [-1.88635816e-01 9.82044404e-01 -2.30596138e-03 -9.35428124e+00] [-1.05436797e-02 3.22711950e-04 9.99944362e-01 -3.32281502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.634203822 meters Centerline goodness [0,1] 0.9999571027175428 Centerline is valid? [True, True] Translation: X:100.62, Y:-9.36, Z:-3.32 [[ 9.81573935e-01 1.90803111e-01 1.03335873e-02 1.00616924e+02] [-1.90789251e-01 9.81628280e-01 -2.31995245e-03 -9.36097619e+00] [-1.05863957e-02 3.05667478e-04 9.99943916e-01 -3.32410771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.664203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.65, Y:-9.36, Z:-3.32 [[ 9.80510750e-01 1.96203338e-01 1.01448790e-02 1.00648472e+02] [-1.96190268e-01 9.80563201e-01 -2.27770241e-03 -9.36270735e+00] [-1.03945878e-02 2.42985176e-04 9.99945945e-01 -3.32179478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.694203822 meters Centerline goodness [0,1] 0.9999785485981509 Centerline is valid? [True, True] Translation: X:100.68, Y:-9.37, Z:-3.32 [[ 9.79802909e-01 1.99686096e-01 1.05698863e-02 1.00678350e+02] [-1.99672121e-01 9.79859897e-01 -2.37207418e-03 -9.36784875e+00] [-1.08306780e-02 2.13653557e-04 9.99941324e-01 -3.32378991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.724203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.71, Y:-9.37, Z:-3.33 [[ 9.79086238e-01 2.03179305e-01 1.04071438e-02 1.00710224e+02] [-2.03165965e-01 9.79141533e-01 -2.33452055e-03 -9.37120773e+00] [-1.06643930e-02 1.71319538e-04 9.99943119e-01 -3.32507018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.75420382200001 meters Centerline goodness [0,1] 0.9999133279885593 Centerline is valid? [True, True] Translation: X:100.74, Y:-9.37, Z:-3.33 [[ 9.77915509e-01 2.08810105e-01 8.92167438e-03 1.00743727e+02] [-2.08800514e-01 9.77956201e-01 -2.00373774e-03 -9.37109737e+00] [-9.14340747e-03 9.66360170e-05 9.99958194e-01 -3.32860233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.784203822 meters Centerline goodness [0,1] 0.9998693322879917 Centerline is valid? [True, True] Translation: X:100.78, Y:-9.37, Z:-3.33 [[ 9.77315333e-01 2.11587351e-01 9.24841584e-03 1.00775916e+02] [-2.11577175e-01 9.77359088e-01 -2.07638044e-03 -9.37364038e+00] [-9.47835911e-03 7.25247448e-05 9.99955077e-01 -3.32756875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.814203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.81, Y:-9.38, Z:-3.33 [[ 9.76214507e-01 2.16564976e-01 1.02395016e-02 1.00807824e+02] [-2.16552749e-01 9.76268206e-01 -2.30137304e-03 -9.37515102e+00] [-1.04948967e-02 2.92415265e-05 9.99944927e-01 -3.32922380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.844203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.84, Y:-9.38, Z:-3.33 [[ 9.75674023e-01 2.19029855e-01 9.28026403e-03 1.00838305e+02] [-2.19019909e-01 9.75718157e-01 -2.08731617e-03 -9.38043295e+00] [-9.51210668e-03 3.97758477e-06 9.99954759e-01 -3.33375782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.874203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.87, Y:-9.39, Z:-3.34 [[ 9.75157596e-01 2.21366055e-01 8.04564954e-03 1.00869577e+02] [-2.21358654e-01 9.75190786e-01 -1.81015551e-03 -9.38662002e+00] [-8.24675029e-03 -1.57872595e-05 9.99965995e-01 -3.33575151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.904203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.90, Y:-9.39, Z:-3.33 [[ 9.74426986e-01 2.24515889e-01 9.20134066e-03 1.00900624e+02] [-2.24506325e-01 9.74470427e-01 -2.07276455e-03 -9.39224166e+00] [-9.43180294e-03 -4.60014651e-05 9.99955518e-01 -3.33487965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.934203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.93, Y:-9.40, Z:-3.33 [[ 9.74207595e-01 2.25441927e-01 9.77237443e-03 1.00931832e+02] [-2.25431170e-01 9.74256606e-01 -2.20303201e-03 -9.39985852e+00] [-1.00174561e-02 -5.67872887e-05 9.99949822e-01 -3.33289939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.964203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.96, Y:-9.41, Z:-3.33 [[ 9.74074858e-01 2.26043876e-01 9.07402127e-03 1.00963362e+02] [-2.26034617e-01 9.74117120e-01 -2.04673340e-03 -9.40766220e+00] [-9.30181102e-03 -5.73713809e-05 9.99956736e-01 -3.33362527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.994203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.99, Y:-9.41, Z:-3.34 [[ 9.73862715e-01 2.27023313e-01 7.19909934e-03 1.00993757e+02] [-2.27017497e-01 9.73889323e-01 -1.62593637e-03 -9.41365356e+00] [-7.38025144e-03 -5.08827009e-05 9.99972764e-01 -3.34241858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.024203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.03, Y:-9.42, Z:-3.34 [[ 9.73731575e-01 2.27574928e-01 7.51477708e-03 1.01025854e+02] [-2.27568618e-01 9.73760570e-01 -1.69567044e-03 -9.42279470e+00] [-7.70348570e-03 -5.89995872e-05 9.99970326e-01 -3.34140342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.054203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.06, Y:-9.43, Z:-3.34 [[ 9.73202537e-01 2.29751117e-01 9.55227484e-03 1.01056713e+02] [-2.29740989e-01 9.73249411e-01 -2.15932516e-03 -9.43115367e+00] [-9.79285323e-03 -9.30883422e-05 9.99952045e-01 -3.33854955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.084203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.09, Y:-9.44, Z:-3.34 [[ 9.72678572e-01 2.31902089e-01 1.08543846e-02 1.01089711e+02] [-2.31889121e-01 9.72739125e-01 -2.45575059e-03 -9.43709310e+00] [-1.11279783e-02 -1.28357740e-04 9.99938074e-01 -3.33519618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.11420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.12, Y:-9.44, Z:-3.33 [[ 9.72010438e-01 2.34633170e-01 1.19575850e-02 1.01120539e+02] [-2.34617589e-01 9.72083971e-01 -2.70941758e-03 -9.43992150e+00] [-1.22594960e-02 -1.71877604e-04 9.99924835e-01 -3.33356161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.14420382200001 meters Centerline goodness [0,1] 0.9999786844012448 Centerline is valid? [True, True] Translation: X:101.15, Y:-9.44, Z:-3.33 [[ 9.71296637e-01 2.37532416e-01 1.26962019e-02 1.01151640e+02] [-2.37515061e-01 9.71379588e-01 -2.87958382e-03 -9.44172664e+00] [-1.30168259e-02 -2.18609101e-04 9.99915254e-01 -3.33291067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.174203822 meters Centerline goodness [0,1] 0.9999360681939264 Centerline is valid? [True, True] Translation: X:101.18, Y:-9.44, Z:-3.34 [[ 9.69936375e-01 2.43084034e-01 1.15577487e-02 1.01184491e+02] [-2.43070024e-01 9.70005197e-01 -2.62320300e-03 -9.43749827e+00] [-1.18487351e-02 -2.65002251e-04 9.99929766e-01 -3.33517783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.204203822 meters Centerline goodness [0,1] 0.999788556687952 Centerline is valid? [True, True] Translation: X:101.22, Y:-9.44, Z:-3.34 [[ 9.69399319e-01 2.45260108e-01 1.06037941e-02 1.01216246e+02] [-2.45248454e-01 9.69457275e-01 -2.40589729e-03 -9.43906661e+00] [-1.08699959e-02 -2.68288903e-04 9.99940884e-01 -3.33814584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.234203822 meters Centerline goodness [0,1] 0.9998717948717949 Centerline is valid? [True, True] Translation: X:101.25, Y:-9.44, Z:-3.34 [[ 9.68982583e-01 2.46912143e-01 1.03512351e-02 1.01248532e+02] [-2.46901141e-01 9.69037829e-01 -2.34769752e-03 -9.44346370e+00] [-1.06104134e-02 -2.80853756e-04 9.99943669e-01 -3.33959197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.264203822 meters Centerline goodness [0,1] 0.9998066719652868 Centerline is valid? [True, True] Translation: X:101.28, Y:-9.45, Z:-3.34 [[ 9.68606243e-01 2.48322387e-01 1.17447411e-02 1.01280886e+02] [-2.48308302e-01 9.68677387e-01 -2.66582752e-03 -9.44889533e+00] [-1.20388498e-02 -3.34179543e-04 9.99927475e-01 -3.33723871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.294203822 meters Centerline goodness [0,1] 0.9998483995322043 Centerline is valid? [True, True] Translation: X:101.31, Y:-9.45, Z:-3.34 [[ 9.68759232e-01 2.47738417e-01 1.14554253e-02 1.01311780e+02] [-2.47724943e-01 9.68826908e-01 -2.60302873e-03 -9.45239206e+00] [-1.17431945e-02 -3.16086457e-04 9.99930996e-01 -3.34083061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.324203822 meters Centerline goodness [0,1] 0.9997869303049027 Centerline is valid? [True, True] Translation: X:101.34, Y:-9.46, Z:-3.34 [[ 9.69049289e-01 2.46610412e-01 1.12596825e-02 1.01342196e+02] [-2.46597284e-01 9.69114657e-01 -2.56150924e-03 -9.45719026e+00] [-1.15436182e-02 -2.94378413e-04 9.99933327e-01 -3.34395536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.354203822 meters Centerline goodness [0,1] 0.9998514178977755 Centerline is valid? [True, True] Translation: X:101.37, Y:-9.46, Z:-3.34 [[ 9.70102670e-01 2.42384525e-01 1.22699419e-02 1.01371251e+02] [-2.42368558e-01 9.70180227e-01 -2.79444471e-03 -9.46425938e+00] [-1.25813851e-02 -2.62949847e-04 9.99920817e-01 -3.34426891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.384203822 meters Centerline goodness [0,1] 0.9998932376742895 Centerline is valid? [True, True] Translation: X:101.40, Y:-9.47, Z:-3.35 [[ 9.70671079e-01 2.40133072e-01 1.15656482e-02 1.01402460e+02] [-2.40118760e-01 9.70739954e-01 -2.63116531e-03 -9.47309368e+00] [-1.18590666e-02 -2.23133035e-04 9.99929654e-01 -3.34635653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.414203822 meters Centerline goodness [0,1] 0.9999785789259473 Centerline is valid? [True, True] Translation: X:101.43, Y:-9.49, Z:-3.35 [[ 9.72269165e-01 2.33692861e-01 8.96196307e-03 1.01432122e+02] [-2.33683991e-01 9.72310462e-01 -2.03921441e-03 -9.48848651e+00] [-9.19036030e-03 -1.11601998e-04 9.99957762e-01 -3.35092631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.444203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.46, Y:-9.50, Z:-3.35 [[ 9.73217833e-01 2.29703993e-01 9.11726499e-03 1.01460914e+02] [-2.29694620e-01 9.73260536e-01 -2.07638375e-03 -9.50136490e+00] [-9.35042784e-03 -7.34130223e-05 9.99956281e-01 -3.35197188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.474203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.49, Y:-9.52, Z:-3.35 [[ 9.74231189e-01 2.25330121e-01 9.99631540e-03 1.01490801e+02] [-2.25318604e-01 9.74282472e-01 -2.27835417e-03 -9.51571607e+00] [-1.02526167e-02 -3.27121381e-05 9.99947440e-01 -3.35181031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.50420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.52, Y:-9.54, Z:-3.35 [[ 9.76408879e-01 2.15687432e-01 1.02289771e-02 1.01518890e+02] [-2.15674827e-01 9.76462455e-01 -2.33294660e-03 -9.53879456e+00] [-1.04913993e-02 7.17769094e-05 9.99944961e-01 -3.34844684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.534203822 meters Centerline goodness [0,1] 0.9999787464666001 Centerline is valid? [True, True] Translation: X:101.55, Y:-9.55, Z:-3.35 [[ 9.77387502e-01 2.11207020e-01 1.02598921e-02 1.01546521e+02] [-2.11194042e-01 9.77441343e-01 -2.34466879e-03 -9.55480360e+00] [-1.05236532e-02 1.24821881e-04 9.99944617e-01 -3.35210682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.564203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.58, Y:-9.57, Z:-3.35 [[ 9.78245052e-01 2.07184461e-01 1.05459578e-02 1.01577148e+02] [-2.07170517e-01 9.78301880e-01 -2.40986570e-03 -9.56671821e+00] [-1.08164171e-02 1.72627664e-04 9.99941486e-01 -3.35032326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.594203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.61, Y:-9.57, Z:-3.35 [[ 9.78205245e-01 2.07372303e-01 1.05464507e-02 1.01608745e+02] [-2.07358393e-01 9.78262081e-01 -2.40771150e-03 -9.57413664e+00] [-1.08164855e-02 1.68340947e-04 9.99941486e-01 -3.35128980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.624203822 meters Centerline goodness [0,1] 0.9998924245358118 Centerline is valid? [True, True] Translation: X:101.64, Y:-9.59, Z:-3.35 [[ 9.78950362e-01 2.03837510e-01 1.03178935e-02 1.01638698e+02] [-2.03823950e-01 9.79004712e-01 -2.36030810e-03 -9.58613318e+00] [-1.05823857e-02 2.07590652e-04 9.99943983e-01 -3.35222565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.654203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.67, Y:-9.60, Z:-3.35 [[ 9.79930277e-01 1.99093092e-01 9.92943341e-03 1.01666415e+02] [-1.99080278e-01 9.79980550e-01 -2.27263103e-03 -9.60406227e+00] [-1.01831168e-02 2.50265597e-04 9.99948119e-01 -3.35263345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.684203822 meters Centerline goodness [0,1] 0.9999786361305759 Centerline is valid? [True, True] Translation: X:101.70, Y:-9.62, Z:-3.36 [[ 9.80081950e-01 1.98349236e-01 9.84636048e-03 1.01695735e+02] [-1.98336627e-01 9.80131377e-01 -2.25073686e-03 -9.61600132e+00] [-1.00971588e-02 2.53012647e-04 9.99948990e-01 -3.35552843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.714203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.73, Y:-9.62, Z:-3.36 [[ 9.79638324e-01 2.00554815e-01 9.30164675e-03 1.01727937e+02] [-2.00543651e-01 9.79682458e-01 -2.12732302e-03 -9.61944362e+00] [-9.53930503e-03 2.18620959e-04 9.99954476e-01 -3.35606493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.744203822 meters Centerline goodness [0,1] 0.9999569095531521 Centerline is valid? [True, True] Translation: X:101.76, Y:-9.62, Z:-3.36 [[ 9.79072562e-01 2.03295375e-01 9.37599461e-03 1.01759121e+02] [-2.03284138e-01 9.79117435e-01 -2.14635540e-03 -9.62307912e+00] [-9.61654392e-03 1.95446698e-04 9.99953741e-01 -3.35777267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.774203822 meters Centerline goodness [0,1] 0.9999783132007547 Centerline is valid? [True, True] Translation: X:101.79, Y:-9.62, Z:-3.36 [[ 9.78336864e-01 2.06807668e-01 9.35782287e-03 1.01791690e+02] [-2.06796596e-01 9.78381603e-01 -2.14622217e-03 -9.62374400e+00] [-9.59937695e-03 1.64562350e-04 9.99953911e-01 -3.35693992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.804203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.82, Y:-9.62, Z:-3.36 [[ 9.76483421e-01 2.15412959e-01 8.79694805e-03 1.01824556e+02] [-2.15403518e-01 9.76523042e-01 -2.01812877e-03 -9.61834712e+00] [-9.02515356e-03 7.57757260e-05 9.99959270e-01 -3.35845142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.834203822 meters Centerline goodness [0,1] 0.9999140985718887 Centerline is valid? [True, True] Translation: X:101.86, Y:-9.62, Z:-3.36 [[ 9.75584221e-01 2.19462611e-01 8.46110357e-03 1.01855874e+02] [-2.19454053e-01 9.75620911e-01 -1.93841866e-03 -9.61996465e+00] [-8.68023999e-03 3.42671885e-05 9.99962325e-01 -3.35991995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.86420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.89, Y:-9.62, Z:-3.36 [[ 9.74701792e-01 2.23321836e-01 9.15287746e-03 1.01887234e+02] [-2.23311973e-01 9.74744765e-01 -2.09886965e-03 -9.62257487e+00] [-9.39044281e-03 1.82488656e-06 9.99955909e-01 -3.35984278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.89420382200001 meters Centerline goodness [0,1] 0.9998928739769465 Centerline is valid? [True, True] Translation: X:101.92, Y:-9.62, Z:-3.36 [[ 9.73489598e-01 2.28513949e-01 9.96886221e-03 1.01921488e+02] [-2.28502502e-01 9.73540637e-01 -2.28780011e-03 -9.61885063e+00] [-1.02278867e-02 -5.07603469e-05 9.99947693e-01 -3.35938108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.924203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.95, Y:-9.62, Z:-3.36 [[ 9.73039242e-01 2.30414086e-01 1.01972008e-02 1.01954282e+02] [-2.30402199e-01 9.73092670e-01 -2.34162527e-03 -9.62231568e+00] [-1.04623648e-02 -7.09642171e-05 9.99945265e-01 -3.35988080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.954203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.99, Y:-9.63, Z:-3.36 [[ 9.72965206e-01 2.30682934e-01 1.11396321e-02 1.01986473e+02] [-2.30668729e-01 9.73028971e-01 -2.56117942e-03 -9.62613549e+00] [-1.14300051e-02 -7.76263043e-05 9.99934672e-01 -3.35959339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.984203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.02, Y:-9.63, Z:-3.36 [[ 9.73142615e-01 2.29946877e-01 1.08574525e-02 1.02018242e+02] [-2.29933322e-01 9.73203180e-01 -2.49762264e-03 -9.63287745e+00] [-1.11408279e-02 -6.59470969e-05 9.99937937e-01 -3.36151609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.014203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.05, Y:-9.64, Z:-3.37 [[ 9.73493754e-01 2.28462891e-01 1.07059764e-02 1.02048774e+02] [-2.28449578e-01 9.73552621e-01 -2.46669320e-03 -9.64055098e+00] [-1.09863792e-02 -4.44653690e-05 9.99939647e-01 -3.36547209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.044203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.08, Y:-9.66, Z:-3.36 [[ 9.74510583e-01 2.24064860e-01 1.11382753e-02 1.02078094e+02] [-2.24050167e-01 9.74574234e-01 -2.56602049e-03 -9.65660668e+00] [-1.14300312e-02 5.08167722e-06 9.99934675e-01 -3.36184060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.074203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.11, Y:-9.67, Z:-3.36 [[ 9.75115845e-01 2.21430870e-01 1.08377958e-02 1.02107006e+02] [-2.21416773e-01 9.75176070e-01 -2.49885386e-03 -9.66880673e+00] [-1.11220825e-02 3.70022180e-05 9.99938147e-01 -3.36470567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.104203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.14, Y:-9.68, Z:-3.37 [[ 9.75710282e-01 2.18835177e-01 1.00305409e-02 1.02136034e+02] [-2.18822923e-01 9.75761836e-01 -2.31673260e-03 -9.67955884e+00] [-1.02944016e-02 6.55475477e-05 9.99947009e-01 -3.36672385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.134203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.17, Y:-9.69, Z:-3.37 [[ 9.76719752e-01 2.14358830e-01 8.29563284e-03 1.02166662e+02] [-2.14350294e-01 9.76754976e-01 -1.91526962e-03 -9.69059622e+00] [-8.51335561e-03 9.25103361e-05 9.99963756e-01 -3.36860035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.164203822 meters Centerline goodness [0,1] 0.9999783933278596 Centerline is valid? [True, True] Translation: X:102.20, Y:-9.70, Z:-3.37 [[ 9.77081915e-01 2.12706360e-01 8.18141000e-03 1.02196032e+02] [-2.12698013e-01 9.77116162e-01 -1.88723823e-03 -9.70293320e+00] [-8.39561551e-03 1.03816693e-04 9.99964751e-01 -3.37483322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.194203822 meters Centerline goodness [0,1] 0.9999785541186815 Centerline is valid? [True, True] Translation: X:102.23, Y:-9.72, Z:-3.37 [[ 9.77489996e-01 2.10750690e-01 9.87189773e-03 1.02227305e+02] [-2.10738416e-01 9.77539833e-01 -2.27926984e-03 -9.71578296e+00] [-1.01305310e-02 1.47575374e-04 9.99948674e-01 -3.37055628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.224203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.26, Y:-9.73, Z:-3.37 [[ 9.77563985e-01 2.10330001e-01 1.13993684e-02 1.02257002e+02] [-2.10313561e-01 9.77630430e-01 -2.63580898e-03 -9.72749223e+00] [-1.16987591e-02 1.79230180e-04 9.99931551e-01 -3.36933424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.25420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.29, Y:-9.74, Z:-3.37 [[ 9.77596439e-01 2.10145750e-01 1.19985671e-02 1.02288975e+02] [-2.10127504e-01 9.77670050e-01 -2.77587168e-03 -9.73687063e+00] [-1.23139773e-02 1.92453327e-04 9.99924162e-01 -3.36722947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.284203822 meters Centerline goodness [0,1] 0.9998709649669886 Centerline is valid? [True, True] Translation: X:102.32, Y:-9.75, Z:-3.37 [[ 9.77575356e-01 2.10269078e-01 1.15472483e-02 1.02319190e+02] [-2.10252154e-01 9.77643534e-01 -2.67426771e-03 -9.74539542e+00] [-1.18514085e-02 1.86464372e-04 9.99929752e-01 -3.36920667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.314203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.35, Y:-9.75, Z:-3.37 [[ 9.77353728e-01 2.11335625e-01 1.08140626e-02 1.02349921e+02] [-2.11320836e-01 9.77413539e-01 -2.50550263e-03 -9.75261481e+00] [-1.10993132e-02 1.63525586e-04 9.99938387e-01 -3.37196012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.344203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.38, Y:-9.76, Z:-3.37 [[ 9.77224202e-01 2.11931920e-01 1.08499100e-02 1.02380850e+02] [-2.11917044e-01 9.77284419e-01 -2.51607008e-03 -9.75971776e+00] [-1.11366835e-02 1.59483721e-04 9.99937972e-01 -3.37279778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.374203822 meters Centerline goodness [0,1] 0.9999355032893322 Centerline is valid? [True, True] Translation: X:102.41, Y:-9.77, Z:-3.38 [[ 9.76875797e-01 2.13622553e-01 8.89283141e-03 1.02409897e+02] [-2.13612621e-01 9.76916266e-01 -2.06314789e-03 -9.77041711e+00] [-9.12828658e-03 1.15818209e-04 9.99958330e-01 -3.37869968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.404203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.44, Y:-9.78, Z:-3.38 [[ 9.76611649e-01 2.14857225e-01 8.12777841e-03 1.02441410e+02] [-2.14848970e-01 9.76645465e-01 -1.88577782e-03 -9.78053464e+00] [-8.34313092e-03 9.54277640e-05 9.99965191e-01 -3.37935723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.434203822 meters Centerline goodness [0,1] 0.9998920459452457 Centerline is valid? [True, True] Translation: X:102.47, Y:-9.79, Z:-3.38 [[ 9.76253166e-01 2.16472022e-01 8.34382912e-03 1.02472390e+02] [-2.16463361e-01 9.76288818e-01 -1.93829719e-03 -9.78953247e+00] [-8.56557418e-03 8.61354665e-05 9.99963311e-01 -3.38032441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.464203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.50, Y:-9.80, Z:-3.38 [[ 9.75253875e-01 2.20919331e-01 8.63295329e-03 1.02503770e+02] [-2.20910218e-01 9.75292083e-01 -2.00717468e-03 -9.79707434e+00] [-8.86307468e-03 5.03972894e-05 9.99960721e-01 -3.37902437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.494203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.54, Y:-9.80, Z:-3.38 [[ 9.74497868e-01 2.24246804e-01 8.20221765e-03 1.02536422e+02] [-2.24238692e-01 9.74532386e-01 -1.90747325e-03 -9.80075351e+00] [-8.42107151e-03 1.95740618e-05 9.99964542e-01 -3.37784191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.524203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.57, Y:-9.80, Z:-3.38 [[ 9.73688515e-01 2.27734797e-01 8.21811665e-03 1.02568463e+02] [-2.27726760e-01 9.73723196e-01 -1.91321214e-03 -9.80443775e+00] [-8.43787579e-03 -8.61239267e-06 9.99964400e-01 -3.38040943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.554203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.60, Y:-9.81, Z:-3.38 [[ 9.72830599e-01 2.31381281e-01 7.95790331e-03 1.02600081e+02] [-2.31373851e-01 9.72863146e-01 -1.85464660e-03 -9.80761327e+00] [-8.17108135e-03 -3.69937758e-05 9.99966615e-01 -3.38289352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.584203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.63, Y:-9.81, Z:-3.39 [[ 9.71326366e-01 2.37626303e-01 7.67009975e-03 1.02631753e+02] [-2.37619586e-01 9.71356646e-01 -1.78870711e-03 -9.80892539e+00] [-7.87544622e-03 -8.51475445e-05 9.99968985e-01 -3.38605940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.61420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.66, Y:-9.81, Z:-3.39 [[ 9.70547818e-01 2.40798594e-01 7.27803849e-03 1.02663408e+02] [-2.40792629e-01 9.70575101e-01 -1.69806036e-03 -9.81365024e+00] [-7.47277349e-03 -1.04449245e-04 9.99972073e-01 -3.38717043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.64420382200001 meters Centerline goodness [0,1] 0.999957184449392 Centerline is valid? [True, True] Translation: X:102.69, Y:-9.82, Z:-3.39 [[ 9.69205035e-01 2.46143544e-01 7.41321129e-03 1.02694821e+02] [-2.46137476e-01 9.69233375e-01 -1.73438532e-03 -9.81516399e+00] [-7.61203955e-03 -1.43694126e-04 9.99971018e-01 -3.38687478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.674203822 meters Centerline goodness [0,1] 0.9998716797125625 Centerline is valid? [True, True] Translation: X:102.73, Y:-9.82, Z:-3.39 [[ 9.68518203e-01 2.48804936e-01 8.28211118e-03 1.02725933e+02] [-2.48797483e-01 9.68553596e-01 -1.93476491e-03 -9.81829220e+00] [-8.50304763e-03 -1.86713387e-04 9.99963831e-01 -3.38715501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.704203822 meters Centerline goodness [0,1] 0.9999785006342313 Centerline is valid? [True, True] Translation: X:102.76, Y:-9.83, Z:-3.38 [[ 9.67951078e-01 2.50970178e-01 9.20217296e-03 1.02757199e+02] [-2.50961060e-01 9.67994792e-01 -2.15135802e-03 -9.82591358e+00] [-9.44758221e-03 -2.26977763e-04 9.99955345e-01 -3.38380746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.734203822 meters Centerline goodness [0,1] 0.999828001375989 Centerline is valid? [True, True] Translation: X:102.79, Y:-9.83, Z:-3.38 [[ 9.66991910e-01 2.54649735e-01 8.95318262e-03 1.02788834e+02] [-2.54641219e-01 9.67033324e-01 -2.09761826e-03 -9.82899367e+00] [-9.19218388e-03 -2.51469452e-04 9.99957719e-01 -3.38345066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.764203822 meters Centerline goodness [0,1] 0.9986606003911898 Centerline is valid? [True, True] Translation: X:102.82, Y:-9.83, Z:-3.39 [[ 9.66575548e-01 2.56234705e-01 8.68824484e-03 1.02820373e+02] [-2.56226773e-01 9.66614560e-01 -2.03295582e-03 -9.82980298e+00] [-8.91909780e-03 -2.61155553e-04 9.99960190e-01 -3.38788813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.794203822 meters Centerline goodness [0,1] 0.9992529827332295 Centerline is valid? [True, True] Translation: X:102.85, Y:-9.84, Z:-3.39 [[ 9.66263637e-01 2.57403408e-01 8.83570377e-03 1.02851242e+02] [-2.57395241e-01 9.66303995e-01 -2.06879621e-03 -9.83740733e+00] [-9.07049104e-03 -2.75265553e-04 9.99958824e-01 -3.38758851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.824203822 meters Centerline goodness [0,1] 0.998972866558247 Centerline is valid? [True, True] Translation: X:102.88, Y:-9.84, Z:-3.39 [[ 9.66207812e-01 2.57630505e-01 8.30587693e-03 1.02882357e+02] [-2.57623285e-01 9.66243476e-01 -1.94613905e-03 -9.84244687e+00] [-8.52688418e-03 -2.59412550e-04 9.99963612e-01 -3.39089141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.854203822 meters Centerline goodness [0,1] 0.996288283702384 Centerline is valid? [True, True] Translation: X:102.91, Y:-9.85, Z:-3.40 [[ 9.66408787e-01 2.56884301e-01 8.03188996e-03 1.02913750e+02] [-2.56877517e-01 9.66442133e-01 -1.88283880e-03 -9.84656252e+00] [-8.24602859e-03 -2.43619983e-04 9.99965971e-01 -3.39579978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.884203822 meters Centerline goodness [0,1] 0.9998925470643858 Centerline is valid? [True, True] Translation: X:102.94, Y:-9.86, Z:-3.39 [[ 9.66836297e-01 2.55259584e-01 8.37374316e-03 1.02943051e+02] [-2.55252136e-01 9.66872529e-01 -1.96443469e-03 -9.86267939e+00] [-8.59778301e-03 -2.38129069e-04 9.99963010e-01 -3.39107722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.914203822 meters Centerline goodness [0,1] 0.9998919783092445 Centerline is valid? [True, True] Translation: X:102.97, Y:-9.88, Z:-3.39 [[ 9.68133936e-01 2.50202837e-01 1.07341528e-02 1.02971363e+02] [-2.50190217e-01 9.68193411e-01 -2.52459555e-03 -9.87738886e+00] [-1.10243970e-02 -2.41433381e-04 9.99939200e-01 -3.38881284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.944203822 meters Centerline goodness [0,1] 0.9999362800280368 Centerline is valid? [True, True] Translation: X:103.00, Y:-9.88, Z:-3.39 [[ 9.68709454e-01 2.47969296e-01 1.06405431e-02 1.03001356e+02] [-2.47956791e-01 9.68767867e-01 -2.49978517e-03 -9.88481223e+00] [-1.09280862e-02 -2.16829397e-04 9.99940263e-01 -3.39367774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.974203822 meters Centerline goodness [0,1] 0.999936305732484 Centerline is valid? [True, True] Translation: X:103.03, Y:-9.90, Z:-3.39 [[ 9.69261835e-01 2.45826434e-01 1.00429139e-02 1.03031282e+02] [-2.45815166e-01 9.69313846e-01 -2.36069617e-03 -9.89853036e+00] [-1.03150570e-02 -1.80567834e-04 9.99946782e-01 -3.39348720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.00420382200001 meters Centerline goodness [0,1] 0.9999784175767256 Centerline is valid? [True, True] Translation: X:103.06, Y:-9.91, Z:-3.39 [[ 9.69763423e-01 2.43861561e-01 9.51009603e-03 1.03061805e+02] [-2.43851327e-01 9.69810042e-01 -2.23890549e-03 -9.91147059e+00] [-9.76896962e-03 -1.47840889e-04 9.99952272e-01 -3.39178385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.03420382200001 meters Centerline goodness [0,1] 0.9999787654216126 Centerline is valid? [True, True] Translation: X:103.09, Y:-9.92, Z:-3.40 [[ 9.70348992e-01 2.41528157e-01 9.32647077e-03 1.03091471e+02] [-2.41518221e-01 9.70393804e-01 -2.19423598e-03 -9.91934321e+00] [-9.58031922e-03 -1.23337964e-04 9.99954100e-01 -3.39719859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.064203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.12, Y:-9.93, Z:-3.40 [[ 9.70529334e-01 2.40838850e-01 8.33426343e-03 1.03122776e+02] [-2.40830884e-01 9.70565112e-01 -1.96153053e-03 -9.92775814e+00] [-8.56135808e-03 -1.03425112e-04 9.99963346e-01 -3.40023145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.094203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.15, Y:-9.94, Z:-3.40 [[ 9.70576967e-01 2.40670343e-01 7.62479734e-03 1.03153901e+02] [-2.40663665e-01 9.70606912e-01 -1.79528068e-03 -9.93652085e+00] [-7.83275182e-03 -9.25535938e-05 9.99969319e-01 -3.39997045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.124203822 meters Centerline goodness [0,1] 0.9999568742452993 Centerline is valid? [True, True] Translation: X:103.18, Y:-9.94, Z:-3.40 [[ 9.70258517e-01 2.41897698e-01 9.16046259e-03 1.03184831e+02] [-2.41888085e-01 9.70301752e-01 -2.15986312e-03 -9.93958919e+00] [-9.41087881e-03 -1.20181172e-04 9.99955709e-01 -3.40133838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.154203822 meters Centerline goodness [0,1] 0.999978784342845 Centerline is valid? [True, True] Translation: X:103.22, Y:-9.94, Z:-3.40 [[ 9.69874746e-01 2.43392637e-01 1.01489862e-02 1.03216802e+02] [-2.43380900e-01 9.69927834e-01 -2.39485179e-03 -9.94300088e+00] [-1.04266735e-02 -1.47363129e-04 9.99945630e-01 -3.40221218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.184203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.25, Y:-9.95, Z:-3.40 [[ 9.69347812e-01 2.45506509e-01 9.55893668e-03 1.03248935e+02] [-2.45496183e-01 9.69394929e-01 -2.25725422e-03 -9.94811181e+00] [-9.82055535e-03 -1.58618029e-04 9.99951765e-01 -3.40105790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.214203822 meters Centerline goodness [0,1] 0.9998932855252487 Centerline is valid? [True, True] Translation: X:103.28, Y:-9.94, Z:-3.41 [[ 9.68280103e-01 2.49770200e-01 6.96340024e-03 1.03280186e+02] [-2.49764804e-01 9.68305131e-01 -1.64804894e-03 -9.94407501e+00] [-7.15432970e-03 -1.43439298e-04 9.99974397e-01 -3.40660657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.244203822 meters Centerline goodness [0,1] 0.9997429911546123 Centerline is valid? [True, True] Translation: X:103.31, Y:-9.95, Z:-3.41 [[ 9.67825804e-01 2.51547321e-01 6.09574283e-03 1.03311604e+02] [-2.51543244e-01 9.67844990e-01 -1.43902909e-03 -9.94556219e+00] [-6.26171808e-03 -1.40613447e-04 9.99980385e-01 -3.41091980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.274203822 meters Centerline goodness [0,1] 0.9998932513503704 Centerline is valid? [True, True] Translation: X:103.34, Y:-9.95, Z:-3.41 [[ 9.67523677e-01 2.52712143e-01 5.87420414e-03 1.03343658e+02] [-2.52708376e-01 9.67541499e-01 -1.38727986e-03 -9.95066613e+00] [-6.03411875e-03 -1.42234474e-04 9.99981784e-01 -3.41109233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.304203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.38, Y:-9.96, Z:-3.41 [[ 9.67663926e-01 2.52130579e-01 7.52977933e-03 1.03375493e+02] [-2.52124350e-01 9.67693206e-01 -1.78088768e-03 -9.95654830e+00] [-7.73553254e-03 -1.75139953e-04 9.99970065e-01 -3.40805039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.334203822 meters Centerline goodness [0,1] 0.9999145956102143 Centerline is valid? [True, True] Translation: X:103.41, Y:-9.96, Z:-3.41 [[ 9.68240194e-01 2.49866142e-01 8.82260957e-03 1.03405070e+02] [-2.49857446e-01 9.68280372e-01 -2.09226604e-03 -9.96315857e+00] [-9.06554612e-03 -1.78578617e-04 9.99958891e-01 -3.40837753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.36420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.43, Y:-9.98, Z:-3.41 [[ 9.70631744e-01 2.40389130e-01 9.33186164e-03 1.03431446e+02] [-2.40378958e-01 9.70676598e-01 -2.21345041e-03 -9.98030265e+00] [-9.59030913e-03 -9.47379548e-05 9.99954007e-01 -3.41076613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.39420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.46, Y:-10.00, Z:-3.41 [[ 9.72024291e-01 2.34727622e-01 8.46886761e-03 1.03461167e+02] [-2.34719040e-01 9.72061182e-01 -2.00746721e-03 -9.99615402e+00] [-8.70346547e-03 -3.64975907e-05 9.99962123e-01 -3.41328109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.424203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.49, Y:-10.01, Z:-3.41 [[ 9.73388271e-01 2.29019077e-01 8.09549663e-03 1.03491639e+02] [-2.29011048e-01 9.73421934e-01 -1.91777259e-03 -1.00118873e+01] [-8.31954049e-03 1.27791762e-05 9.99965392e-01 -3.41423039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.454203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.52, Y:-10.03, Z:-3.41 [[ 9.74633784e-01 2.23634417e-01 8.75416565e-03 1.03521473e+02] [-2.23624805e-01 9.74673096e-01 -2.07437071e-03 -1.00262333e+01] [-8.99635042e-03 6.41031846e-05 9.99959530e-01 -3.41165286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.484203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.55, Y:-10.05, Z:-3.41 [[ 9.76775915e-01 2.14066776e-01 9.17751068e-03 1.03546570e+02] [-2.14055736e-01 9.76819015e-01 -2.18030674e-03 -1.00490713e+01] [-9.43149818e-03 1.65172311e-04 9.99955509e-01 -3.41270179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.514203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.58, Y:-10.06, Z:-3.41 [[ 9.76733874e-01 2.14258478e-01 9.17843340e-03 1.03578101e+02] [-2.14247483e-01 9.76776985e-01 -2.17642444e-03 -1.00567546e+01] [-9.43159990e-03 1.59331229e-04 9.99955509e-01 -3.41366782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.544203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.61, Y:-10.07, Z:-3.42 [[ 9.77453244e-01 2.10981710e-01 8.47789767e-03 1.03606605e+02] [-2.10972187e-01 9.77489993e-01 -2.01243403e-03 -1.00723119e+01] [-8.71164691e-03 1.78459552e-04 9.99962037e-01 -3.41735316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.574203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.64, Y:-10.08, Z:-3.42 [[ 9.77785446e-01 2.09446765e-01 8.22648537e-03 1.03637576e+02] [-2.09437736e-01 9.77820033e-01 -1.95380227e-03 -1.00813256e+01] [-8.45323976e-03 1.87462952e-04 9.99964253e-01 -3.41724461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.604203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.67, Y:-10.09, Z:-3.42 [[ 9.77582034e-01 2.10378650e-01 8.61339015e-03 1.03670334e+02] [-2.10368753e-01 9.77619960e-01 -2.04969957e-03 -1.00852377e+01] [-8.85183517e-03 1.91761331e-04 9.99960803e-01 -3.41514010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.634203822 meters Centerline goodness [0,1] 0.9999567464694306 Centerline is valid? [True, True] Translation: X:103.70, Y:-10.09, Z:-3.42 [[ 9.77106577e-01 2.12577246e-01 8.58201864e-03 1.03700926e+02] [-2.12567507e-01 9.77144250e-01 -2.04200018e-03 -1.00915638e+01] [-8.81995295e-03 1.70993500e-04 9.99961089e-01 -3.41785108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.664203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.73, Y:-10.09, Z:-3.41 [[ 9.75717141e-01 2.18822054e-01 9.64209800e-03 1.03733239e+02] [-2.18810034e-01 9.75764772e-01 -2.29738356e-03 -1.00900948e+01] [-9.91113775e-03 1.31808725e-04 9.99950875e-01 -3.41425754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.694203822 meters Centerline goodness [0,1] 0.9998707342295761 Centerline is valid? [True, True] Translation: X:103.76, Y:-10.09, Z:-3.41 [[ 9.74951981e-01 2.22165363e-01 1.05444465e-02 1.03764440e+02] [-2.22151212e-01 9.75008995e-01 -2.50967892e-03 -1.00930465e+01] [-1.08384939e-02 1.04354852e-04 9.99941256e-01 -3.41488048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.724203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.80, Y:-10.10, Z:-3.42 [[ 9.74181577e-01 2.25475538e-01 1.14471171e-02 1.03795383e+02] [-2.25459047e-01 9.74248826e-01 -2.72806973e-03 -1.00958098e+01] [-1.17674534e-02 7.67791483e-05 9.99930758e-01 -3.41581295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.75420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.83, Y:-10.09, Z:-3.42 [[ 9.72756789e-01 2.31572397e-01 1.08836541e-02 1.03828784e+02] [-2.31557875e-01 9.72817673e-01 -2.59339365e-03 -1.00937794e+01] [-1.11883695e-02 2.54546113e-06 9.99937408e-01 -3.41728590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.78420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.86, Y:-10.10, Z:-3.42 [[ 9.72186961e-01 2.33951264e-01 1.09233029e-02 1.03859831e+02] [-2.33936766e-01 9.72248325e-01 -2.60460293e-03 -1.00992680e+01] [-1.12295131e-02 -2.32011403e-05 9.99936947e-01 -3.41820464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.814203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.89, Y:-10.11, Z:-3.42 [[ 9.71799137e-01 2.35531911e-01 1.14523352e-02 1.03891336e+02] [-2.35516054e-01 9.71866615e-01 -2.73336842e-03 -1.01053584e+01] [-1.17739378e-02 -4.09237341e-05 9.99930684e-01 -3.41775775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.844203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.92, Y:-10.11, Z:-3.42 [[ 9.71439274e-01 2.37021902e-01 1.12407716e-02 1.03923038e+02] [-2.37006704e-01 9.71504305e-01 -2.68464081e-03 -1.01108697e+01] [-1.15567766e-02 -5.61727037e-05 9.99933217e-01 -3.41715570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.874203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.95, Y:-10.11, Z:-3.42 [[ 9.70964329e-01 2.39013896e-01 1.00314617e-02 1.03954193e+02] [-2.39001883e-01 9.71016144e-01 -2.39734775e-03 -1.01146753e+01] [-1.03137107e-02 -6.97990911e-05 9.99946810e-01 -3.42125591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.904203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.99, Y:-10.12, Z:-3.42 [[ 9.70688332e-01 2.40110577e-01 1.05391046e-02 1.03985255e+02] [-2.40097365e-01 9.70745540e-01 -2.52022336e-03 -1.01208276e+01] [-1.08359210e-02 -8.40598259e-05 9.99941286e-01 -3.42183027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.934203822 meters Centerline goodness [0,1] 0.999978578467075 Centerline is valid? [True, True] Translation: X:104.02, Y:-10.12, Z:-3.42 [[ 9.70362113e-01 2.41383454e-01 1.14629222e-02 1.04016385e+02] [-2.41367876e-01 9.70429811e-01 -2.74432072e-03 -1.01246459e+01] [-1.17863950e-02 -1.03796324e-04 9.99930533e-01 -3.42250170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.964203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.05, Y:-10.13, Z:-3.42 [[ 9.69647119e-01 2.44226755e-01 1.17369715e-02 1.04049184e+02] [-2.44210609e-01 9.69718141e-01 -2.81174569e-03 -1.01263070e+01] [-1.20682577e-02 -1.39891860e-04 9.99927166e-01 -3.42217086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.994203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.08, Y:-10.13, Z:-3.42 [[ 9.69420138e-01 2.45147448e-01 1.12838431e-02 1.04080060e+02] [-2.45132563e-01 9.69485796e-01 -2.70524303e-03 -1.01328302e+01] [-1.16027090e-02 -1.43520298e-04 9.99932676e-01 -3.42374937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.024203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.11, Y:-10.14, Z:-3.43 [[ 9.69704731e-01 2.44055168e-01 1.04790582e-02 1.04111572e+02] [-2.44042259e-01 9.69761342e-01 -2.51302260e-03 -1.01409231e+01] [-1.07755017e-02 -1.20443139e-04 9.99941935e-01 -3.42565967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.054203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.14, Y:-10.15, Z:-3.43 [[ 9.70143824e-01 2.42339500e-01 9.61912651e-03 1.04143251e+02] [-2.42328525e-01 9.70191506e-01 -2.30810947e-03 -1.01490198e+01] [-9.89174093e-03 -9.17905892e-05 9.99951071e-01 -3.42740669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.084203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.17, Y:-10.16, Z:-3.43 [[ 9.70631915e-01 2.40406712e-01 8.84863569e-03 1.04174453e+02] [-2.40397330e-01 9.70672246e-01 -2.12485687e-03 -1.01563397e+01] [-9.09995493e-03 -6.47345002e-05 9.99958592e-01 -3.43294103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.11420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.21, Y:-10.17, Z:-3.43 [[ 9.71207256e-01 2.38079953e-01 8.62565762e-03 1.04205579e+02] [-2.38070909e-01 9.71245558e-01 -2.07544519e-03 -1.01665023e+01] [-8.87175354e-03 -3.78307222e-05 9.99960645e-01 -3.43418372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.14420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.23, Y:-10.18, Z:-3.43 [[ 9.72190751e-01 2.33982277e-01 9.87104631e-03 1.04234589e+02] [-2.33970233e-01 9.72240862e-01 -2.37407280e-03 -1.01798492e+01] [-1.01525255e-02 -1.47938867e-06 9.99948462e-01 -3.43401023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.174203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.27, Y:-10.19, Z:-3.43 [[ 9.72484164e-01 2.32680923e-01 1.15818029e-02 1.04265630e+02] [-2.32664218e-01 9.72553129e-01 -2.78811563e-03 -1.01893299e+01] [-1.19126599e-02 1.67271908e-05 9.99929042e-01 -3.43107549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.204203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.30, Y:-10.20, Z:-3.42 [[ 9.72968898e-01 2.30497039e-01 1.42351437e-02 1.04295875e+02] [-2.30471519e-01 9.73073025e-01 -3.43032219e-03 -1.02004484e+01] [-1.46425135e-02 5.68015971e-05 9.99892791e-01 -3.42379883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.234203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.33, Y:-10.21, Z:-3.43 [[ 9.73137010e-01 2.29782283e-01 1.42990409e-02 1.04326033e+02] [-2.29756421e-01 9.73242055e-01 -3.44816165e-03 -1.02108972e+01] [-1.47087544e-02 7.02372674e-05 9.99891818e-01 -3.42693284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.264203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.36, Y:-10.22, Z:-3.43 [[ 9.73289227e-01 2.29157581e-01 1.39600845e-02 1.04357139e+02] [-2.29132825e-01 9.73389335e-01 -3.36924594e-03 -1.02186081e+01] [-1.43606856e-02 8.05371943e-05 9.99896877e-01 -3.42612527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.294203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.39, Y:-10.23, Z:-3.43 [[ 9.73468577e-01 2.28436078e-01 1.32622520e-02 1.04387289e+02] [-2.28413637e-01 9.73558910e-01 -3.20314692e-03 -1.02263627e+01] [-1.36432979e-02 8.88836584e-05 9.99906922e-01 -3.43152692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.324203822 meters Centerline goodness [0,1] 0.9999783122600794 Centerline is valid? [True, True] Translation: X:104.42, Y:-10.23, Z:-3.43 [[ 9.73661301e-01 2.27635179e-01 1.28800606e-02 1.04419815e+02] [-2.27613920e-01 9.73746484e-01 -3.11251188e-03 -1.02297530e+01] [-1.32504309e-02 9.88512750e-05 9.99912204e-01 -3.43147550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.354203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.45, Y:-10.24, Z:-3.43 [[ 9.73639558e-01 2.27731884e-01 1.28140429e-02 1.04450372e+02] [-2.27710809e-01 9.73723872e-01 -3.09975359e-03 -1.02384202e+01] [-1.31832522e-02 1.00146639e-04 9.99913092e-01 -3.43458672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.384203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.48, Y:-10.25, Z:-3.43 [[ 9.73661006e-01 2.27682249e-01 1.20432284e-02 1.04481109e+02] [-2.27663624e-01 9.73735480e-01 -2.91376951e-03 -1.02466028e+01] [-1.23903323e-02 9.52187313e-05 9.99923232e-01 -3.43479370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.414203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.51, Y:-10.26, Z:-3.44 [[ 9.73686460e-01 2.27584067e-01 1.18393172e-02 1.04511700e+02] [-2.27566023e-01 9.73758432e-01 -2.86744012e-03 -1.02552101e+01] [-1.21812186e-02 9.77612995e-05 9.99925801e-01 -3.43733386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.444203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.54, Y:-10.26, Z:-3.44 [[ 9.73798247e-01 2.27122464e-01 1.15048035e-02 1.04541124e+02] [-2.27105384e-01 9.73866200e-01 -2.78722193e-03 -1.02645391e+01] [-1.18371800e-02 1.01389007e-04 9.99929933e-01 -3.43957000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.474203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.57, Y:-10.28, Z:-3.44 [[ 9.74139949e-01 2.25759563e-01 9.16399261e-03 1.04570769e+02] [-2.25748661e-01 9.74183048e-01 -2.22064505e-03 -1.02766664e+01] [-9.42873811e-03 9.44599954e-05 9.99955544e-01 -3.44287752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.50420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.60, Y:-10.29, Z:-3.45 [[ 9.74365341e-01 2.24811822e-01 8.47502702e-03 1.04600492e+02] [-2.24802452e-01 9.74402194e-01 -2.05476611e-03 -1.02862244e+01] [-8.72002063e-03 9.68860238e-05 9.99961975e-01 -3.44638091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.53420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.63, Y:-10.29, Z:-3.45 [[ 9.74585934e-01 2.23842816e-01 8.75503688e-03 1.04631270e+02] [-2.23832766e-01 9.74625252e-01 -2.12404417e-03 -1.02949853e+01] [-9.00833205e-03 1.10399457e-04 9.99959418e-01 -3.44778384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.564203822 meters Centerline goodness [0,1] 0.9999782348460116 Centerline is valid? [True, True] Translation: X:104.66, Y:-10.30, Z:-3.45 [[ 9.74825182e-01 2.22779241e-01 9.23439715e-03 1.04662975e+02] [-2.22768000e-01 9.74868911e-01 -2.24169759e-03 -1.03043877e+01] [-9.50173038e-03 1.28135077e-04 9.99954849e-01 -3.44814542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.594203822 meters Centerline goodness [0,1] 0.9999784180425164 Centerline is valid? [True, True] Translation: X:104.69, Y:-10.32, Z:-3.45 [[ 9.75302279e-01 2.20696203e-01 8.86856087e-03 1.04692597e+02] [-2.20685726e-01 9.75342589e-01 -2.15524159e-03 -1.03158654e+01] [-9.12553875e-03 1.44847236e-04 9.99958351e-01 -3.45010557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.624203822 meters Centerline goodness [0,1] 0.9999786684869558 Centerline is valid? [True, True] Translation: X:104.72, Y:-10.33, Z:-3.45 [[ 9.75387071e-01 2.20267768e-01 1.01080514e-02 1.04722446e+02] [-2.20254099e-01 9.75439429e-01 -2.46000223e-03 -1.03258067e+01] [-1.04016511e-02 1.73114610e-04 9.99945886e-01 -3.45035944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.654203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.75, Y:-10.33, Z:-3.45 [[ 9.75266654e-01 2.20716208e-01 1.18029150e-02 1.04753809e+02] [-2.20697598e-01 9.75338053e-01 -2.87288070e-03 -1.03343674e+01] [-1.21459235e-02 1.96949751e-04 9.99926216e-01 -3.44715055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.684203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.79, Y:-10.34, Z:-3.44 [[ 9.74488310e-01 2.24025522e-01 1.36050805e-02 1.04785064e+02] [-2.24001043e-01 9.74583260e-01 -3.31681203e-03 -1.03407887e+01] [-1.40023343e-02 1.84642321e-04 9.99901945e-01 -3.44187729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.714203822 meters Centerline goodness [0,1] 0.999848307545616 Centerline is valid? [True, True] Translation: X:104.82, Y:-10.35, Z:-3.45 [[ 9.73727881e-01 2.27311218e-01 1.35507920e-02 1.04816010e+02] [-2.27287259e-01 9.73822156e-01 -3.30312013e-03 -1.03455345e+01] [-1.39468978e-02 1.36417788e-04 9.99902728e-01 -3.44511486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.744203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.85, Y:-10.35, Z:-3.44 [[ 9.72791907e-01 2.31333361e-01 1.26799917e-02 1.04849149e+02] [-2.31312727e-01 9.72874540e-01 -3.09064153e-03 -1.03451212e+01] [-1.30510096e-02 7.35076109e-05 9.99914829e-01 -3.44372516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.774203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.88, Y:-10.34, Z:-3.45 [[ 9.70733628e-01 2.39917350e-01 1.07651343e-02 1.04882835e+02] [-2.39902988e-01 9.70793317e-01 -2.62534168e-03 -1.03366876e+01] [-1.10805854e-02 -3.40804234e-05 9.99938608e-01 -3.45185277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.804203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.92, Y:-10.34, Z:-3.45 [[ 9.69871914e-01 2.43344765e-01 1.14802630e-02 1.04916631e+02] [-2.43328651e-01 9.69939853e-01 -2.80148748e-03 -1.03382780e+01] [-1.18168919e-02 -7.63928737e-05 9.99930175e-01 -3.45270240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.834203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.95, Y:-10.34, Z:-3.45 [[ 9.69190448e-01 2.45982342e-01 1.27500151e-02 1.04949955e+02] [-2.45962653e-01 9.69274302e-01 -3.11448088e-03 -1.03424661e+01] [-1.31243693e-02 -1.17502424e-04 9.99913865e-01 -3.45114638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.86420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.98, Y:-10.35, Z:-3.45 [[ 9.68357141e-01 2.49205864e-01 1.34493759e-02 1.04982335e+02] [-2.49184218e-01 9.68450520e-01 -3.28873778e-03 -1.03452780e+01] [-1.38446279e-02 -1.66699513e-04 9.99904145e-01 -3.44969876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.89420382200001 meters Centerline goodness [0,1] 0.9999357807984587 Centerline is valid? [True, True] Translation: X:105.01, Y:-10.35, Z:-3.45 [[ 9.68091022e-01 2.50273570e-01 1.27637621e-02 1.05014380e+02] [-2.50254141e-01 9.68175145e-01 -3.12305964e-03 -1.03511974e+01] [-1.31391765e-02 -1.70778331e-04 9.99913663e-01 -3.45064553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.924203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.05, Y:-10.36, Z:-3.46 [[ 9.68172717e-01 2.50002341e-01 1.18499005e-02 1.05045553e+02] [-2.49985551e-01 9.68245220e-01 -2.90143612e-03 -1.03557888e+01] [-1.21989753e-02 -1.53212598e-04 9.99925578e-01 -3.45630430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.954203822 meters Centerline goodness [0,1] 0.9999784649840641 Centerline is valid? [True, True] Translation: X:105.08, Y:-10.37, Z:-3.46 [[ 9.68468839e-01 2.48856043e-01 1.17803656e-02 1.05075537e+02] [-2.48839344e-01 9.68540475e-01 -2.88608672e-03 -1.03671271e+01] [-1.21279810e-02 -1.36333390e-04 9.99926444e-01 -3.45534326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.984203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.11, Y:-10.38, Z:-3.46 [[ 9.68891985e-01 2.47230119e-01 1.12067118e-02 1.05105249e+02] [-2.47214875e-01 9.68956788e-01 -2.74752853e-03 -1.03766078e+01] [-1.15380913e-02 -1.08407488e-04 9.99933428e-01 -3.45896651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.014203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.14, Y:-10.39, Z:-3.46 [[ 9.69382019e-01 2.45330437e-01 1.05583506e-02 1.05136328e+02] [-2.45316785e-01 9.69439514e-01 -2.58936222e-03 -1.03878990e+01] [-1.08709316e-02 -8.00594369e-05 9.99940906e-01 -3.46051209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.044203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.17, Y:-10.40, Z:-3.46 [[ 9.70209430e-01 2.42048875e-01 1.02958167e-02 1.05165234e+02] [-2.42035680e-01 9.70264057e-01 -2.52762991e-03 -1.03999900e+01] [-1.06014709e-02 -3.96246320e-05 9.99943802e-01 -3.46206715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.074203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.20, Y:-10.41, Z:-3.47 [[ 9.70410213e-01 2.41251024e-01 1.00976506e-02 1.05195924e+02] [-2.41238278e-01 9.70462747e-01 -2.48011222e-03 -1.04082144e+01] [-1.03977234e-02 -2.92136144e-05 9.99945942e-01 -3.46643224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.104203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.23, Y:-10.42, Z:-3.47 [[ 9.70811168e-01 2.39645774e-01 9.77646613e-03 1.05227160e+02] [-2.39633730e-01 9.70860393e-01 -2.40259642e-03 -1.04174233e+01] [-1.00673558e-02 -1.03036097e-05 9.99949323e-01 -3.46535318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.134203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.26, Y:-10.43, Z:-3.46 [[ 9.70882647e-01 2.39313524e-01 1.07667105e-02 1.05257811e+02] [-2.39298861e-01 9.70942345e-01 -2.64915892e-03 -1.04267407e+01] [-1.10878347e-02 -4.43912695e-06 9.99938528e-01 -3.46462617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.164203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.29, Y:-10.44, Z:-3.47 [[ 9.70865652e-01 2.39326732e-01 1.19415555e-02 1.05287946e+02] [-2.39308659e-01 9.70939090e-01 -2.94114547e-03 -1.04358555e+01] [-1.22984178e-02 -2.26051428e-06 9.99924372e-01 -3.46663540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.194203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.32, Y:-10.44, Z:-3.46 [[ 9.70819639e-01 2.39475502e-01 1.26772341e-02 1.05319559e+02] [-2.39455118e-01 9.70902407e-01 -3.12454642e-03 -1.04439390e+01] [-1.30566094e-02 -2.25755265e-06 9.99914759e-01 -3.46401413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.224203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.35, Y:-10.45, Z:-3.47 [[ 9.70814395e-01 2.39498187e-01 1.26502440e-02 1.05351118e+02] [-2.39477865e-01 9.70896812e-01 -3.11989306e-03 -1.04494182e+01] [-1.30292903e-02 -6.16332051e-07 9.99915115e-01 -3.46862442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.25420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.38, Y:-10.46, Z:-3.47 [[ 9.70827978e-01 2.39445479e-01 1.26055216e-02 1.05383282e+02] [-2.39425268e-01 9.70909812e-01 -3.11106285e-03 -1.04568529e+01] [-1.29837546e-02 2.22647068e-06 9.99915708e-01 -3.46785788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.28420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.42, Y:-10.46, Z:-3.47 [[ 9.70816400e-01 2.39491149e-01 1.26296206e-02 1.05415946e+02] [-2.39470833e-01 9.70898547e-01 -3.11939631e-03 -1.04636426e+01] [-1.30091481e-02 3.93532854e-06 9.99915377e-01 -3.46770957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.314203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.45, Y:-10.47, Z:-3.47 [[ 9.70709439e-01 2.39965366e-01 1.18240972e-02 1.05448492e+02] [-2.39947565e-01 9.70781450e-01 -2.92280337e-03 -1.04667564e+01] [-1.21799858e-02 2.94765914e-08 9.99925821e-01 -3.46917558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.344203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.48, Y:-10.47, Z:-3.47 [[ 9.70707618e-01 2.39997193e-01 1.13166657e-02 1.05478796e+02] [-2.39980866e-01 9.70773582e-01 -2.79939580e-03 -1.04738897e+01] [-1.16577673e-02 1.61158692e-06 9.99932046e-01 -3.47138197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.374203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.51, Y:-10.48, Z:-3.47 [[ 9.70775766e-01 2.39747461e-01 1.07502006e-02 1.05509564e+02] [-2.39732698e-01 9.70835287e-01 -2.66053267e-03 -1.04817665e+01] [-1.10745300e-02 5.60605935e-06 9.99938675e-01 -3.47064507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.404203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.54, Y:-10.49, Z:-3.47 [[ 9.70729740e-01 2.39933768e-01 1.07498624e-02 1.05541025e+02] [-2.39919002e-01 9.70789260e-01 -2.66189801e-03 -1.04897511e+01] [-1.10745302e-02 4.88731297e-06 9.99938675e-01 -3.47161259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.434203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.57, Y:-10.50, Z:-3.47 [[ 9.70863301e-01 2.39383741e-01 1.09487798e-02 1.05571831e+02] [-2.39368359e-01 9.70925035e-01 -2.71373926e-03 -1.04975830e+01] [-1.12800695e-02 1.38783970e-05 9.99936378e-01 -3.47251466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.464203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.60, Y:-10.51, Z:-3.47 [[ 9.71771848e-01 2.35551309e-01 1.32308670e-02 1.05600954e+02] [-2.35528421e-01 9.71861912e-01 -3.28442326e-03 -1.05082595e+01] [-1.36322259e-02 7.54648332e-05 9.99907074e-01 -3.47017422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.494203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.63, Y:-10.52, Z:-3.47 [[ 9.72400013e-01 2.32913922e-01 1.37593687e-02 1.05630046e+02] [-2.32888881e-01 9.72497348e-01 -3.41732433e-03 -1.05183758e+01] [-1.41768920e-02 1.18602239e-04 9.99899496e-01 -3.47047074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.524203822 meters Centerline goodness [0,1] 0.9999786634804131 Centerline is valid? [True, True] Translation: X:105.66, Y:-10.53, Z:-3.47 [[ 9.73016881e-01 2.30334555e-01 1.35699291e-02 1.05660656e+02] [-2.30309951e-01 9.73111489e-01 -3.37006913e-03 -1.05283457e+01] [-1.39812973e-02 1.53844434e-04 9.99902245e-01 -3.47156274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.554203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.69, Y:-10.54, Z:-3.47 [[ 9.73578798e-01 2.27990867e-01 1.28252969e-02 1.05690060e+02] [-2.27968657e-01 9.73663254e-01 -3.18734440e-03 -1.05398723e+01] [-1.32142057e-02 1.79365214e-04 9.99912672e-01 -3.47472705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.584203822 meters Centerline goodness [0,1] 0.9999570289839503 Centerline is valid? [True, True] Translation: X:105.72, Y:-10.55, Z:-3.48 [[ 9.74600206e-01 2.23650822e-01 1.16081427e-02 1.05718572e+02] [-2.23632273e-01 9.74669309e-01 -2.88868811e-03 -1.05549955e+01] [-1.19601579e-02 2.19360689e-04 9.99928451e-01 -3.47791000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.61420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.75, Y:-10.57, Z:-3.48 [[ 9.75014766e-01 2.21858182e-01 1.11871813e-02 1.05747291e+02] [-2.21840834e-01 9.75078916e-01 -2.78419108e-03 -1.05667081e+01] [-1.15260802e-02 2.32853785e-04 9.99933545e-01 -3.48069660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.64420382200001 meters Centerline goodness [0,1] 0.999978592224696 Centerline is valid? [True, True] Translation: X:105.78, Y:-10.58, Z:-3.48 [[ 9.75322141e-01 2.20531367e-01 1.06130692e-02 1.05777459e+02] [-2.20515702e-01 9.75379855e-01 -2.63879673e-03 -1.05770865e+01] [-1.09337114e-02 2.33328465e-04 9.99940198e-01 -3.48285635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.674203822 meters Centerline goodness [0,1] 0.9999128236422282 Centerline is valid? [True, True] Translation: X:105.81, Y:-10.58, Z:-3.48 [[ 9.75520283e-01 2.19651067e-01 1.06576865e-02 1.05808858e+02] [-2.19635199e-01 9.75578469e-01 -2.65160515e-03 -1.05829687e+01] [-1.09798373e-02 2.45891518e-04 9.99939690e-01 -3.48090884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.704203822 meters Centerline goodness [0,1] 0.9999786425184742 Centerline is valid? [True, True] Translation: X:105.84, Y:-10.59, Z:-3.48 [[ 9.75427824e-01 2.20052938e-01 1.08288799e-02 1.05837726e+02] [-2.20036555e-01 9.75487900e-01 -2.69655839e-03 -1.05944516e+01] [-1.11568269e-02 2.47548645e-04 9.99937730e-01 -3.48456083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.734203822 meters Centerline goodness [0,1] 0.9998924754306359 Centerline is valid? [True, True] Translation: X:105.87, Y:-10.60, Z:-3.49 [[ 9.75245511e-01 2.20894642e-01 1.00871142e-02 1.05870662e+02] [-2.20880463e-01 9.75297651e-01 -2.51265340e-03 -1.05999143e+01] [-1.03929704e-02 2.22407500e-04 9.99945967e-01 -3.48583556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.764203822 meters Centerline goodness [0,1] 0.9999786925764936 Centerline is valid? [True, True] Translation: X:105.90, Y:-10.61, Z:-3.49 [[ 9.74864735e-01 2.22644758e-01 8.24991493e-03 1.05902606e+02] [-2.22635331e-01 9.74899628e-01 -2.05557497e-03 -1.06094929e+01] [-8.50050198e-03 1.67185004e-04 9.99963856e-01 -3.48822703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.794203822 meters Centerline goodness [0,1] 0.9999572978051072 Centerline is valid? [True, True] Translation: X:105.93, Y:-10.62, Z:-3.49 [[ 9.74584305e-01 2.23877480e-01 8.01908517e-03 1.05932789e+02] [-2.23868585e-01 9.74617284e-01 -2.00169184e-03 -1.06175860e+01] [-8.26367273e-03 1.55596200e-04 9.99965843e-01 -3.49022458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.824203822 meters Centerline goodness [0,1] 0.9999783573206363 Centerline is valid? [True, True] Translation: X:105.97, Y:-10.62, Z:-3.49 [[ 9.74205184e-01 2.25532134e-01 7.71465383e-03 1.05965358e+02] [-2.25523963e-01 9.74235720e-01 -1.92456070e-03 -1.06195768e+01] [-7.94994161e-03 1.35077706e-04 9.99968390e-01 -3.48748264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.854203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.00, Y:-10.62, Z:-3.49 [[ 9.73270688e-01 2.29501169e-01 8.56634632e-03 1.05996689e+02] [-2.29491197e-01 9.73308378e-01 -2.14278986e-03 -1.06184244e+01] [-8.82946942e-03 1.19613497e-04 9.99961012e-01 -3.48834099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.884203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.03, Y:-10.62, Z:-3.49 [[ 9.72755495e-01 2.31655789e-01 9.07427603e-03 1.06029570e+02] [-2.31644701e-01 9.72797813e-01 -2.26894675e-03 -1.06219138e+01] [-9.35305052e-03 1.05122463e-04 9.99956254e-01 -3.48846363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.914203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.06, Y:-10.63, Z:-3.49 [[ 9.72311011e-01 2.33496443e-01 9.52416084e-03 1.06060489e+02] [-2.33484317e-01 9.72357652e-01 -2.38140592e-03 -1.06276354e+01] [-9.81694048e-03 9.17250038e-05 9.99951808e-01 -3.49169642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.944203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.09, Y:-10.63, Z:-3.49 [[ 9.71660094e-01 2.36189694e-01 9.54412116e-03 1.06092448e+02] [-2.36177650e-01 9.71706964e-01 -2.38600700e-03 -1.06326306e+01] [-9.83763927e-03 6.42796732e-05 9.99951607e-01 -3.49038935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.974203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.12, Y:-10.64, Z:-3.49 [[ 9.71287719e-01 2.37702613e-01 9.88100446e-03 1.06124749e+02] [-2.37689764e-01 9.71337977e-01 -2.47207363e-03 -1.06374401e+01] [-1.01854132e-02 5.24811426e-05 9.99948126e-01 -3.48858578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.00420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.16, Y:-10.64, Z:-3.49 [[ 9.70879325e-01 2.39331098e-01 1.06753234e-02 1.06156126e+02] [-2.39316157e-01 9.70938012e-01 -2.67460459e-03 -1.06416450e+01] [-1.10051934e-02 4.19409296e-05 9.99939440e-01 -3.48929732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.03420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.19, Y:-10.64, Z:-3.49 [[ 9.69787963e-01 2.43620922e-01 1.26551267e-02 1.06188010e+02] [-2.43600264e-01 9.69870531e-01 -3.17253448e-03 -1.06413656e+01] [-1.30467302e-02 -6.10646635e-06 9.99914888e-01 -3.48812013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.064203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.22, Y:-10.65, Z:-3.49 [[ 9.69200424e-01 2.45969711e-01 1.22245235e-02 1.06219801e+02] [-2.45950623e-01 9.69277514e-01 -3.06448250e-03 -1.06454067e+01] [-1.26027256e-02 -3.65314388e-05 9.99920582e-01 -3.48891672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.094203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.25, Y:-10.65, Z:-3.49 [[ 9.68674408e-01 2.48058454e-01 1.17001822e-02 1.06252011e+02] [-2.48041098e-01 9.68745064e-01 -2.93488180e-03 -1.06492404e+01] [-1.20625160e-02 -5.91811610e-05 9.99927243e-01 -3.49060054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.124203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.28, Y:-10.65, Z:-3.50 [[ 9.68074636e-01 2.50417776e-01 1.10651017e-02 1.06284130e+02] [-2.50402386e-01 9.68137868e-01 -2.77750224e-03 -1.06478439e+01] [-1.14080799e-02 -8.18984000e-05 9.99934922e-01 -3.49891657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.154203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.32, Y:-10.66, Z:-3.50 [[ 9.67975564e-01 2.50843599e-01 1.00397555e-02 1.06315140e+02] [-2.50830942e-01 9.68027625e-01 -2.52108008e-03 -1.06553167e+01] [-1.03511575e-02 -7.79374324e-05 9.99946422e-01 -3.49669654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.184203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.35, Y:-10.66, Z:-3.50 [[ 9.68179678e-01 2.50106693e-01 8.64601751e-03 1.06345821e+02] [-2.50097267e-01 9.68218280e-01 -2.17220785e-03 -1.06600071e+01] [-8.91451593e-03 -5.92578554e-05 9.99960263e-01 -3.50442180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.214203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.38, Y:-10.67, Z:-3.50 [[ 9.68473772e-01 2.48980894e-01 8.18944434e-03 1.06377406e+02] [-2.48972395e-01 9.68508396e-01 -2.05777065e-03 -1.06708231e+01] [-8.44389117e-03 -4.60486607e-05 9.99964349e-01 -3.50189014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.244203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.41, Y:-10.68, Z:-3.50 [[ 9.68842311e-01 2.47558234e-01 7.71343331e-03 1.06407526e+02] [-2.47550637e-01 9.68873015e-01 -1.93968724e-03 -1.06808862e+01] [-7.95352293e-03 -3.02142621e-05 9.99968370e-01 -3.50444625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.274203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.44, Y:-10.69, Z:-3.50 [[ 9.69190649e-01 2.46202155e-01 7.34738905e-03 1.06438401e+02] [-2.46195217e-01 9.69218499e-01 -1.84848691e-03 -1.06915172e+01] [-7.57632684e-03 -1.73558116e-05 9.99971299e-01 -3.50423863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.304203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.47, Y:-10.70, Z:-3.50 [[ 9.69578532e-01 2.44640529e-01 8.27533380e-03 1.06467825e+02] [-2.44631631e-01 9.69613847e-01 -2.08654304e-03 -1.07017716e+01] [-8.53433123e-03 -1.34106493e-06 9.99963582e-01 -3.50359515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.334203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.50, Y:-10.71, Z:-3.50 [[ 9.69628140e-01 2.44448114e-01 8.14798094e-03 1.06499967e+02] [-2.44439492e-01 9.69662374e-01 -2.05315501e-03 -1.07096415e+01] [-8.40268041e-03 -8.91446238e-07 9.99964697e-01 -3.50405797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.36420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.53, Y:-10.72, Z:-3.51 [[ 9.69656904e-01 2.44343482e-01 7.85816558e-03 1.06531397e+02] [-2.44335445e-01 9.69688745e-01 -1.98179099e-03 -1.07163536e+01] [-8.10421244e-03 1.62893921e-06 9.99967160e-01 -3.50643433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.39420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.56, Y:-10.72, Z:-3.51 [[ 9.69581208e-01 2.44608241e-01 8.89318418e-03 1.06562217e+02] [-2.44597931e-01 9.69621993e-01 -2.24577421e-03 -1.07207925e+01] [-9.17236184e-03 2.20601935e-06 9.99957933e-01 -3.50719801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.424203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.59, Y:-10.73, Z:-3.51 [[ 9.69559410e-01 2.44660365e-01 9.79064652e-03 1.06593403e+02] [-2.44647854e-01 9.69608842e-01 -2.47421859e-03 -1.07282766e+01] [-1.00984407e-02 3.64125338e-06 9.99949009e-01 -3.50599679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.454203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.63, Y:-10.73, Z:-3.50 [[ 9.69682122e-01 2.44120004e-01 1.10456585e-02 1.06625476e+02] [-2.44103999e-01 9.69745030e-01 -2.79540677e-03 -1.07347192e+01] [-1.13938872e-02 1.43665538e-05 9.99935087e-01 -3.50449699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.484203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.66, Y:-10.74, Z:-3.51 [[ 9.69837110e-01 2.43519460e-01 1.06888562e-02 1.06656773e+02] [-2.43504442e-01 9.69896011e-01 -2.70453041e-03 -1.07418134e+01] [-1.10256848e-02 2.01699933e-05 9.99939215e-01 -3.50617503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.514203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.69, Y:-10.75, Z:-3.51 [[ 9.70134467e-01 2.42361319e-01 1.00053626e-02 1.06687634e+02] [-2.42348067e-01 9.70186059e-01 -2.53460879e-03 -1.07508650e+01] [-1.03213545e-02 3.41310522e-05 9.99946733e-01 -3.50825572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.544203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.72, Y:-10.76, Z:-3.51 [[ 9.70482752e-01 2.40992073e-01 9.27628650e-03 1.06718096e+02] [-2.40980629e-01 9.70527083e-01 -2.34896241e-03 -1.07619129e+01] [-9.56896860e-03 4.42221503e-05 9.99954215e-01 -3.51074364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.574203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.75, Y:-10.77, Z:-3.51 [[ 9.71225392e-01 2.37974830e-01 9.44550737e-03 1.06746602e+02] [-2.37962802e-01 9.71271319e-01 -2.39387777e-03 -1.07745360e+01] [-9.74383306e-03 7.73154804e-05 9.99952525e-01 -3.51128725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.604203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.78, Y:-10.78, Z:-3.51 [[ 9.71593661e-01 2.36429442e-01 1.03381733e-02 1.06776774e+02] [-2.36414914e-01 9.71648655e-01 -2.62302265e-03 -1.07847886e+01] [-1.06652319e-02 1.04413833e-04 9.99943119e-01 -3.51320332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.634203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.80, Y:-10.80, Z:-3.51 [[ 9.72539465e-01 2.32478628e-01 1.09852595e-02 1.06804747e+02] [-2.32461961e-01 9.72601492e-01 -2.78826277e-03 -1.08020731e+01] [-1.13324913e-02 1.58040625e-04 9.99935773e-01 -3.51393734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.664203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.84, Y:-10.81, Z:-3.51 [[ 9.72945623e-01 2.30791898e-01 1.05789407e-02 1.06835325e+02] [-2.30776328e-01 9.73003119e-01 -2.68633398e-03 -1.08132564e+01] [-1.09133264e-02 1.72287804e-04 9.99940433e-01 -3.51247012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.694203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.87, Y:-10.82, Z:-3.51 [[ 9.73287555e-01 2.29352402e-01 1.04312372e-02 1.06865476e+02] [-2.29337163e-01 9.73343434e-01 -2.65055302e-03 -1.08239328e+01] [-1.07610870e-02 1.87479912e-04 9.99942080e-01 -3.51321410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.724203822 meters Centerline goodness [0,1] 0.9999787550456767 Centerline is valid? [True, True] Translation: X:106.89, Y:-10.84, Z:-3.52 [[ 9.74022596e-01 2.26211969e-01 1.03984249e-02 1.06893430e+02] [-2.26196595e-01 9.74078074e-01 -2.64693909e-03 -1.08384649e+01] [-1.07276470e-02 2.26090188e-04 9.99942432e-01 -3.51697128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.75420382200001 meters Centerline goodness [0,1] 0.9999572119293141 Centerline is valid? [True, True] Translation: X:106.92, Y:-10.85, Z:-3.52 [[ 9.74234317e-01 2.25302463e-01 1.03099437e-02 1.06924592e+02] [-2.25287328e-01 9.74288841e-01 -2.62176079e-03 -1.08463221e+01] [-1.06355523e-02 2.31509669e-04 9.99943414e-01 -3.51514966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.78420382200001 meters Centerline goodness [0,1] 0.9999575317450206 Centerline is valid? [True, True] Translation: X:106.95, Y:-10.86, Z:-3.52 [[ 9.74133595e-01 2.25744063e-01 1.01664279e-02 1.06954045e+02] [-2.25729335e-01 9.74186618e-01 -2.58856064e-03 -1.08569231e+01] [-1.04883503e-02 2.26742861e-04 9.99944970e-01 -3.51901364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.814203822 meters Centerline goodness [0,1] 0.9999573114768094 Centerline is valid? [True, True] Translation: X:106.99, Y:-10.86, Z:-3.52 [[ 9.73888367e-01 2.26816184e-01 9.79117515e-03 1.06986096e+02] [-2.26802583e-01 9.73937563e-01 -2.49243822e-03 -1.08628980e+01] [-1.01013186e-02 2.06692770e-04 9.99948959e-01 -3.51912299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.844203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.02, Y:-10.87, Z:-3.52 [[ 9.73627816e-01 2.27918112e-01 1.01098644e-02 1.07017396e+02] [-2.27903650e-01 9.73680283e-01 -2.57554719e-03 -1.08718341e+01] [-1.04307895e-02 2.03549380e-04 9.99945577e-01 -3.51959375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.874203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.05, Y:-10.88, Z:-3.52 [[ 9.73315490e-01 2.29208915e-01 1.09649891e-02 1.07047263e+02] [-2.29191942e-01 9.73377229e-01 -2.79720894e-03 -1.08820255e+01] [-1.13142159e-02 2.09479648e-04 9.99935970e-01 -3.51924868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.904203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.08, Y:-10.89, Z:-3.52 [[ 9.72685703e-01 2.31800158e-01 1.22967437e-02 1.07077913e+02] [-2.31778982e-01 9.72763407e-01 -3.13983241e-03 -1.08896801e+01] [-1.26896359e-02 2.03943369e-04 9.99919463e-01 -3.51585710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.934203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.11, Y:-10.90, Z:-3.52 [[ 9.72346478e-01 2.33244355e-01 1.18067098e-02 1.07108555e+02] [-2.33224964e-01 9.72418141e-01 -3.01261451e-03 -1.08964244e+01] [-1.21837341e-02 1.75685645e-04 9.99925760e-01 -3.51757585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.964203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.14, Y:-10.90, Z:-3.52 [[ 9.71640172e-01 2.36201277e-01 1.11504852e-02 1.07140751e+02] [-2.36184161e-01 9.71704142e-01 -2.84656116e-03 -1.09004128e+01] [-1.15073340e-02 1.32265172e-04 9.99933780e-01 -3.52130934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.994203822 meters Centerline goodness [0,1] 0.9999573360638252 Centerline is valid? [True, True] Translation: X:107.17, Y:-10.91, Z:-3.52 [[ 9.71248517e-01 2.37788706e-01 1.15260578e-02 1.07171418e+02] [-2.37770502e-01 9.71316898e-01 -2.94464041e-03 -1.09080117e+01] [-1.18956569e-02 1.19421072e-04 9.99929237e-01 -3.52297461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.024203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.20, Y:-10.92, Z:-3.52 [[ 9.70865263e-01 2.39358695e-01 1.13161552e-02 1.07201573e+02] [-2.39341231e-01 9.70931205e-01 -2.89313314e-03 -1.09170142e+01] [-1.16797048e-02 1.00419959e-04 9.99931785e-01 -3.52406398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.054203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.23, Y:-10.93, Z:-3.53 [[ 9.69937497e-01 2.43135520e-01 1.03136633e-02 1.07232420e+02] [-2.43121215e-01 9.69992328e-01 -2.63787537e-03 -1.09258539e+01] [-1.06455355e-02 5.11038664e-05 9.99943333e-01 -3.52612326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.084203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.26, Y:-10.93, Z:-3.53 [[ 9.69337603e-01 2.45538775e-01 9.76324226e-03 1.07263441e+02] [-2.45526066e-01 9.69386770e-01 -2.49831315e-03 -1.09326080e+01] [-1.00777906e-02 2.45784104e-05 9.99949217e-01 -3.52865882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.11420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.30, Y:-10.94, Z:-3.53 [[ 9.68660466e-01 2.48212427e-01 9.35373091e-03 1.07296130e+02] [-2.48200874e-01 9.68705627e-01 -2.39478343e-03 -1.09388125e+01] [-9.65542677e-03 -1.87215449e-06 9.99953385e-01 -3.53084361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.14420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.33, Y:-10.94, Z:-3.53 [[ 9.67219870e-01 2.53770627e-01 9.28396805e-03 1.07328302e+02] [-2.53759483e-01 9.67264424e-01 -2.37887935e-03 -1.09418353e+01] [-9.58374171e-03 -5.49955502e-05 9.99954073e-01 -3.52701592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.174203822 meters Centerline goodness [0,1] 0.9999784705477093 Centerline is valid? [True, True] Translation: X:107.36, Y:-10.95, Z:-3.53 [[ 9.66426944e-01 2.56758382e-01 9.70023829e-03 1.07359558e+02] [-2.56746343e-01 9.66475621e-01 -2.48787216e-03 -1.09453422e+01] [-1.00138259e-02 -8.61540163e-05 9.99949857e-01 -3.53269988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.204203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.39, Y:-10.95, Z:-3.53 [[ 9.65620838e-01 2.59772690e-01 9.72355324e-03 1.07391497e+02] [-2.59760728e-01 9.65669786e-01 -2.49557724e-03 -1.09518836e+01] [-1.00380244e-02 -1.16015888e-04 9.99949611e-01 -3.53351901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.234203822 meters Centerline goodness [0,1] 0.9999783783783783 Centerline is valid? [True, True] Translation: X:107.42, Y:-10.96, Z:-3.53 [[ 9.64031679e-01 2.65633797e-01 9.03376746e-03 1.07421433e+02] [-2.65623693e-01 9.64073991e-01 -2.32236893e-03 -1.09590520e+01] [-9.32611993e-03 -1.60745458e-04 9.99956498e-01 -3.53097044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.264203822 meters Centerline goodness [0,1] 0.9998511176808389 Centerline is valid? [True, True] Translation: X:107.45, Y:-10.96, Z:-3.54 [[ 9.63073032e-01 2.69076381e-01 9.39343682e-03 1.07453055e+02] [-2.69065627e-01 9.63118819e-01 -2.41411748e-03 -1.09591079e+01] [-9.69657778e-03 -2.02479527e-04 9.99952967e-01 -3.53550137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.294203822 meters Centerline goodness [0,1] 0.9998298306815281 Centerline is valid? [True, True] Translation: X:107.48, Y:-10.96, Z:-3.53 [[ 9.61155565e-01 2.75859043e-01 9.04257945e-03 1.07484834e+02] [-2.75849354e-01 9.61198066e-01 -2.32634147e-03 -1.09590657e+01] [-9.33345221e-03 -2.58413654e-04 9.99956409e-01 -3.53480659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.324203822 meters Centerline goodness [0,1] 0.9998298306815281 Centerline is valid? [True, True] Translation: X:107.52, Y:-10.97, Z:-3.54 [[ 9.61104786e-01 2.76035879e-01 9.04349024e-03 1.07516244e+02] [-2.76026232e-01 9.61147296e-01 -2.32280274e-03 -1.09673297e+01] [-9.33330308e-03 -2.63783701e-04 9.99956409e-01 -3.53577343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.354203822 meters Centerline goodness [0,1] 0.9942999340664015 Centerline is valid? [True, True] Translation: X:107.55, Y:-10.97, Z:-3.54 [[ 9.60192334e-01 2.79210597e-01 8.49254314e-03 1.07547873e+02] [-2.79202169e-01 9.60229852e-01 -2.18635710e-03 -1.09650644e+01] [-8.76524752e-03 -2.71813137e-04 9.99961548e-01 -3.54126421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.384203822 meters Centerline goodness [0,1] 0.9764700849216026 Centerline is valid? [True, True] Translation: X:107.58, Y:-10.97, Z:-3.54 [[ 9.59465631e-01 2.81708704e-01 8.11843360e-03 1.07578477e+02] [-2.81701098e-01 9.59499936e-01 -2.08922458e-03 -1.09653836e+01] [-8.37818926e-03 -2.82432480e-04 9.99964862e-01 -3.54447013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.414203822 meters Centerline goodness [0,1] 0.9853334188527569 Centerline is valid? [True, True] Translation: X:107.61, Y:-10.97, Z:-3.54 [[ 9.58837454e-01 2.83835180e-01 8.26601399e-03 1.07609176e+02] [-2.83827388e-01 9.58873034e-01 -2.12563757e-03 -1.09734400e+01] [-8.52938864e-03 -3.07980239e-04 9.99963577e-01 -3.54285696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.444203822 meters Centerline goodness [0,1] 0.9563627910908246 Centerline is valid? [True, True] Translation: X:107.64, Y:-10.97, Z:-3.54 [[ 9.58392277e-01 2.85293038e-01 9.59817591e-03 1.07640596e+02] [-2.85282557e-01 9.58440268e-01 -2.47296635e-03 -1.09745096e+01] [-9.90479837e-03 -3.68120322e-04 9.99950879e-01 -3.54324631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.474203822 meters Centerline goodness [0,1] 0.9955680212392413 Centerline is valid? [True, True] Translation: X:107.67, Y:-10.99, Z:-3.54 [[ 9.58671846e-01 2.84330925e-01 1.02086453e-02 1.07669656e+02] [-2.84319019e-01 9.58726123e-01 -2.62984885e-03 -1.09927668e+01] [-1.05350423e-02 -3.81349968e-04 9.99944432e-01 -3.53798620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.50420382200001 meters Centerline goodness [0,1] 0.9995306466409234 Centerline is valid? [True, True] Translation: X:107.70, Y:-11.01, Z:-3.54 [[ 9.60179834e-01 2.79188245e-01 1.04216047e-02 1.07698213e+02] [-2.79175515e-01 9.60236333e-01 -2.68639539e-03 -1.10051162e+01] [-1.07572135e-02 -3.30034179e-04 9.99942085e-01 -3.53880983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.53420382200001 meters Centerline goodness [0,1] 0.9997640548250788 Centerline is valid? [True, True] Translation: X:107.73, Y:-11.02, Z:-3.54 [[ 9.61278006e-01 2.75416657e-01 9.50055688e-03 1.07728186e+02] [-2.75405902e-01 9.61324917e-01 -2.44809446e-03 -1.10164139e+01] [-9.80736804e-03 -2.63210075e-04 9.99951872e-01 -3.54188377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.564203822 meters Centerline goodness [0,1] 0.9999137968191026 Centerline is valid? [True, True] Translation: X:107.76, Y:-11.03, Z:-3.54 [[ 9.62545066e-01 2.70983451e-01 8.65824034e-03 1.07756690e+02] [-2.70974331e-01 9.62583986e-01 -2.23194381e-03 -1.10320541e+01] [-8.93910333e-03 -1.97814388e-04 9.99960026e-01 -3.54285844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.594203822 meters Centerline goodness [0,1] 0.9999358480882731 Centerline is valid? [True, True] Translation: X:107.78, Y:-11.05, Z:-3.55 [[ 9.65040233e-01 2.62004470e-01 7.14188216e-03 1.07783119e+02] [-2.61998014e-01 9.65066655e-01 -1.84167219e-03 -1.10489296e+01] [-7.37491867e-03 -9.38711816e-05 9.99972801e-01 -3.55173269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.624203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.81, Y:-11.06, Z:-3.55 [[ 9.66219687e-01 2.57635790e-01 6.58158421e-03 1.07812059e+02] [-2.57630232e-01 9.66242100e-01 -1.69326740e-03 -1.10648850e+01] [-6.79565003e-03 -5.95467699e-05 9.99976908e-01 -3.55104667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.654203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.84, Y:-11.08, Z:-3.55 [[ 9.67252643e-01 2.53744121e-01 6.02038543e-03 1.07840883e+02] [-2.53739389e-01 9.67271379e-01 -1.54981007e-03 -1.10781225e+01] [-6.21660171e-03 -2.85510357e-05 9.99980676e-01 -3.55353074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.684203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.87, Y:-11.09, Z:-3.55 [[ 9.69033464e-01 2.46864089e-01 5.68038229e-03 1.07870088e+02] [-2.46859741e-01 9.69050113e-01 -1.46522087e-03 -1.10947943e+01] [-5.86628551e-03 1.75903536e-05 9.99982793e-01 -3.55314629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.714203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.90, Y:-11.11, Z:-3.55 [[ 9.69639373e-01 2.44472508e-01 5.71654797e-03 1.07900052e+02] [-2.44468077e-01 9.69656224e-01 -1.47218363e-03 -1.11069375e+01] [-5.90299475e-03 2.99737265e-05 9.99982577e-01 -3.55352092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.744203822 meters Centerline goodness [0,1] 0.9999787960391001 Centerline is valid? [True, True] Translation: X:107.93, Y:-11.12, Z:-3.56 [[ 9.70146204e-01 2.42442051e-01 6.18016892e-03 1.07929698e+02] [-2.42436823e-01 9.70165888e-01 -1.59288026e-03 -1.11203032e+01] [-6.38197022e-03 4.70262245e-05 9.99979634e-01 -3.55730297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.774203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.96, Y:-11.13, Z:-3.55 [[ 9.71118453e-01 2.38450382e-01 8.38846053e-03 1.07959704e+02] [-2.38440566e-01 9.71154676e-01 -2.16610016e-03 -1.11345022e+01] [-8.66300008e-03 1.03390559e-04 9.99962470e-01 -3.55294480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.804203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.99, Y:-11.14, Z:-3.55 [[ 9.71381408e-01 2.37341122e-01 9.34623993e-03 1.07991889e+02] [-2.37328869e-01 9.71426361e-01 -2.41502738e-03 -1.11435410e+01] [-9.65236915e-03 1.27780136e-04 9.99953407e-01 -3.55050826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.834203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.02, Y:-11.15, Z:-3.55 [[ 9.71685656e-01 2.36110375e-01 8.88125595e-03 1.08022329e+02] [-2.36099241e-01 9.71726233e-01 -2.29698489e-03 -1.11535289e+01] [-9.17249136e-03 1.35089485e-04 9.99957923e-01 -3.55300685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.86420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.05, Y:-11.16, Z:-3.55 [[ 9.71642810e-01 2.36299355e-01 8.53608968e-03 1.08053116e+02] [-2.36289067e-01 9.71680296e-01 -2.20880657e-03 -1.11633160e+01] [-8.81628972e-03 1.29186362e-04 9.99961127e-01 -3.55497802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.89420382200001 meters Centerline goodness [0,1] 0.9998925493735629 Centerline is valid? [True, True] Translation: X:108.08, Y:-11.17, Z:-3.56 [[ 9.71447717e-01 2.37093846e-01 8.70872300e-03 1.08083440e+02] [-2.37083148e-01 9.71486743e-01 -2.25584359e-03 -1.11719510e+01] [-8.99525558e-03 1.26742642e-04 9.99959534e-01 -3.55517447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.924203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.11, Y:-11.18, Z:-3.55 [[ 9.71013943e-01 2.38851524e-01 9.04832679e-03 1.08114850e+02] [-2.38840038e-01 9.71056093e-01 -2.34528045e-03 -1.11785578e+01] [-9.34660667e-03 1.16197309e-04 9.99956313e-01 -3.55459352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.954203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.15, Y:-11.17, Z:-3.55 [[ 9.69612942e-01 2.44454024e-01 9.64220763e-03 1.08147223e+02] [-2.44441205e-01 9.69660881e-01 -2.50447885e-03 -1.11739886e+01] [-9.96190148e-03 7.14222526e-05 9.99950376e-01 -3.55403318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.984203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.18, Y:-11.17, Z:-3.55 [[ 9.68759966e-01 2.47786869e-01 1.02857546e-02 1.08180304e+02] [-2.47772499e-01 9.68814567e-01 -2.66878178e-03 -1.11745984e+01] [-1.06262780e-02 3.68818177e-05 9.99943539e-01 -3.55449847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.014203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.21, Y:-11.17, Z:-3.55 [[ 9.67180622e-01 2.53802254e-01 1.20855877e-02 1.08213860e+02] [-2.53782846e-01 9.67256127e-01 -3.13876271e-03 -1.11719107e+01] [-1.24864838e-02 -3.13643630e-05 9.99922040e-01 -3.55300663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.044203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.25, Y:-11.18, Z:-3.55 [[ 9.66642495e-01 2.55832258e-01 1.23345714e-02 1.08246061e+02] [-2.55812182e-01 9.66721186e-01 -3.20553484e-03 -1.11766167e+01] [-1.27441707e-02 -5.67274307e-05 9.99918788e-01 -3.55418739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.074203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.28, Y:-11.18, Z:-3.55 [[ 9.66255418e-01 2.57280833e-01 1.25315899e-02 1.08278441e+02] [-2.57260204e-01 9.66336674e-01 -3.25885591e-03 -1.11826593e+01] [-1.29481760e-02 -7.49921854e-05 9.99916166e-01 -3.55262881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.104203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.31, Y:-11.19, Z:-3.55 [[ 9.65807537e-01 2.58950818e-01 1.26600317e-02 1.08310193e+02] [-2.58929849e-01 9.65890504e-01 -3.29665749e-03 -1.11857617e+01] [-1.30818765e-02 -9.41234467e-05 9.99914424e-01 -3.55496783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.134203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.34, Y:-11.19, Z:-3.56 [[ 9.65623891e-01 2.59679384e-01 1.17097291e-02 1.08341174e+02] [-2.59661487e-01 9.65694884e-01 -3.05022198e-03 -1.11915761e+01] [-1.21001053e-02 -9.51984493e-05 9.99926787e-01 -3.55812957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.164203822 meters Centerline goodness [0,1] 0.9999787717324389 Centerline is valid? [True, True] Translation: X:108.37, Y:-11.20, Z:-3.56 [[ 9.65300372e-01 2.60947223e-01 1.00865910e-02 1.08371946e+02] [-2.60934020e-01 9.65353064e-01 -2.62675194e-03 -1.11964953e+01] [-1.04225652e-02 -9.63301210e-05 9.99945679e-01 -3.56386728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.194203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.40, Y:-11.21, Z:-3.56 [[ 9.65129992e-01 2.61583139e-01 9.91767847e-03 1.08403275e+02] [-2.61570400e-01 9.65180942e-01 -2.58354717e-03 -1.12056264e+01] [-1.02481666e-02 -1.00712260e-04 9.99947481e-01 -3.56376287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.224203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.43, Y:-11.22, Z:-3.56 [[ 9.65017419e-01 2.61996161e-01 9.96956456e-03 1.08434800e+02] [-2.61983292e-01 9.65068910e-01 -2.59881007e-03 -1.12162266e+01] [-1.03021951e-02 -1.03962354e-04 9.99946926e-01 -3.56101615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.25420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.47, Y:-11.22, Z:-3.56 [[ 9.64846609e-01 2.62642199e-01 9.49194864e-03 1.08465611e+02] [-2.62630527e-01 9.64893292e-01 -2.47821226e-03 -1.12211266e+01] [-9.80960069e-03 -1.01780782e-04 9.99951880e-01 -3.56485004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.28420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.50, Y:-11.23, Z:-3.57 [[ 9.64846249e-01 2.62631370e-01 9.82236255e-03 1.08495939e+02] [-2.62618871e-01 9.64896239e-01 -2.56437921e-03 -1.12274493e+01] [-1.01510471e-02 -1.05306100e-04 9.99948471e-01 -3.56882477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.314203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.53, Y:-11.24, Z:-3.57 [[ 9.65031413e-01 2.61932718e-01 1.02773390e-02 1.08526769e+02] [-2.61918955e-01 9.65086132e-01 -2.68691223e-03 -1.12391472e+01] [-1.06223075e-02 -9.88751833e-05 9.99943577e-01 -3.56562481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.344203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.56, Y:-11.25, Z:-3.57 [[ 9.65826535e-01 2.58992033e-01 1.01109523e-02 1.08555848e+02] [-2.58978567e-01 9.65879455e-01 -2.64189806e-03 -1.12526135e+01] [-1.04501916e-02 -6.69046784e-05 9.99945393e-01 -3.57038053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.374203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.59, Y:-11.27, Z:-3.57 [[ 9.66338985e-01 2.57075751e-01 1.00511331e-02 1.08585564e+02] [-2.57062321e-01 9.66391254e-01 -2.62810924e-03 -1.12662917e+01] [-1.03889503e-02 -4.41231971e-05 9.99946032e-01 -3.56900933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.404203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.61, Y:-11.28, Z:-3.57 [[ 9.66810878e-01 2.55282250e-01 1.03778406e-02 1.08614440e+02] [-2.55267805e-01 9.66866574e-01 -2.71574917e-03 -1.12783165e+01] [-1.07272697e-02 -2.35127443e-05 9.99942461e-01 -3.57136494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.434203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.64, Y:-11.29, Z:-3.57 [[ 9.67569393e-01 2.52392979e-01 1.03563621e-02 1.08644651e+02] [-2.52378419e-01 9.67624816e-01 -2.71093903e-03 -1.12940296e+01] [-1.07052950e-02 9.29933101e-06 9.99942697e-01 -3.56868838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.464203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.68, Y:-11.31, Z:-3.57 [[ 9.67738254e-01 2.51748370e-01 1.02678668e-02 1.08675086e+02] [-2.51733998e-01 9.67792725e-01 -2.69011626e-03 -1.13054861e+01] [-1.06143992e-02 1.85572571e-05 9.99943666e-01 -3.57119034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.494203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.71, Y:-11.32, Z:-3.57 [[ 9.67786311e-01 2.51573849e-01 1.00127194e-02 1.08705689e+02] [-2.51560153e-01 9.67838105e-01 -2.62517176e-03 -1.13164679e+01] [-1.03511159e-02 2.18040797e-05 9.99946426e-01 -3.57301151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.524203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.74, Y:-11.33, Z:-3.57 [[ 9.67315091e-01 2.53411054e-01 9.18432176e-03 1.08735981e+02] [-2.53399599e-01 9.67358691e-01 -2.40948409e-03 -1.13260783e+01] [-9.49512338e-03 3.42687761e-06 9.99954920e-01 -3.57335699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.554203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.77, Y:-11.33, Z:-3.58 [[ 9.66821638e-01 2.55267189e-01 9.72537361e-03 1.08766377e+02] [-2.55254415e-01 9.66870551e-01 -2.55371153e-03 -1.13330987e+01] [-1.00550561e-02 -1.34609862e-05 9.99949447e-01 -3.57524127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.584203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.80, Y:-11.34, Z:-3.57 [[ 9.65594474e-01 2.59822090e-01 1.09450406e-02 1.08797992e+02] [-2.59806179e-01 9.65656501e-01 -2.87617856e-03 -1.13379586e+01] [-1.13164443e-02 -6.63670468e-05 9.99935965e-01 -3.57118824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.61420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.83, Y:-11.34, Z:-3.57 [[ 9.64890625e-01 2.62416304e-01 1.11250040e-02 1.08828620e+02] [-2.62400011e-01 9.64954752e-01 -2.92576078e-03 -1.13425795e+01] [-1.15028928e-02 -9.61620134e-05 9.99933835e-01 -3.57339289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.64420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.86, Y:-11.35, Z:-3.57 [[ 9.64149176e-01 2.65132002e-01 1.10176088e-02 1.08860669e+02] [-2.65116182e-01 9.64212117e-01 -2.89902405e-03 -1.13488234e+01] [-1.13919359e-02 -1.25854720e-04 9.99935102e-01 -3.57185078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.674203822 meters Centerline goodness [0,1] 0.9999789033986625 Centerline is valid? [True, True] Translation: X:108.89, Y:-11.35, Z:-3.58 [[ 9.63332028e-01 2.68068878e-01 1.14227937e-02 1.08892061e+02] [-2.68052050e-01 9.63399735e-01 -3.00808009e-03 -1.13510689e+01] [-1.18110890e-02 -1.64123369e-04 9.99930233e-01 -3.57512030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.704203822 meters Centerline goodness [0,1] 0.9999363341185459 Centerline is valid? [True, True] Translation: X:108.92, Y:-11.35, Z:-3.58 [[ 9.61815456e-01 2.73415748e-01 1.24442020e-02 1.08924880e+02] [-2.73396190e-01 9.61895923e-01 -3.27958838e-03 -1.13494006e+01] [-1.28667182e-02 -2.47838614e-04 9.99917190e-01 -3.57553497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.734203822 meters Centerline goodness [0,1] 0.9999571266265086 Centerline is valid? [True, True] Translation: X:108.96, Y:-11.36, Z:-3.57 [[ 9.61191898e-01 2.75607575e-01 1.22718996e-02 1.08955570e+02] [-2.75588712e-01 9.61270196e-01 -3.23595850e-03 -1.13570959e+01] [-1.26884660e-02 -2.71619904e-04 9.99919461e-01 -3.57485707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.764203822 meters Centerline goodness [0,1] 0.9999139858936865 Centerline is valid? [True, True] Translation: X:108.99, Y:-11.36, Z:-3.58 [[ 9.60330348e-01 2.78659114e-01 1.07107756e-02 1.08986376e+02] [-2.78644896e-01 9.60390038e-01 -2.82778565e-03 -1.13621707e+01] [-1.10745104e-02 -2.68894568e-04 9.99938640e-01 -3.57695896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.794203822 meters Centerline goodness [0,1] 0.9998929519568382 Centerline is valid? [True, True] Translation: X:109.02, Y:-11.37, Z:-3.58 [[ 9.59878691e-01 2.80228222e-01 1.02490329e-02 1.09017818e+02] [-2.80215317e-01 9.59933366e-01 -2.70355589e-03 -1.13677353e+01] [-1.05960013e-02 -2.76850321e-04 9.99943822e-01 -3.57904559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.824203822 meters Centerline goodness [0,1] 0.999659531003958 Centerline is valid? [True, True] Translation: X:109.05, Y:-11.37, Z:-3.58 [[ 9.59196990e-01 2.82560980e-01 1.00213063e-02 1.09049677e+02] [-2.82548750e-01 9.59249293e-01 -2.64536164e-03 -1.13678015e+01] [-1.03604070e-02 -2.94084640e-04 9.99946286e-01 -3.58143514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.854203822 meters Centerline goodness [0,1] 0.9997012122246884 Centerline is valid? [True, True] Translation: X:109.08, Y:-11.38, Z:-3.58 [[ 9.58966413e-01 2.83306197e-01 1.10008164e-02 1.09081394e+02] [-2.83291490e-01 9.59029452e-01 -2.90550932e-03 -1.13759034e+01] [-1.13732557e-02 -3.30151805e-04 9.99935268e-01 -3.57839622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.884203822 meters Centerline goodness [0,1] 0.9996801296541136 Centerline is valid? [True, True] Translation: X:109.11, Y:-11.38, Z:-3.58 [[ 9.58920115e-01 2.83399992e-01 1.25163211e-02 1.09113479e+02] [-2.83380914e-01 9.59001723e-01 -3.30943611e-03 -1.13818667e+01] [-1.29410677e-02 -3.73401648e-04 9.99916191e-01 -3.57732056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.914203822 meters Centerline goodness [0,1] 0.9996412518201194 Centerline is valid? [True, True] Translation: X:109.14, Y:-11.39, Z:-3.58 [[ 9.59174515e-01 2.82512466e-01 1.30750095e-02 1.09144440e+02] [-2.82491528e-01 9.59263554e-01 -3.45983609e-03 -1.13876451e+01] [-1.35198269e-02 -3.74992813e-04 9.99908533e-01 -3.57904212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.944203822 meters Centerline goodness [0,1] 0.9999145518243185 Centerline is valid? [True, True] Translation: X:109.17, Y:-11.40, Z:-3.58 [[ 9.60504258e-01 2.78023335e-01 1.16015826e-02 1.09172289e+02] [-2.78006479e-01 9.60574282e-01 -3.07356235e-03 -1.14037807e+01] [-1.19987039e-02 -2.73145399e-04 9.99927976e-01 -3.58027107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.974203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.20, Y:-11.42, Z:-3.58 [[ 9.61359246e-01 2.75037338e-01 1.19525394e-02 1.09201711e+02] [-2.75019215e-01 9.61433515e-01 -3.16663129e-03 -1.14167767e+01] [-1.23625138e-02 -2.42907737e-04 9.99923552e-01 -3.58016495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.00420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.23, Y:-11.43, Z:-3.58 [[ 9.62314341e-01 2.71630764e-01 1.29552077e-02 1.09231486e+02] [-2.71609159e-01 9.62401518e-01 -3.43266207e-03 -1.14278808e+01] [-1.34005282e-02 -2.15453142e-04 9.99910186e-01 -3.58016670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.03420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.26, Y:-11.44, Z:-3.58 [[ 9.64214617e-01 2.64788026e-01 1.33219442e-02 1.09259594e+02] [-2.64764510e-01 9.64306635e-01 -3.53097444e-03 -1.14417811e+01] [-1.37813989e-02 -1.22560858e-04 9.99905025e-01 -3.58436425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.064203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.29, Y:-11.46, Z:-3.58 [[ 9.65035916e-01 2.61813258e-01 1.26292474e-02 1.09288616e+02] [-2.61791898e-01 9.65118548e-01 -3.34520473e-03 -1.14569767e+01] [-1.30645399e-02 -7.79919424e-05 9.99914652e-01 -3.58319576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.094203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.32, Y:-11.48, Z:-3.58 [[ 9.66501480e-01 2.56343157e-01 1.27701148e-02 1.09317245e+02] [-2.56320809e-01 9.66585840e-01 -3.38475405e-03 -1.14750106e+01] [-1.32110707e-02 -1.87637325e-06 9.99912730e-01 -3.58111344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.124203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.35, Y:-11.49, Z:-3.58 [[ 9.67083424e-01 2.54115671e-01 1.32240764e-02 1.09347367e+02] [-2.54091465e-01 9.67173834e-01 -3.50751769e-03 -1.14866545e+01] [-1.36812959e-02 3.19372849e-05 9.99906406e-01 -3.58309564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.154203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.38, Y:-11.50, Z:-3.58 [[ 9.67515808e-01 2.52462155e-01 1.32673122e-02 1.09378846e+02] [-2.52437601e-01 9.67606768e-01 -3.52144539e-03 -1.14974362e+01] [-1.37265728e-02 5.78856154e-05 9.99905784e-01 -3.58258343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.184203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.41, Y:-11.51, Z:-3.59 [[ 9.68284540e-01 2.49498684e-01 1.32460055e-02 1.09407271e+02] [-2.49473885e-01 9.68375132e-01 -3.51919791e-03 -1.15110211e+01] [-1.37051376e-02 1.03052476e-04 9.99906075e-01 -3.58608226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.214203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.44, Y:-11.52, Z:-3.59 [[ 9.68236688e-01 2.49684342e-01 1.32455771e-02 1.09438588e+02] [-2.49659538e-01 9.68327279e-01 -3.52080929e-03 -1.15195423e+01] [-1.37051446e-02 1.02092063e-04 9.99906075e-01 -3.58704969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.244203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.47, Y:-11.53, Z:-3.59 [[ 9.68468856e-01 2.48793020e-01 1.30425734e-02 1.09467898e+02] [-2.48768847e-01 9.68556668e-01 -3.47005740e-03 -1.15311659e+01] [-1.34957975e-02 1.16056573e-04 9.99908921e-01 -3.58924978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.274203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.50, Y:-11.54, Z:-3.59 [[ 9.68402986e-01 2.49081150e-01 1.24192553e-02 1.09498126e+02] [-2.49059235e-01 9.68482612e-01 -3.30587298e-03 -1.15417932e+01] [-1.28512635e-02 1.08287033e-04 9.99917413e-01 -3.59136997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.304203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.53, Y:-11.55, Z:-3.59 [[ 9.68125974e-01 2.50204203e-01 1.13998294e-02 1.09527995e+02] [-2.50185794e-01 9.68193085e-01 -3.03634412e-03 -1.15511434e+01] [-1.17969420e-02 8.74882377e-05 9.99930410e-01 -3.59457432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.334203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.56, Y:-11.56, Z:-3.59 [[ 9.67039875e-01 2.54444653e-01 9.58111542e-03 1.09559794e+02] [-2.54431853e-01 9.67087337e-01 -2.55234480e-03 -1.15566280e+01] [-9.91520589e-03 3.04782393e-05 9.99950843e-01 -3.59494003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.36420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.59, Y:-11.56, Z:-3.60 [[ 9.66282388e-01 2.57306253e-01 9.58320793e-03 1.09589977e+02] [-2.57293568e-01 9.66329909e-01 -2.55494109e-03 -1.15622881e+01] [-9.91794276e-03 3.09682071e-06 9.99950816e-01 -3.60024450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.39420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.62, Y:-11.56, Z:-3.60 [[ 9.64521642e-01 2.63826730e-01 9.66738551e-03 1.09623171e+02] [-2.63814133e-01 9.64570087e-01 -2.57888552e-03 -1.15624964e+01] [-1.00052498e-02 -6.30020287e-05 9.99949944e-01 -3.59773108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.424203822 meters Centerline goodness [0,1] 0.999978501096444 Centerline is valid? [True, True] Translation: X:109.65, Y:-11.57, Z:-3.60 [[ 9.63361658e-01 2.68017475e-01 1.00473706e-02 1.09654220e+02] [-2.68004057e-01 9.63414045e-01 -2.68395076e-03 -1.15651943e+01] [-1.03991236e-02 -1.07120819e-04 9.99945922e-01 -3.59858058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.454203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.69, Y:-11.57, Z:-3.60 [[ 9.62070645e-01 2.72587219e-01 1.07834433e-02 1.09686202e+02] [-2.72572052e-01 9.62131062e-01 -2.88041192e-03 -1.15679322e+01] [-1.11602492e-02 -1.68105511e-04 9.99937708e-01 -3.59857637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.484203822 meters Centerline goodness [0,1] 0.9999787491765306 Centerline is valid? [True, True] Translation: X:109.72, Y:-11.57, Z:-3.60 [[ 9.60785264e-01 2.77066201e-01 1.12248210e-02 1.09717823e+02] [-2.77050049e-01 9.60850805e-01 -3.00034088e-03 -1.15697406e+01] [-1.16166713e-02 -2.27153901e-04 9.99932498e-01 -3.59876163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.514203822 meters Centerline goodness [0,1] 0.9998712446351932 Centerline is valid? [True, True] Translation: X:109.75, Y:-11.57, Z:-3.60 [[ 9.58654664e-01 2.84360178e-01 1.09783635e-02 1.09750029e+02] [-2.84345153e-01 9.58717475e-01 -2.93889269e-03 -1.15689540e+01] [-1.13608530e-02 -3.04261258e-04 9.99935417e-01 -3.59877531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.544203822 meters Centerline goodness [0,1] 0.9994896331738437 Centerline is valid? [True, True] Translation: X:109.78, Y:-11.57, Z:-3.60 [[ 9.57202967e-01 2.89200067e-01 1.12161013e-02 1.09781393e+02] [-2.89184723e-01 9.57268606e-01 -3.00197375e-03 -1.15687226e+01] [-1.16049927e-02 -3.70026961e-04 9.99932591e-01 -3.59940220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.574203822 meters Centerline goodness [0,1] 0.9996590666950778 Centerline is valid? [True, True] Translation: X:109.81, Y:-11.58, Z:-3.60 [[ 9.56796903e-01 2.90503716e-01 1.21357809e-02 1.09812564e+02] [-2.90485859e-01 9.56873773e-01 -3.24792278e-03 -1.15750810e+01] [-1.25559441e-02 -4.17670299e-04 9.99921084e-01 -3.59796584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.604203822 meters Centerline goodness [0,1] 0.9996124865446717 Centerline is valid? [True, True] Translation: X:109.84, Y:-11.58, Z:-3.60 [[ 9.56567110e-01 2.91245695e-01 1.24623067e-02 1.09843719e+02] [-2.91226926e-01 9.56648186e-01 -3.33545848e-03 -1.15798204e+01] [-1.28934811e-02 -4.38769402e-04 9.99916779e-01 -3.59858637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.634203822 meters Centerline goodness [0,1] 0.9997011293042717 Centerline is valid? [True, True] Translation: X:109.87, Y:-11.59, Z:-3.60 [[ 9.56842321e-01 2.90376057e-01 1.15981934e-02 1.09874500e+02] [-2.90359721e-01 9.56912529e-01 -3.10552872e-03 -1.15877937e+01] [-1.20002277e-02 -3.96146879e-04 9.99927916e-01 -3.60190353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.664203822 meters Centerline goodness [0,1] 0.9994925575101489 Centerline is valid? [True, True] Translation: X:109.90, Y:-11.60, Z:-3.60 [[ 9.57270635e-01 2.88960900e-01 1.15986686e-02 1.09904847e+02] [-2.88944434e-01 9.57340826e-01 -3.10770131e-03 -1.15966923e+01] [-1.20018832e-02 -3.76459529e-04 9.99927904e-01 -3.60400907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.694203822 meters Centerline goodness [0,1] 0.9998507526331499 Centerline is valid? [True, True] Translation: X:109.93, Y:-11.61, Z:-3.60 [[ 9.57968552e-01 2.86615926e-01 1.21476388e-02 1.09933739e+02] [-2.86597614e-01 9.58045501e-01 -3.25960968e-03 -1.16108177e+01] [-1.25722467e-02 -3.58880730e-04 9.99920902e-01 -3.60238974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.724203822 meters Centerline goodness [0,1] 0.999894392227268 Centerline is valid? [True, True] Translation: X:109.96, Y:-11.62, Z:-3.61 [[ 9.59625825e-01 2.80985464e-01 1.28625095e-02 1.09961544e+02] [-2.80964417e-01 9.59711977e-01 -3.45226068e-03 -1.16231703e+01] [-1.33143395e-02 -3.01028993e-04 9.99911315e-01 -3.60509128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.75420382200001 meters Centerline goodness [0,1] 0.999871937163835 Centerline is valid? [True, True] Translation: X:109.99, Y:-11.63, Z:-3.61 [[ 9.60371153e-01 2.78452763e-01 1.23007123e-02 1.09991785e+02] [-2.78433343e-01 9.60449891e-01 -3.29861366e-03 -1.16346483e+01] [-1.27327259e-02 -2.57035043e-04 9.99918903e-01 -3.60706158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.78420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.02, Y:-11.65, Z:-3.61 [[ 9.61656727e-01 2.73955352e-01 1.28376176e-02 1.10020254e+02] [-2.73933736e-01 9.61742390e-01 -3.44725156e-03 -1.16485842e+01] [-1.32908740e-02 -2.01583897e-04 9.99911652e-01 -3.60807503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.814203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.05, Y:-11.66, Z:-3.61 [[ 9.62183704e-01 2.72089867e-01 1.30239592e-02 1.10049608e+02] [-2.72067476e-01 9.62271828e-01 -3.49522234e-03 -1.16633176e+01] [-1.34836036e-02 -1.80349727e-04 9.99909076e-01 -3.60597680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.844203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.08, Y:-11.68, Z:-3.61 [[ 9.62727033e-01 2.70178321e-01 1.26623272e-02 1.10079062e+02] [-2.70156963e-01 9.62810289e-01 -3.40025100e-03 -1.16763021e+01] [-1.31100930e-02 -1.47302297e-04 9.99914048e-01 -3.60733287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.874203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.11, Y:-11.69, Z:-3.61 [[ 9.63712990e-01 2.66691883e-01 1.15200749e-02 1.10107189e+02] [-2.66673934e-01 9.63781838e-01 -3.09532296e-03 -1.16910476e+01] [-1.19283365e-02 -8.91007645e-05 9.99928851e-01 -3.61061770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.904203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.14, Y:-11.70, Z:-3.61 [[ 9.64029691e-01 2.65548171e-01 1.14421568e-02 1.10137353e+02] [-2.65530365e-01 9.64097590e-01 -3.07601418e-03 -1.17010182e+01] [-1.18481858e-02 -7.28710741e-05 9.99929805e-01 -3.61207893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.934203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.17, Y:-11.71, Z:-3.61 [[ 9.64288354e-01 2.64597447e-01 1.16688037e-02 1.10167757e+02] [-2.64578832e-01 9.64358952e-01 -3.13908830e-03 -1.17107269e+01] [-1.20835101e-02 -6.03321764e-05 9.99926990e-01 -3.61230189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.964203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.20, Y:-11.72, Z:-3.61 [[ 9.64609213e-01 2.63412049e-01 1.19648854e-02 1.10196416e+02] [-2.63392356e-01 9.64683415e-01 -3.22122591e-03 -1.17223648e+01] [-1.23908362e-02 -4.42351533e-05 9.99923230e-01 -3.61414097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.994203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.23, Y:-11.73, Z:-3.61 [[ 9.64560872e-01 2.63595603e-01 1.18187558e-02 1.10227981e+02] [-2.63576386e-01 9.64633276e-01 -3.18315198e-03 -1.17337291e+01] [-1.22398300e-02 -4.48010856e-05 9.99925089e-01 -3.61390275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.024203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.26, Y:-11.75, Z:-3.61 [[ 9.64474960e-01 2.63961124e-01 1.06101854e-02 1.10258258e+02] [-2.63945639e-01 9.64533319e-01 -2.85948140e-03 -1.17456623e+01] [-1.09886693e-02 -4.26139511e-05 9.99939622e-01 -3.61304778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.054203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.29, Y:-11.75, Z:-3.62 [[ 9.64336897e-01 2.64482335e-01 1.01707401e-02 1.10288009e+02] [-2.64468114e-01 9.64390529e-01 -2.74297099e-03 -1.17530615e+01] [-1.05340328e-02 -4.46883300e-05 9.99944515e-01 -3.61791519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.084203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.32, Y:-11.76, Z:-3.62 [[ 9.64073581e-01 2.65431969e-01 1.03922766e-02 1.10320383e+02] [-2.65417164e-01 9.64129590e-01 -2.80401253e-03 -1.17603519e+01] [-1.07637760e-02 -5.50141889e-05 9.99942067e-01 -3.61900004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.11420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.35, Y:-11.77, Z:-3.62 [[ 9.63336041e-01 2.68083571e-01 1.07177860e-02 1.10351948e+02] [-2.68067958e-01 9.63395657e-01 -2.89450804e-03 -1.17652973e+01] [-1.11014386e-02 -8.47110926e-05 9.99938374e-01 -3.61807319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.14420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.38, Y:-11.77, Z:-3.62 [[ 9.62838072e-01 2.69873710e-01 1.05369499e-02 1.10383026e+02] [-2.69858703e-01 9.62895721e-01 -2.84779464e-03 -1.17705586e+01] [-1.09145288e-02 -1.01522526e-04 9.99940430e-01 -3.62370725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.17420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.41, Y:-11.78, Z:-3.62 [[ 9.61819377e-01 2.73506272e-01 9.88967708e-03 1.10414399e+02] [-2.73493207e-01 9.61870211e-01 -2.67650567e-03 -1.17786148e+01] [-1.02446269e-02 -1.30444479e-04 9.99947514e-01 -3.62169615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.204203822 meters Centerline goodness [0,1] 0.9999786224293471 Centerline is valid? [True, True] Translation: X:110.45, Y:-11.78, Z:-3.62 [[ 9.61169848e-01 2.75755837e-01 1.05471163e-02 1.10445384e+02] [-2.75741128e-01 9.61227700e-01 -2.85300260e-03 -1.17842560e+01] [-1.09249124e-02 -1.66053661e-04 9.99940308e-01 -3.62102688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.234203822 meters Centerline goodness [0,1] 0.9999785867237687 Centerline is valid? [True, True] Translation: X:110.48, Y:-11.79, Z:-3.62 [[ 9.60465409e-01 2.78174601e-01 1.11843708e-02 1.10476484e+02] [-2.78158186e-01 9.60530505e-01 -3.02875903e-03 -1.17889093e+01] [-1.15854531e-02 -2.02005998e-04 9.99932866e-01 -3.62012697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.264203822 meters Centerline goodness [0,1] 0.999935583612471 Centerline is valid? [True, True] Translation: X:110.51, Y:-11.79, Z:-3.62 [[ 9.59220120e-01 2.82462903e-01 1.05578880e-02 1.10508575e+02] [-2.82448509e-01 9.59278193e-01 -2.86142729e-03 -1.17885033e+01] [-1.09361988e-02 -2.37321102e-04 9.99940170e-01 -3.62215854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.294203822 meters Centerline goodness [0,1] 0.9998302387267904 Centerline is valid? [True, True] Translation: X:110.54, Y:-11.79, Z:-3.63 [[ 9.58731573e-01 2.84138024e-01 9.96765439e-03 1.10539828e+02] [-2.84125299e-01 9.58783356e-01 -2.70013970e-03 -1.17911556e+01] [-1.03240335e-02 -2.43353596e-04 9.99946676e-01 -3.62666455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.324203822 meters Centerline goodness [0,1] 0.9999354810959611 Centerline is valid? [True, True] Translation: X:110.57, Y:-11.80, Z:-3.63 [[ 9.58415362e-01 2.85220897e-01 9.43578128e-03 1.10570825e+02] [-2.85209556e-01 9.58461779e-01 -2.55500338e-03 -1.18004181e+01] [-9.77257606e-03 -2.42420497e-04 9.99952218e-01 -3.62658206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.354203822 meters Centerline goodness [0,1] 0.9998928096728551 Centerline is valid? [True, True] Translation: X:110.60, Y:-11.81, Z:-3.63 [[ 9.58314809e-01 2.85534229e-01 1.01454806e-02 1.10600819e+02] [-2.85521097e-01 9.58368476e-01 -2.75083583e-03 -1.18079771e+01] [-1.05085666e-02 -2.60582046e-04 9.99944750e-01 -3.62723037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.384203822 meters Centerline goodness [0,1] 0.9998734337425642 Centerline is valid? [True, True] Translation: X:110.63, Y:-11.81, Z:-3.63 [[ 9.58917924e-01 2.83387286e-01 1.29638140e-02 1.10631095e+02] [-2.83365604e-01 9.59005504e-01 -3.51832949e-03 -1.18146210e+01] [-1.34294189e-02 -2.99709780e-04 9.99909776e-01 -3.62662440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.414203822 meters Centerline goodness [0,1] 0.9999785472175741 Centerline is valid? [True, True] Translation: X:110.66, Y:-11.83, Z:-3.62 [[ 9.59535548e-01 2.81288526e-01 1.29729039e-02 1.10660989e+02] [-2.81266625e-01 9.59623203e-01 -3.52054592e-03 -1.18291935e+01] [-1.34393888e-02 -2.70755928e-04 9.99909651e-01 -3.62437643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.444203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.69, Y:-11.85, Z:-3.63 [[ 9.61059200e-01 2.76071287e-01 1.22416471e-02 1.10688930e+02] [-2.76051345e-01 9.61137144e-01 -3.32337008e-03 -1.18462787e+01] [-1.26833888e-02 -1.85367760e-04 9.99919545e-01 -3.62541646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.474203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.72, Y:-11.86, Z:-3.63 [[ 9.61740484e-01 2.73721218e-01 1.14863604e-02 1.10718602e+02] [-2.73703521e-01 9.61809063e-01 -3.11597279e-03 -1.18575513e+01] [-1.19005934e-02 -1.47100115e-04 9.99929175e-01 -3.62871925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.50420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.75, Y:-11.87, Z:-3.64 [[ 9.63170074e-01 2.68738001e-01 9.12661089e-03 1.10748143e+02] [-2.68726604e-01 9.63213311e-01 -2.47589573e-03 -1.18728710e+01] [-9.45624036e-03 -6.78544772e-05 9.99955286e-01 -3.63550443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.53420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.78, Y:-11.89, Z:-3.64 [[ 9.63755161e-01 2.66636577e-01 8.99588263e-03 1.10777426e+02] [-2.66625393e-01 9.63797144e-01 -2.44254359e-03 -1.18861756e+01] [-9.32147745e-03 -4.45167517e-05 9.99956553e-01 -3.63504582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.564203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.81, Y:-11.90, Z:-3.64 [[ 9.64139490e-01 2.65224880e-01 9.52923300e-03 1.10806053e+02] [-2.65212239e-01 9.64186581e-01 -2.58967228e-03 -1.18980355e+01] [-9.87480410e-03 -3.04639017e-05 9.99951242e-01 -3.63682763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.594203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.84, Y:-11.91, Z:-3.64 [[ 9.64353973e-01 2.64443373e-01 9.54555311e-03 1.10836766e+02] [-2.64430641e-01 9.64401214e-01 -2.59504300e-03 -1.19103438e+01] [-9.89198493e-03 -2.15967008e-05 9.99951073e-01 -3.63619430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.624203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.87, Y:-11.92, Z:-3.64 [[ 9.64622441e-01 2.63511018e-01 8.09258122e-03 1.10866511e+02] [-2.63501824e-01 9.64656386e-01 -2.20121194e-03 -1.19229548e+01] [-8.38660376e-03 -9.07147858e-06 9.99964832e-01 -3.63726946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.654203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.90, Y:-11.93, Z:-3.64 [[ 9.64570642e-01 2.63676140e-01 8.85269463e-03 1.10895774e+02] [-2.63665123e-01 9.64611265e-01 -2.41037303e-03 -1.19323659e+01] [-9.17496683e-03 -9.17175899e-06 9.99957909e-01 -3.64140862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.684203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.93, Y:-11.94, Z:-3.64 [[ 9.64207041e-01 2.64922391e-01 1.09958529e-02 1.10926080e+02] [-2.64905425e-01 9.64269737e-01 -2.99826498e-03 -1.19405293e+01] [-1.13972757e-02 -2.19128802e-05 9.99935049e-01 -3.63914513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.714203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.96, Y:-11.95, Z:-3.64 [[ 9.63884506e-01 2.66078870e-01 1.13443743e-02 1.10958207e+02] [-2.66060900e-01 9.63951261e-01 -3.09260369e-03 -1.19494459e+01] [-1.17583004e-02 -3.73816410e-05 9.99930868e-01 -3.63585472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.744203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.99, Y:-11.96, Z:-3.64 [[ 9.63550207e-01 2.67256857e-01 1.20320721e-02 1.10988759e+02] [-2.67236676e-01 9.63625326e-01 -3.28468006e-03 -1.19569065e+01] [-1.24722627e-02 -5.04568047e-05 9.99922217e-01 -3.63908250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.774203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.02, Y:-11.97, Z:-3.64 [[ 9.62888600e-01 2.69614825e-01 1.23850521e-02 1.11020690e+02] [-2.69593642e-01 9.62968244e-01 -3.38075078e-03 -1.19663271e+01] [-1.28379124e-02 -8.36449186e-05 9.99917587e-01 -3.63680920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.804203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.05, Y:-11.97, Z:-3.64 [[ 9.62421804e-01 2.71281996e-01 1.22617047e-02 1.11051102e+02] [-2.71261315e-01 9.62499906e-01 -3.35125059e-03 -1.19731059e+01] [-1.27110236e-02 -1.00809501e-04 9.99919207e-01 -3.63900415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.834203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.08, Y:-11.98, Z:-3.64 [[ 9.61791467e-01 2.73526983e-01 1.18390360e-02 1.11081875e+02] [-2.73507873e-01 9.61864322e-01 -3.23571642e-03 -1.19783170e+01] [-1.22726021e-02 -1.25985109e-04 9.99924681e-01 -3.64289140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.86420382200001 meters Centerline goodness [0,1] 0.9999785435351671 Centerline is valid? [True, True] Translation: X:111.11, Y:-11.99, Z:-3.64 [[ 9.60614769e-01 2.77694897e-01 1.02376366e-02 1.11112432e+02] [-2.77680833e-01 9.60669308e-01 -2.79901732e-03 -1.19860830e+01] [-1.06122561e-02 -1.54018080e-04 9.99943677e-01 -3.64257046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.89420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.14, Y:-11.99, Z:-3.64 [[ 9.59984872e-01 2.79887714e-01 9.58714768e-03 1.11144120e+02] [-2.79875480e-01 9.60032729e-01 -2.62214128e-03 -1.19929042e+01] [-9.93788068e-03 -1.65991594e-04 9.99950604e-01 -3.64342908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.92420382200001 meters Centerline goodness [0,1] 0.9999357133673338 Centerline is valid? [True, True] Translation: X:111.18, Y:-11.99, Z:-3.65 [[ 9.58742527e-01 2.84126206e-01 9.22312654e-03 1.11175925e+02] [-2.84115037e-01 9.58786869e-01 -2.52697494e-03 -1.19944663e+01] [-9.56099242e-03 -1.97710604e-04 9.99954273e-01 -3.64572598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.954203822 meters Centerline goodness [0,1] 0.9999354963555441 Centerline is valid? [True, True] Translation: X:111.21, Y:-12.00, Z:-3.65 [[ 9.58260135e-01 2.85752566e-01 9.10962103e-03 1.11206486e+02] [-2.85741768e-01 9.58303410e-01 -2.49336878e-03 -1.19998689e+01] [-9.44226742e-03 -2.13703316e-04 9.99955398e-01 -3.64788817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.984203822 meters Centerline goodness [0,1] 0.9999358905866012 Centerline is valid? [True, True] Translation: X:111.24, Y:-12.01, Z:-3.65 [[ 9.57868795e-01 2.87043169e-01 9.67419642e-03 1.11236936e+02] [-2.87031024e-01 9.57917618e-01 -2.65109957e-03 -1.20067939e+01] [-1.00280632e-02 -2.37388956e-04 9.99949690e-01 -3.64880699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.014203822 meters Centerline goodness [0,1] 0.9999153152390228 Centerline is valid? [True, True] Translation: X:111.27, Y:-12.01, Z:-3.65 [[ 9.57554379e-01 2.88088938e-01 9.71471736e-03 1.11267668e+02] [-2.88076750e-01 9.57603624e-01 -2.66165844e-03 -1.20149440e+01] [-1.00696429e-02 -2.49901510e-04 9.99949269e-01 -3.64983649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.044203822 meters Centerline goodness [0,1] 0.9997247045868451 Centerline is valid? [True, True] Translation: X:111.30, Y:-12.02, Z:-3.65 [[ 9.57518987e-01 2.88228346e-01 9.04492468e-03 1.11298184e+02] [-2.88217773e-01 9.57561678e-01 -2.47963982e-03 -1.20210064e+01] [-9.37577573e-03 -2.32605842e-04 9.99956019e-01 -3.65396656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.074203822 meters Centerline goodness [0,1] 0.9998293114852035 Centerline is valid? [True, True] Translation: X:111.33, Y:-12.03, Z:-3.65 [[ 9.57472644e-01 2.88391857e-01 8.73342711e-03 1.11329429e+02] [-2.88382003e-01 9.57512447e-01 -2.39468046e-03 -1.20330913e+01] [-9.05297151e-03 -2.25722173e-04 9.99958996e-01 -3.65268755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.104203822 meters Centerline goodness [0,1] 0.9998703935715212 Centerline is valid? [True, True] Translation: X:111.36, Y:-12.04, Z:-3.65 [[ 9.57136141e-01 2.89532079e-01 7.84751423e-03 1.11360992e+02] [-2.89524149e-01 9.57168288e-01 -2.15322524e-03 -1.20402434e+01] [-8.13481954e-03 -2.11115179e-04 9.99966890e-01 -3.65267350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.134203822 meters Centerline goodness [0,1] 0.9997234336772683 Centerline is valid? [True, True] Translation: X:111.39, Y:-12.05, Z:-3.66 [[ 9.56922085e-01 2.90253312e-01 7.28958092e-03 1.11391330e+02] [-2.90246469e-01 9.56949829e-01 -2.00301625e-03 -1.20450025e+01] [-7.55714531e-03 -1.99044631e-04 9.99971425e-01 -3.65582764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.164203822 meters Centerline goodness [0,1] 0.9997234336772683 Centerline is valid? [True, True] Translation: X:111.42, Y:-12.05, Z:-3.66 [[ 9.56867968e-01 2.90431656e-01 7.29002289e-03 1.11422594e+02] [-2.90424831e-01 9.56895716e-01 -2.00141129e-03 -1.20537800e+01] [-7.55706487e-03 -2.02117311e-04 9.99971425e-01 -3.65679492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.194203822 meters Centerline goodness [0,1] 0.9998293078433046 Centerline is valid? [True, True] Translation: X:111.45, Y:-12.06, Z:-3.66 [[ 9.56553400e-01 2.91454558e-01 7.73520898e-03 1.11454985e+02] [-2.91446887e-01 9.56584650e-01 -2.12607088e-03 -1.20577962e+01] [-8.01903522e-03 -2.20702251e-04 9.99967823e-01 -3.65867622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.224203822 meters Centerline goodness [0,1] 0.9995965258754327 Centerline is valid? [True, True] Translation: X:111.49, Y:-12.06, Z:-3.66 [[ 9.56538714e-01 2.91499603e-01 7.85304947e-03 1.11485231e+02] [-2.91491684e-01 9.56570923e-01 -2.16017663e-03 -1.20639764e+01] [-8.14168941e-03 -2.22806044e-04 9.99966831e-01 -3.66050391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.25420382200001 meters Centerline goodness [0,1] 0.9998925932290772 Centerline is valid? [True, True] Translation: X:111.52, Y:-12.07, Z:-3.66 [[ 9.56685829e-01 2.91024096e-01 7.56311870e-03 1.11515578e+02] [-2.91016731e-01 9.56715700e-01 -2.08114224e-03 -1.20743353e+01] [-7.84141694e-03 -2.09994783e-04 9.99969234e-01 -3.66050892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.28420382200001 meters Centerline goodness [0,1] 0.9999358535750941 Centerline is valid? [True, True] Translation: X:111.55, Y:-12.08, Z:-3.66 [[ 9.57625502e-01 2.87883522e-01 8.74501025e-03 1.11545536e+02] [-2.87873494e-01 9.57665409e-01 -2.41178022e-03 -1.20831171e+01] [-9.06910559e-03 -2.07874408e-04 9.99958853e-01 -3.65975474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.314203822 meters Centerline goodness [0,1] 0.9998933720037533 Centerline is valid? [True, True] Translation: X:111.58, Y:-12.09, Z:-3.67 [[ 9.58230317e-01 2.85862080e-01 8.80511353e-03 1.11576537e+02] [-2.85851852e-01 9.58270752e-01 -2.42578906e-03 -1.20881702e+01] [-9.13112387e-03 -1.92493389e-04 9.99958292e-01 -3.66535150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.344203822 meters Centerline goodness [0,1] 0.9999360300232424 Centerline is valid? [True, True] Translation: X:111.61, Y:-12.10, Z:-3.67 [[ 9.59559282e-01 2.81442015e-01 6.03137282e-03 1.11605930e+02] [-2.81437122e-01 9.59578231e-01 -1.66272029e-03 -1.21010441e+01] [-6.25553341e-03 -1.01973515e-04 9.99980429e-01 -3.66723517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.374203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.64, Y:-12.11, Z:-3.67 [[ 9.60051230e-01 2.79746877e-01 6.58177765e-03 1.11636111e+02] [-2.79741017e-01 9.60073786e-01 -1.81346186e-03 -1.21111925e+01] [-6.82630248e-03 -1.00176884e-04 9.99976696e-01 -3.66615495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.404203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.67, Y:-12.12, Z:-3.66 [[ 9.60581605e-01 2.77880140e-01 8.09982505e-03 1.11666173e+02] [-2.77871150e-01 9.60615749e-01 -2.23753818e-03 -1.21212516e+01] [-8.40258693e-03 -1.01369683e-04 9.99964693e-01 -3.66330658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.434203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.70, Y:-12.13, Z:-3.66 [[ 9.61622419e-01 2.74214380e-01 9.42323227e-03 1.11696005e+02] [-2.74202029e-01 9.61668585e-01 -2.60374588e-03 -1.21283627e+01] [-9.77601101e-03 -8.00490047e-05 9.99952210e-01 -3.66239029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.464203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.73, Y:-12.14, Z:-3.66 [[ 9.62110550e-01 2.72490742e-01 9.59614863e-03 1.11727005e+02] [-2.72477878e-01 9.62158402e-01 -2.64849574e-03 -1.21365512e+01] [-9.95470561e-03 -6.65925266e-05 9.99950448e-01 -3.66242202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.494203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.76, Y:-12.14, Z:-3.66 [[ 9.62639430e-01 2.70602694e-01 9.97547174e-03 1.11757927e+02] [-2.70588672e-01 9.62691113e-01 -2.75517771e-03 -1.21449123e+01] [-1.03488565e-02 -4.70069462e-05 9.99946448e-01 -3.66299928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.524203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.79, Y:-12.15, Z:-3.66 [[ 9.63937799e-01 2.65907311e-01 1.08269237e-02 1.11788051e+02] [-2.65890467e-01 9.63998600e-01 -2.99294375e-03 -1.21537035e+01] [-1.12329849e-02 6.23582248e-06 9.99936908e-01 -3.66458934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.554203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.82, Y:-12.16, Z:-3.66 [[ 9.64579539e-01 2.63565725e-01 1.09280470e-02 1.11819488e+02] [-2.63548403e-01 9.64641440e-01 -3.02195607e-03 -1.21624307e+01] [-1.13381310e-02 3.48476570e-05 9.99935721e-01 -3.66376929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.584203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.85, Y:-12.18, Z:-3.66 [[ 9.65922849e-01 2.58554723e-01 1.19375114e-02 1.11848550e+02] [-2.58533623e-01 9.65996607e-01 -3.30484627e-03 -1.21755269e+01] [-1.23860791e-02 1.05978467e-04 9.99923284e-01 -3.66478841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.61420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.88, Y:-12.19, Z:-3.66 [[ 9.66556449e-01 2.56133217e-01 1.28220724e-02 1.11878214e+02] [-2.56108629e-01 9.66641481e-01 -3.55212158e-03 -1.21880742e+01] [-1.33041634e-02 1.49482643e-04 9.99911485e-01 -3.66303665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.64420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.91, Y:-12.20, Z:-3.66 [[ 9.67183365e-01 2.53755039e-01 1.28342466e-02 1.11906693e+02] [-2.53730146e-01 9.67268497e-01 -3.55913147e-03 -1.22007595e+01] [-1.33173099e-02 1.85897492e-04 9.99911303e-01 -3.66314550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.67420382200001 meters Centerline goodness [0,1] 0.9999130963761189 Centerline is valid? [True, True] Translation: X:111.94, Y:-12.21, Z:-3.66 [[ 9.67692717e-01 2.51824567e-01 1.24576710e-02 1.11937542e+02] [-2.51800959e-01 9.67772879e-01 -3.45423653e-03 -1.22089682e+01] [-1.29260577e-02 2.05786029e-04 9.99916434e-01 -3.66201114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.704203822 meters Centerline goodness [0,1] 0.9999787793905441 Centerline is valid? [True, True] Translation: X:111.97, Y:-12.22, Z:-3.67 [[ 9.68465893e-01 2.48895143e-01 1.11813549e-02 1.11966422e+02] [-2.48875909e-01 9.68530412e-01 -3.10214231e-03 -1.22214180e+01] [-1.16015904e-02 2.21549154e-04 9.99932675e-01 -3.66883806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.734203822 meters Centerline goodness [0,1] 0.9999787048276155 Centerline is valid? [True, True] Translation: X:112.00, Y:-12.23, Z:-3.67 [[ 9.68565849e-01 2.48551945e-01 1.01057969e-02 1.11997206e+02] [-2.48536202e-01 9.68618547e-01 -2.80487093e-03 -1.22300729e+01] [-1.04858184e-02 2.05045807e-04 9.99945001e-01 -3.67186881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.764203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.03, Y:-12.24, Z:-3.68 [[ 9.68134983e-01 2.50277764e-01 8.70030060e-03 1.12029988e+02] [-2.50266162e-01 9.68174062e-01 -2.41513136e-03 -1.22360776e+01] [-9.02785905e-03 1.60782318e-04 9.99959235e-01 -3.67570728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.794203822 meters Centerline goodness [0,1] 0.9999786269983757 Centerline is valid? [True, True] Translation: X:112.06, Y:-12.24, Z:-3.68 [[ 9.67632660e-01 2.52238155e-01 7.93403546e-03 1.12060231e+02] [-2.52228557e-01 9.67665178e-01 -2.20437614e-03 -1.22420461e+01] [-8.23351760e-03 1.31836030e-04 9.99966095e-01 -3.67850707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.824203822 meters Centerline goodness [0,1] 0.999935813774364 Centerline is valid? [True, True] Translation: X:112.09, Y:-12.25, Z:-3.68 [[ 9.67006865e-01 2.54663736e-01 6.64114214e-03 1.12092513e+02] [-2.54657072e-01 9.67029665e-01 -1.84464973e-03 -1.22475874e+01] [-6.89194685e-03 9.25751421e-05 9.99976246e-01 -3.68067551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.854203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.12, Y:-12.25, Z:-3.68 [[ 9.65630761e-01 2.59875370e-01 4.69320576e-03 1.12124439e+02] [-2.59872095e-01 9.65642165e-01 -1.30531609e-03 -1.22492070e+01] [-4.87117687e-03 4.08201540e-05 9.99988135e-01 -3.68438183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.884203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.16, Y:-12.25, Z:-3.68 [[ 9.64814024e-01 2.62889220e-01 4.81222005e-03 1.12157236e+02] [-2.62885820e-01 9.64826025e-01 -1.33710228e-03 -1.22528848e+01] [-4.99446492e-03 2.49906127e-05 9.99987527e-01 -3.68347188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.914203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.19, Y:-12.26, Z:-3.68 [[ 9.63982652e-01 2.65904535e-01 5.67667962e-03 1.12189739e+02] [-2.65899845e-01 9.63999366e-01 -1.57924642e-03 -1.22559774e+01] [-5.89224434e-03 1.29379164e-05 9.99982640e-01 -3.68307467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.944203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.22, Y:-12.25, Z:-3.68 [[ 9.62372314e-01 2.71621981e-01 7.81206432e-03 1.12223217e+02] [-2.71613260e-01 9.62404021e-01 -2.17670399e-03 -1.22536394e+01] [-8.10960276e-03 -2.70605991e-05 9.99967116e-01 -3.68072787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.974203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.26, Y:-12.26, Z:-3.68 [[ 9.61553501e-01 2.74493124e-01 8.26982307e-03 1.12256527e+02] [-2.74483447e-01 9.61589061e-01 -2.30553858e-03 -1.22576253e+01] [-8.58502589e-03 -5.30308494e-05 9.99963147e-01 -3.68015484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.00420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.29, Y:-12.26, Z:-3.68 [[ 9.60787420e-01 2.77137889e-01 9.06224734e-03 1.12289289e+02] [-2.77126360e-01 9.60830154e-01 -2.52916274e-03 -1.22608454e+01] [-9.40820732e-03 -8.13998702e-05 9.99955739e-01 -3.68063432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.03420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.32, Y:-12.26, Z:-3.68 [[ 9.59432926e-01 2.81752046e-01 1.02100265e-02 1.12321939e+02] [-2.81737640e-01 9.59487241e-01 -2.85265607e-03 -1.22595150e+01] [-1.06001318e-02 -1.39616611e-04 9.99943807e-01 -3.68012880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.064203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.35, Y:-12.27, Z:-3.68 [[ 9.58866815e-01 2.83668254e-01 1.03321658e-02 1.12353275e+02] [-2.83653593e-01 9.58922466e-01 -2.88847043e-03 -1.22651528e+01] [-1.07271133e-02 -1.61097514e-04 9.99942450e-01 -3.67933184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.094203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.39, Y:-12.26, Z:-3.68 [[ 9.57959126e-01 2.86717070e-01 1.03746675e-02 1.12386265e+02] [-2.86702448e-01 9.58015284e-01 -2.90212350e-03 -1.22630391e+01] [-1.07711784e-02 -1.94326897e-04 9.99941970e-01 -3.68270239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.124203822 meters Centerline goodness [0,1] 0.9999786361305759 Centerline is valid? [True, True] Translation: X:112.42, Y:-12.27, Z:-3.68 [[ 9.57652559e-01 2.87739967e-01 1.03580123e-02 1.12417776e+02] [-2.87725435e-01 9.57708552e-01 -2.89898910e-03 -1.22705958e+01] [-1.07541120e-02 -2.04039281e-04 9.99942152e-01 -3.68169124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.154203822 meters Centerline goodness [0,1] 0.9999352457424076 Centerline is valid? [True, True] Translation: X:112.45, Y:-12.28, Z:-3.68 [[ 9.57511319e-01 2.88212596e-01 1.02749404e-02 1.12450290e+02] [-2.88198310e-01 9.57566424e-01 -2.87697670e-03 -1.22786657e+01] [-1.06681189e-02 -2.06482724e-04 9.99943073e-01 -3.68070993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.184203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.48, Y:-12.28, Z:-3.68 [[ 9.57749478e-01 2.87373531e-01 1.15061435e-02 1.12481330e+02] [-2.87355511e-01 9.57818567e-01 -3.22547109e-03 -1.22836560e+01] [-1.19477129e-02 -2.17160489e-04 9.99928600e-01 -3.68085906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.214203822 meters Centerline goodness [0,1] 0.9999572804750411 Centerline is valid? [True, True] Translation: X:112.51, Y:-12.29, Z:-3.68 [[ 9.58127427e-01 2.86112268e-01 1.14718528e-02 1.12512604e+02] [-2.86094246e-01 9.58196081e-01 -3.21752060e-03 -1.22923429e+01] [-1.19128565e-02 -1.99236340e-04 9.99929020e-01 -3.68177993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.244203822 meters Centerline goodness [0,1] 0.999936305732484 Centerline is valid? [True, True] Translation: X:112.54, Y:-12.30, Z:-3.68 [[ 9.58566725e-01 2.84657396e-01 1.09544737e-02 1.12541935e+02] [-2.84640845e-01 9.58629302e-01 -3.07437991e-03 -1.23017020e+01] [-1.13764245e-02 -1.71092372e-04 9.99935272e-01 -3.68424396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.274203822 meters Centerline goodness [0,1] 0.9998492483955722 Centerline is valid? [True, True] Translation: X:112.57, Y:-12.31, Z:-3.69 [[ 9.59543009e-01 2.81403638e-01 9.44495259e-03 1.12570819e+02] [-2.81391156e-01 9.59589485e-01 -2.65289410e-03 -1.23128018e+01] [-9.80981124e-03 -1.12160135e-04 9.99951876e-01 -3.68937972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.304203822 meters Centerline goodness [0,1] 0.9999787179705457 Centerline is valid? [True, True] Translation: X:112.60, Y:-12.32, Z:-3.69 [[ 9.59898823e-01 2.80168167e-01 1.00024261e-02 1.12600670e+02] [-2.80154099e-01 9.59950930e-01 -2.80958563e-03 -1.23224848e+01] [-1.03889947e-02 -1.05302717e-04 9.99946027e-01 -3.69024305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.334203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.63, Y:-12.33, Z:-3.69 [[ 9.60352004e-01 2.78613186e-01 9.93583858e-03 1.12631602e+02] [-2.78599211e-01 9.60403397e-01 -2.79186481e-03 -1.23316750e+01] [-1.03202635e-02 -8.69438224e-05 9.99946741e-01 -3.68622674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.36420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.66, Y:-12.34, Z:-3.69 [[ 9.60533587e-01 2.78014754e-01 9.11179076e-03 1.12661755e+02] [-2.78002946e-01 9.60576802e-01 -2.56323195e-03 -1.23389315e+01] [-9.46519112e-03 -7.10342965e-05 9.99955202e-01 -3.69094672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.39420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.69, Y:-12.35, Z:-3.69 [[ 9.60704124e-01 2.77458525e-01 8.02202221e-03 1.12692479e+02] [-2.77449364e-01 9.60737614e-01 -2.25545243e-03 -1.23491250e+01] [-8.33285299e-03 -5.88825172e-05 9.99965279e-01 -3.69168440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.42420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.72, Y:-12.36, Z:-3.70 [[ 9.60884453e-01 2.76858313e-01 7.10929379e-03 1.12722196e+02] [-2.76851096e-01 9.60910751e-01 -1.99957317e-03 -1.23570661e+01] [-7.38499529e-03 -4.68570070e-05 9.99972729e-01 -3.69540887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.454203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.75, Y:-12.36, Z:-3.70 [[ 9.60787248e-01 2.77204924e-01 6.73008953e-03 1.12752841e+02] [-2.77198456e-01 9.60810818e-01 -1.89418242e-03 -1.23627389e+01] [-6.99141952e-03 -4.56641054e-05 9.99975559e-01 -3.70201515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.484203822 meters Centerline goodness [0,1] 0.9999787870431259 Centerline is valid? [True, True] Translation: X:112.79, Y:-12.36, Z:-3.70 [[ 9.60166458e-01 2.79333374e-01 7.29655347e-03 1.12786315e+02] [-2.79325825e-01 9.60194179e-01 -2.05464097e-03 -1.23648039e+01] [-7.58003796e-03 -6.53184803e-05 9.99971269e-01 -3.69932152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.514203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.82, Y:-12.37, Z:-3.70 [[ 9.59576500e-01 2.81341751e-01 7.73047155e-03 1.12819648e+02] [-2.81333329e-01 9.59607634e-01 -2.17855008e-03 -1.23688183e+01] [-8.03113661e-03 -8.43538363e-05 9.99967746e-01 -3.69713224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.544203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.85, Y:-12.37, Z:-3.70 [[ 9.58798497e-01 2.83975748e-01 7.95089880e-03 1.12852017e+02] [-2.83966907e-01 9.58831457e-01 -2.24324905e-03 -1.23706602e+01] [-8.26060021e-03 -1.06968322e-04 9.99965875e-01 -3.69751372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.574203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.88, Y:-12.37, Z:-3.70 [[ 9.58028793e-01 2.86547513e-01 8.44711715e-03 1.12884674e+02] [-2.86537622e-01 9.58066023e-01 -2.38465411e-03 -1.23739459e+01] [-8.77621264e-03 -1.35849571e-04 9.99961479e-01 -3.69687792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.604203822 meters Centerline goodness [0,1] 0.9999573633495352 Centerline is valid? [True, True] Translation: X:112.92, Y:-12.37, Z:-3.69 [[ 9.57052798e-01 2.89739683e-01 1.00428235e-02 1.12917241e+02] [-2.89725820e-01 9.57105469e-01 -2.84072167e-03 -1.23735871e+01] [-1.04351111e-02 -1.90944652e-04 9.99945535e-01 -3.69437024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.634203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.95, Y:-12.38, Z:-3.69 [[ 9.56819520e-01 2.90459934e-01 1.13768576e-02 1.12949067e+02] [-2.90442221e-01 9.56887128e-01 -3.21577558e-03 -1.23799916e+01] [-1.18204225e-02 -2.27402934e-04 9.99930111e-01 -3.69191278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.664203822 meters Centerline goodness [0,1] 0.9999783620036785 Centerline is valid? [True, True] Translation: X:112.98, Y:-12.39, Z:-3.69 [[ 9.57100988e-01 2.89462538e-01 1.30052817e-02 1.12981627e+02] [-2.89439233e-01 9.57189313e-01 -3.68092754e-03 -1.23850461e+01] [-1.35140073e-02 -2.41219369e-04 9.99908653e-01 -3.68918199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.694203822 meters Centerline goodness [0,1] 0.9999785793848 Centerline is valid? [True, True] Translation: X:113.01, Y:-12.39, Z:-3.69 [[ 9.57433043e-01 2.88390621e-01 1.23619819e-02 1.13012280e+02] [-2.88369489e-01 9.57512821e-01 -3.49785596e-03 -1.23918363e+01] [-1.28455050e-02 -2.15855525e-04 9.99917470e-01 -3.69189077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.724203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.04, Y:-12.40, Z:-3.69 [[ 9.58393199e-01 2.85193816e-01 1.21228907e-02 1.13042306e+02] [-2.85173211e-01 9.58469853e-01 -3.43227036e-03 -1.24009170e+01] [-1.25982876e-02 -1.67659104e-04 9.99920624e-01 -3.69436192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.75420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.07, Y:-12.41, Z:-3.69 [[ 9.58901692e-01 2.83460792e-01 1.25508978e-02 1.13072068e+02] [-2.83438528e-01 9.58983815e-01 -3.55575385e-03 -1.24113727e+01] [-1.30440247e-02 -1.47789629e-04 9.99914912e-01 -3.69466511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.78420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.10, Y:-12.42, Z:-3.70 [[ 9.59310027e-01 2.82069007e-01 1.27022406e-02 1.13102186e+02] [-2.82046054e-01 9.59394110e-01 -3.60061226e-03 -1.24226090e+01] [-1.32020760e-02 -1.28513395e-04 9.99912841e-01 -3.69531505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.814203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.13, Y:-12.43, Z:-3.70 [[ 9.59708560e-01 2.80729256e-01 1.22704705e-02 1.13132697e+02] [-2.80707702e-01 9.59786994e-01 -3.48025554e-03 -1.24325147e+01] [-1.27540476e-02 -1.04384558e-04 9.99918658e-01 -3.69646866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.844203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.16, Y:-12.44, Z:-3.70 [[ 9.60103505e-01 2.79411572e-01 1.14207618e-02 1.13163938e+02] [-2.79392783e-01 9.60171426e-01 -3.24118038e-03 -1.24373466e+01] [-1.18715125e-02 -7.90097971e-05 9.99929528e-01 -3.69941577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.874203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.20, Y:-12.44, Z:-3.70 [[ 9.60076147e-01 2.79526742e-01 1.08900209e-02 1.13195333e+02] [-2.79509652e-01 9.60137904e-01 -3.09188637e-03 -1.24433900e+01] [-1.13201868e-02 -7.54195953e-05 9.99935922e-01 -3.70068671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.904203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.23, Y:-12.45, Z:-3.70 [[ 9.60084181e-01 2.79502863e-01 1.07942003e-02 1.13226833e+02] [-2.79486050e-01 9.60144856e-01 -3.06648415e-03 -1.24510741e+01] [-1.12210870e-02 -7.27454931e-05 9.99937039e-01 -3.70091590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.934203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.26, Y:-12.46, Z:-3.70 [[ 9.60167568e-01 2.79218099e-01 1.07468706e-02 1.13257249e+02] [-2.79201396e-01 9.60227707e-01 -3.05478659e-03 -1.24614319e+01] [-1.11723946e-02 -6.74342639e-05 9.99937585e-01 -3.70269794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.964203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.29, Y:-12.47, Z:-3.70 [[ 9.60315170e-01 2.78741510e-01 9.89665253e-03 1.13287732e+02] [-2.78727303e-01 9.60366163e-01 -2.81486222e-03 -1.24723575e+01] [-1.02890292e-02 -5.53123709e-05 9.99947065e-01 -3.70360354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.994203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.32, Y:-12.48, Z:-3.70 [[ 9.60357928e-01 2.78578232e-01 1.03353573e-02 1.13319605e+02] [-2.78562705e-01 9.60413539e-01 -2.94171803e-03 -1.24793267e+01] [-1.07457157e-02 -5.39428529e-05 9.99942262e-01 -3.70328241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.024203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.35, Y:-12.48, Z:-3.70 [[ 9.60179514e-01 2.79174408e-01 1.08144227e-02 1.13350295e+02] [-2.79157417e-01 9.60240411e-01 -3.08057017e-03 -1.24846273e+01] [-1.12444620e-02 -6.10259443e-05 9.99936777e-01 -3.70446709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.054203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.38, Y:-12.49, Z:-3.71 [[ 9.60172788e-01 2.79197585e-01 1.08132536e-02 1.13379924e+02] [-2.79180550e-01 9.60233672e-01 -3.08466771e-03 -1.24931240e+01] [-1.12444820e-02 -5.70361020e-05 9.99936777e-01 -3.70538535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.084203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.41, Y:-12.50, Z:-3.71 [[ 9.59923945e-01 2.80080685e-01 1.00414234e-02 1.13409863e+02] [-2.80066038e-01 9.59976461e-01 -2.86505348e-03 -1.24962849e+01] [-1.04419762e-02 -6.20282251e-05 9.99945479e-01 -3.70984254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.11420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.44, Y:-12.50, Z:-3.71 [[ 9.59787721e-01 2.80574132e-01 9.25673185e-03 1.13438898e+02] [-2.80561700e-01 9.59832357e-01 -2.64184282e-03 -1.25033230e+01] [-9.62614350e-03 -6.14761311e-05 9.99953666e-01 -3.71187151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.14420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.47, Y:-12.51, Z:-3.71 [[ 9.59676020e-01 2.80976166e-01 8.62149610e-03 1.13467331e+02] [-2.80965400e-01 9.59714744e-01 -2.46038042e-03 -1.25106978e+01] [-8.96548519e-03 -6.11740130e-05 9.99959807e-01 -3.71323183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.17420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.50, Y:-12.52, Z:-3.72 [[ 9.59257506e-01 2.82435645e-01 7.42581416e-03 1.13497762e+02] [-2.82427707e-01 9.59286246e-01 -2.11851673e-03 -1.25157746e+01] [-7.72182603e-03 -6.50525900e-05 9.99970184e-01 -3.71523876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.204203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.53, Y:-12.52, Z:-3.72 [[ 9.58826237e-01 2.83894663e-01 7.48779650e-03 1.13525507e+02] [-2.83886623e-01 9.58855471e-01 -2.13785330e-03 -1.25180996e+01] [-7.78663978e-03 -7.58554231e-05 9.99969681e-01 -3.71675653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.234203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.55, Y:-12.52, Z:-3.72 [[ 9.58351255e-01 2.85485265e-01 7.81255115e-03 1.13554283e+02] [-2.85476575e-01 9.58383094e-01 -2.22933806e-03 -1.25212266e+01] [-8.12386011e-03 -9.38114204e-05 9.99966997e-01 -3.71507389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.264203822 meters Centerline goodness [0,1] 0.9999785610153503 Centerline is valid? [True, True] Translation: X:113.58, Y:-12.52, Z:-3.72 [[ 9.57945651e-01 2.86846437e-01 7.69743942e-03 1.13582784e+02] [-2.86838047e-01 9.57976571e-01 -2.19637621e-03 -1.25222472e+01] [-8.00398931e-03 -1.03909452e-04 9.99967962e-01 -3.71723485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.294203822 meters Centerline goodness [0,1] 0.9999787084548726 Centerline is valid? [True, True] Translation: X:113.61, Y:-12.53, Z:-3.72 [[ 9.58035120e-01 2.86525130e-01 8.48879251e-03 1.13610362e+02] [-2.86514922e-01 9.58072720e-01 -2.42112550e-03 -1.25285858e+01] [-8.82659383e-03 -1.12642471e-04 9.99961039e-01 -3.71795765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.324203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.64, Y:-12.54, Z:-3.72 [[ 9.58803452e-01 2.83910893e-01 9.51553965e-03 1.13637920e+02] [-2.83897945e-01 9.58850664e-01 -2.71332050e-03 -1.25371397e+01] [-9.89432275e-03 -9.99010858e-05 9.99951045e-01 -3.71620767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.354203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.66, Y:-12.55, Z:-3.72 [[ 9.59414514e-01 2.81831202e-01 9.74490648e-03 1.13664336e+02] [-2.81817518e-01 9.59464000e-01 -2.77842153e-03 -1.25461958e+01] [-1.01329328e-02 -8.06274114e-05 9.99948657e-01 -3.71761293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.384203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.69, Y:-12.56, Z:-3.71 [[ 9.60055297e-01 2.79598532e-01 1.08852037e-02 1.13691639e+02] [-2.79581332e-01 9.60117002e-01 -3.10195648e-03 -1.25579048e+01] [-1.13183716e-02 -6.52500064e-05 9.99935943e-01 -3.71458420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.414203822 meters Centerline goodness [0,1] 0.9999356292243321 Centerline is valid? [True, True] Translation: X:113.72, Y:-12.57, Z:-3.71 [[ 9.61355168e-01 2.75029764e-01 1.24446312e-02 1.13717888e+02] [-2.75006908e-01 9.61435712e-01 -3.54569835e-03 -1.25725154e+01] [-1.29398854e-02 -1.36841057e-05 9.99916276e-01 -3.71378808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.444203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.75, Y:-12.59, Z:-3.72 [[ 9.62124023e-01 2.72344967e-01 1.20658125e-02 1.13745683e+02] [-2.72323275e-01 9.62199677e-01 -3.43740471e-03 -1.25860119e+01] [-1.25458807e-02 2.14080917e-05 9.99921297e-01 -3.71548206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.474203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.78, Y:-12.60, Z:-3.72 [[ 9.62708903e-01 2.70292240e-01 1.15617069e-02 1.13775556e+02] [-2.70272212e-01 9.62778325e-01 -3.29070332e-03 -1.25994103e+01] [-1.20208124e-02 4.31812849e-05 9.99927746e-01 -3.71634042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.50420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.80, Y:-12.61, Z:-3.72 [[ 9.63452798e-01 2.67645895e-01 1.11526138e-02 1.13804540e+02] [-2.67627057e-01 9.63517342e-01 -3.17632725e-03 -1.26128893e+01] [-1.15958677e-02 7.55001693e-05 9.99932763e-01 -3.71820021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.53420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.83, Y:-12.62, Z:-3.72 [[ 9.63709155e-01 2.66748725e-01 1.04776480e-02 1.13833922e+02] [-2.66732030e-01 9.63766108e-01 -2.98557826e-03 -1.26234982e+01] [-1.08944013e-02 8.25047764e-05 9.99940651e-01 -3.72090465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.564203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.86, Y:-12.64, Z:-3.72 [[ 9.63960160e-01 2.65893008e-01 9.03975377e-03 1.13863921e+02] [-2.65880538e-01 9.64002542e-01 -2.57637120e-03 -1.26357789e+01] [-9.39938470e-03 8.00245942e-05 9.99955822e-01 -3.72245837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.594203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.90, Y:-12.65, Z:-3.72 [[ 9.63949182e-01 2.65937714e-01 8.89421391e-03 1.13895128e+02] [-2.65925635e-01 9.63990210e-01 -2.53585977e-03 -1.26464903e+01] [-9.24831589e-03 7.92404629e-05 9.99957230e-01 -3.72330064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.624203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.92, Y:-12.66, Z:-3.73 [[ 9.63909566e-01 2.66069134e-01 9.25009366e-03 1.13924197e+02] [-2.66056034e-01 9.63953945e-01 -2.64167505e-03 -1.26579320e+01] [-9.61953247e-03 8.52926198e-05 9.99953728e-01 -3.72542194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.654203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.96, Y:-12.67, Z:-3.73 [[ 9.63714154e-01 2.66776433e-01 9.23922272e-03 1.13955249e+02] [-2.66763406e-01 9.63758439e-01 -2.63755288e-03 -1.26689316e+01] [-9.60801582e-03 7.71605250e-05 9.99953839e-01 -3.72593484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.684203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.99, Y:-12.68, Z:-3.73 [[ 9.63096326e-01 2.69029819e-01 8.27185757e-03 1.13986661e+02] [-2.69019450e-01 9.63131847e-01 -2.36247683e-03 -1.26794279e+01] [-8.60246617e-03 5.00021825e-05 9.99962997e-01 -3.72750185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.714203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.02, Y:-12.69, Z:-3.73 [[ 9.62503327e-01 2.71141880e-01 8.33225534e-03 1.14018222e+02] [-2.71131419e-01 9.62539391e-01 -2.38205714e-03 -1.26853580e+01] [-8.66599943e-03 3.36017082e-05 9.99962449e-01 -3.72825629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.744203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.05, Y:-12.68, Z:-3.73 [[ 9.60798860e-01 2.77135456e-01 7.84157467e-03 1.14048898e+02] [-2.77126342e-01 9.60830859e-01 -2.24751801e-03 -1.26832805e+01] [-8.15729385e-03 -1.36941643e-05 9.99966729e-01 -3.73076951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.774203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.08, Y:-12.69, Z:-3.73 [[ 9.59810091e-01 2.80558455e-01 7.17930694e-03 1.14078526e+02] [-2.80550916e-01 9.59836940e-01 -2.05722865e-03 -1.26868568e+01] [-7.46813690e-03 -3.96123215e-05 9.99972112e-01 -3.73259172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.804203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.11, Y:-12.69, Z:-3.73 [[ 9.58784800e-01 2.84052609e-01 6.76927038e-03 1.14108629e+02] [-2.84045994e-01 9.58808694e-01 -1.93961447e-03 -1.26909267e+01] [-7.04138784e-03 -6.31112677e-05 9.99975207e-01 -3.73229184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.834203822 meters Centerline goodness [0,1] 0.9999787446595957 Centerline is valid? [True, True] Translation: X:114.14, Y:-12.69, Z:-3.73 [[ 9.56769485e-01 2.90745657e-01 7.68862179e-03 1.14139114e+02] [-2.90737337e-01 9.56800369e-01 -2.20328005e-03 -1.26868662e+01] [-7.99707027e-03 -1.27338304e-04 9.99968015e-01 -3.73334180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.86420382200001 meters Centerline goodness [0,1] 0.9998937887671 Centerline is valid? [True, True] Translation: X:114.17, Y:-12.69, Z:-3.73 [[ 9.55901760e-01 2.93566644e-01 8.39352636e-03 1.14167481e+02] [-2.93556837e-01 9.55938596e-01 -2.40516943e-03 -1.26873554e+01] [-8.72977331e-03 -1.64871365e-04 9.99961881e-01 -3.73402443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.89420382200001 meters Centerline goodness [0,1] 0.9998095117150295 Centerline is valid? [True, True] Translation: X:114.20, Y:-12.69, Z:-3.73 [[ 9.55088603e-01 2.96165361e-01 9.58332478e-03 1.14195668e+02] [-2.96152718e-01 9.55136656e-01 -2.74505287e-03 -1.26885918e+01] [-9.96637436e-03 -2.16358972e-04 9.99950311e-01 -3.73368448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.92420382200001 meters Centerline goodness [0,1] 0.999807573068782 Centerline is valid? [True, True] Translation: X:114.23, Y:-12.69, Z:-3.73 [[ 9.53868080e-01 3.00068343e-01 9.73016888e-03 1.14225815e+02] [-3.00055530e-01 9.53917670e-01 -2.78545601e-03 -1.26920577e+01] [-1.01176072e-02 -2.62633397e-04 9.99948781e-01 -3.73142161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.954203822 meters Centerline goodness [0,1] 0.9999144458228173 Centerline is valid? [True, True] Translation: X:114.25, Y:-12.70, Z:-3.73 [[ 9.53516196e-01 3.01187863e-01 9.62987109e-03 1.14254105e+02] [-3.01175367e-01 9.53564784e-01 -2.75699837e-03 -1.26974880e+01] [-1.00130804e-02 -2.71437359e-04 9.99949831e-01 -3.73187566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.984203822 meters Centerline goodness [0,1] 0.9998934946534316 Centerline is valid? [True, True] Translation: X:114.28, Y:-12.70, Z:-3.73 [[ 9.53339211e-01 3.01715397e-01 1.05909122e-02 1.14281285e+02] [-3.01700315e-01 9.53397989e-01 -3.03213658e-03 -1.27017814e+01] [-1.10121967e-02 -3.04626847e-04 9.99939318e-01 -3.73175808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.014203822 meters Centerline goodness [0,1] 0.999893635125936 Centerline is valid? [True, True] Translation: X:114.31, Y:-12.71, Z:-3.73 [[ 9.54060401e-01 2.99351709e-01 1.25421267e-02 1.14309623e+02] [-2.99330387e-01 9.54142780e-01 -3.58812604e-03 -1.27108114e+01] [-1.30410913e-02 -3.30950680e-04 9.99914907e-01 -3.73002408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.044203822 meters Centerline goodness [0,1] 0.9998517043408258 Centerline is valid? [True, True] Translation: X:114.34, Y:-12.72, Z:-3.73 [[ 9.54891146e-01 2.96703147e-01 1.22532535e-02 1.14335882e+02] [-2.96682573e-01 9.54969717e-01 -3.50580458e-03 -1.27198170e+01] [-1.27416693e-02 -2.87665039e-04 9.99918780e-01 -3.73321781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.074203822 meters Centerline goodness [0,1] 0.9998931601102587 Centerline is valid? [True, True] Translation: X:114.36, Y:-12.74, Z:-3.73 [[ 9.55868228e-01 2.93564333e-01 1.16581802e-02 1.14361714e+02] [-2.93545486e-01 9.55939291e-01 -3.33470927e-03 -1.27354246e+01] [-1.21234642e-02 -2.34663524e-04 9.99926481e-01 -3.73258908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.104203822 meters Centerline goodness [0,1] 0.9999787816418766 Centerline is valid? [True, True] Translation: X:114.39, Y:-12.75, Z:-3.74 [[ 9.57631221e-01 2.87784983e-01 1.10565779e-02 1.14387633e+02] [-2.87767656e-01 9.57695035e-01 -3.16167784e-03 -1.27513561e+01] [-1.14987132e-02 -1.54004113e-04 9.99933876e-01 -3.73529710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.134203822 meters Centerline goodness [0,1] 0.9998933629073536 Centerline is valid? [True, True] Translation: X:114.41, Y:-12.76, Z:-3.74 [[ 9.58452045e-01 2.85048513e-01 1.08176704e-02 1.14413566e+02] [-2.85031748e-01 9.58513084e-01 -3.09377415e-03 -1.27629253e+01] [-1.12507543e-02 -1.18145331e-04 9.99936701e-01 -3.73847936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.164203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.44, Y:-12.78, Z:-3.74 [[ 9.60055696e-01 2.79612515e-01 1.04834221e-02 1.14439512e+02] [-2.79596467e-01 9.60112930e-01 -2.99618062e-03 -1.27849205e+01] [-1.09030387e-02 -5.46275190e-05 9.99940559e-01 -3.73784383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.194203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.47, Y:-12.80, Z:-3.74 [[ 9.60673325e-01 2.77485160e-01 1.04282105e-02 1.14467126e+02] [-2.77469154e-01 9.60729923e-01 -2.98053281e-03 -1.27980070e+01] [-1.08457475e-02 -3.01883747e-05 9.99941183e-01 -3.73867031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.224203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.50, Y:-12.81, Z:-3.74 [[ 9.61084976e-01 2.76045141e-01 1.07120858e-02 1.14495634e+02] [-2.76028161e-01 9.61144672e-01 -3.06181679e-03 -1.28091851e+01] [-1.11410638e-02 -1.41712189e-05 9.99937936e-01 -3.73893493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.25420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.53, Y:-12.82, Z:-3.74 [[ 9.61313268e-01 2.75253586e-01 1.05954596e-02 1.14525586e+02] [-2.75236926e-01 9.61371657e-01 -3.02838439e-03 -1.28188539e+01] [-1.10197482e-02 -5.03564592e-06 9.99939281e-01 -3.73929496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.28420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.56, Y:-12.83, Z:-3.74 [[ 9.61169054e-01 2.75822537e-01 8.71653371e-03 1.14556594e+02] [-2.75811285e-01 9.61208577e-01 -2.49144135e-03 -1.28254046e+01] [-9.06560264e-03 -9.42203302e-06 9.99958907e-01 -3.74325798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.314203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.58, Y:-12.83, Z:-3.75 [[ 9.60893860e-01 2.76792824e-01 8.28990166e-03 1.14583982e+02] [-2.76782669e-01 9.60929619e-01 -2.37098710e-03 -1.28321250e+01] [-8.62228426e-03 -1.62341669e-05 9.99962827e-01 -3.74652143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.344203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.61, Y:-12.84, Z:-3.75 [[ 9.60356207e-01 2.78660147e-01 8.02981468e-03 1.14611638e+02] [-2.78650689e-01 9.60389776e-01 -2.29614142e-03 -1.28415673e+01] [-8.35159502e-03 -3.23997321e-05 9.99965124e-01 -3.74669673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.374203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.64, Y:-12.85, Z:-3.75 [[ 9.60045296e-01 2.79732624e-01 7.91756423e-03 1.14640462e+02] [-2.79723467e-01 9.60077943e-01 -2.26373570e-03 -1.28498493e+01] [-8.23471951e-03 -4.14397061e-05 9.99966093e-01 -3.74737038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.404203822 meters Centerline goodness [0,1] 0.9999785531987904 Centerline is valid? [True, True] Translation: X:114.67, Y:-12.85, Z:-3.75 [[ 9.59401522e-01 2.81927302e-01 8.10647328e-03 1.14668843e+02] [-2.81917781e-01 9.59435768e-01 -2.31778130e-03 -1.28535117e+01] [-8.43108624e-03 -6.16760515e-05 9.99964456e-01 -3.74893134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.434203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.70, Y:-12.86, Z:-3.75 [[ 9.59087121e-01 2.82998930e-01 7.96874597e-03 1.14697857e+02] [-2.82989771e-01 9.59120222e-01 -2.27786227e-03 -1.28591246e+01] [-8.28761799e-03 -7.04052306e-05 9.99965655e-01 -3.74914055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.464203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.73, Y:-12.87, Z:-3.75 [[ 9.58836221e-01 2.83860471e-01 7.50555728e-03 1.14726684e+02] [-2.83852374e-01 9.58865594e-01 -2.14531285e-03 -1.28656868e+01] [-7.80579015e-03 -7.34665869e-05 9.99969532e-01 -3.75036172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.494203822 meters Centerline goodness [0,1] 0.9999786971155894 Centerline is valid? [True, True] Translation: X:114.75, Y:-12.87, Z:-3.75 [[ 9.58650895e-01 2.84489999e-01 7.34181462e-03 1.14753647e+02] [-2.84482269e-01 9.58679005e-01 -2.09860961e-03 -1.28746453e+01] [-7.63547698e-03 -7.67820974e-05 9.99970846e-01 -3.75280960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.524203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.78, Y:-12.88, Z:-3.75 [[ 9.58768415e-01 2.84096042e-01 7.25020306e-03 1.14779894e+02] [-2.84088489e-01 9.58795825e-01 -2.07283299e-03 -1.28839500e+01] [-7.54034807e-03 -7.23324257e-05 9.99971569e-01 -3.75389134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.554203822 meters Centerline goodness [0,1] 0.999978826568422 Centerline is valid? [True, True] Translation: X:114.81, Y:-12.89, Z:-3.76 [[ 9.59084373e-01 2.83020698e-01 7.51334087e-03 1.14806196e+02] [-2.83012562e-01 9.59113799e-01 -2.14701904e-03 -1.28947195e+01] [-7.81379974e-03 -6.71974459e-05 9.99969470e-01 -3.75619578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.584203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.83, Y:-12.91, Z:-3.75 [[ 9.59320542e-01 2.82206035e-01 7.99074339e-03 1.14834472e+02] [-2.82196816e-01 9.59353819e-01 -2.28190157e-03 -1.29068345e+01] [-8.30991658e-03 -6.58872974e-05 9.99965470e-01 -3.75264792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.61420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.86, Y:-12.92, Z:-3.75 [[ 9.59565870e-01 2.81348036e-01 8.75348267e-03 1.14863363e+02] [-2.81336944e-01 9.59605793e-01 -2.49919304e-03 -1.29184853e+01] [-9.10303574e-03 -6.45377135e-05 9.99958564e-01 -3.75198899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.64420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.89, Y:-12.93, Z:-3.75 [[ 9.59687019e-01 2.80916056e-01 9.32709789e-03 1.14893218e+02] [-2.80903468e-01 9.59732340e-01 -2.66022673e-03 -1.29291709e+01] [-9.69881788e-03 -6.70290858e-05 9.99952963e-01 -3.75358540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.67420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.92, Y:-12.94, Z:-3.75 [[ 9.59579460e-01 2.81302065e-01 8.74119851e-03 1.14923141e+02] [-2.81291013e-01 9.59619270e-01 -2.49436943e-03 -1.29402281e+01] [-9.08989381e-03 -6.52749137e-05 9.99958684e-01 -3.75233034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.704203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.95, Y:-12.95, Z:-3.75 [[ 9.59292613e-01 2.82280009e-01 8.69941468e-03 1.14953045e+02] [-2.82269086e-01 9.59332055e-01 -2.48431689e-03 -1.29488215e+01] [-9.04690035e-03 -7.23889893e-05 9.99959073e-01 -3.75416377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.734203822 meters Centerline goodness [0,1] 0.9999788637132229 Centerline is valid? [True, True] Translation: X:114.98, Y:-12.96, Z:-3.76 [[ 9.58618904e-01 2.84538925e-01 9.34862055e-03 1.14981937e+02] [-2.84526364e-01 9.58664483e-01 -2.67520423e-03 -1.29556213e+01] [-9.72339023e-03 -9.54276665e-05 9.99952722e-01 -3.75550000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.764203822 meters Centerline goodness [0,1] 0.9999151805593842 Centerline is valid? [True, True] Translation: X:115.01, Y:-12.96, Z:-3.76 [[ 9.58154604e-01 2.86102404e-01 9.22872955e-03 1.15010475e+02] [-2.86090233e-01 9.58199041e-01 -2.64126651e-03 -1.29621395e+01] [-9.59863250e-03 -1.09507720e-04 9.99953926e-01 -3.75519534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.794203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.04, Y:-12.96, Z:-3.76 [[ 9.57501878e-01 2.88275984e-01 9.33332948e-03 1.15039185e+02] [-2.88263639e-01 9.57547356e-01 -2.67107783e-03 -1.29636867e+01] [-9.70711256e-03 -1.32897489e-04 9.99952876e-01 -3.75965053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.824203822 meters Centerline goodness [0,1] 0.9999572293150275 Centerline is valid? [True, True] Translation: X:115.07, Y:-12.96, Z:-3.75 [[ 9.55848366e-01 2.93651506e-01 1.10767748e-02 1.15070189e+02] [-2.93634493e-01 9.55912519e-01 -3.16875693e-03 -1.29638397e+01] [-1.15189380e-02 -2.23672040e-04 9.99933630e-01 -3.75350920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.854203822 meters Centerline goodness [0,1] 0.9998730131854643 Centerline is valid? [True, True] Translation: X:115.10, Y:-12.96, Z:-3.76 [[ 9.55018688e-01 2.96275637e-01 1.26511920e-02 1.15099517e+02] [-2.96253673e-01 9.55102435e-01 -3.61932521e-03 -1.29624651e+01] [-1.31555022e-02 -2.91438888e-04 9.99913420e-01 -3.75564928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.884203822 meters Centerline goodness [0,1] 0.9999570769395858 Centerline is valid? [True, True] Translation: X:115.13, Y:-12.97, Z:-3.75 [[ 9.54255462e-01 2.98696401e-01 1.33031541e-02 1.15126962e+02] [-2.98672369e-01 9.54348124e-01 -3.80435835e-03 -1.29738805e+01] [-1.38321883e-02 -3.42954806e-04 9.99904272e-01 -3.74947938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.914203822 meters Centerline goodness [0,1] 0.999871761990254 Centerline is valid? [True, True] Translation: X:115.16, Y:-12.98, Z:-3.75 [[ 9.53116931e-01 3.02314068e-01 1.32030035e-02 1.15156992e+02] [-3.02290745e-01 9.53208293e-01 -3.77558644e-03 -1.29754412e+01] [-1.37266253e-02 -3.92570392e-04 9.99905708e-01 -3.74971672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.944203822 meters Centerline goodness [0,1] 0.9995104195491603 Centerline is valid? [True, True] Translation: X:115.19, Y:-12.97, Z:-3.75 [[ 9.52897646e-01 3.03004245e-01 1.32099958e-02 1.15186342e+02] [-3.02980966e-01 9.52989121e-01 -3.77746510e-03 -1.29742148e+01] [-1.37335702e-02 -4.02839682e-04 9.99905609e-01 -3.75498276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.974203822 meters Centerline goodness [0,1] 0.9995104195491603 Centerline is valid? [True, True] Translation: X:115.21, Y:-12.98, Z:-3.76 [[ 9.52917919e-01 3.02940474e-01 1.32101920e-02 1.15212826e+02] [-3.02917198e-01 9.53009395e-01 -3.77677880e-03 -1.29816439e+01] [-1.37335762e-02 -4.02634147e-04 9.99905609e-01 -3.75580130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.00420382200001 meters Centerline goodness [0,1] 0.9997042545101187 Centerline is valid? [True, True] Translation: X:115.24, Y:-12.99, Z:-3.76 [[ 9.53325661e-01 3.01704654e-01 1.20201962e-02 1.15240849e+02] [-3.01685298e-01 9.53401373e-01 -3.43547700e-03 -1.29883322e+01] [-1.24965709e-02 -3.51188071e-04 9.99921853e-01 -3.75987500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.03420382200001 meters Centerline goodness [0,1] 0.9998095963442498 Centerline is valid? [True, True] Translation: X:115.27, Y:-13.00, Z:-3.76 [[ 9.54014939e-01 2.99560486e-01 1.09092634e-02 1.15267038e+02] [-2.99544407e-01 9.54077266e-01 -3.11759292e-03 -1.30002563e+01] [-1.13421879e-02 -2.93578625e-04 9.99935632e-01 -3.76127383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.064203822 meters Centerline goodness [0,1] 0.9998715203426124 Centerline is valid? [True, True] Translation: X:115.29, Y:-13.01, Z:-3.76 [[ 9.54925499e-01 2.96658594e-01 1.05342054e-02 1.15293700e+02] [-2.96643430e-01 9.54983568e-01 -3.00995005e-03 -1.30126026e+01] [-1.09529206e-02 -2.50624770e-04 9.99939984e-01 -3.76201073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.094203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.32, Y:-13.03, Z:-3.76 [[ 9.57192141e-01 2.89234206e-01 1.12596326e-02 1.15319959e+02] [-2.89216387e-01 9.57258347e-01 -3.21550167e-03 -1.30329057e+01] [-1.17084104e-02 -1.78617334e-04 9.99931438e-01 -3.76208640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.124203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.35, Y:-13.05, Z:-3.76 [[ 9.58450250e-01 2.85046798e-01 1.10200608e-02 1.15347092e+02] [-2.85029448e-01 9.58513593e-01 -3.14736150e-03 -1.30472881e+01] [-1.14600234e-02 -1.24452439e-04 9.99934324e-01 -3.76319069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.154203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.38, Y:-13.06, Z:-3.76 [[ 9.59695905e-01 2.80834780e-01 1.07516158e-02 1.15375625e+02] [-2.80818006e-01 9.59756126e-01 -3.07023779e-03 -1.30617691e+01] [-1.11811587e-02 -7.27526658e-05 9.99937486e-01 -3.76392435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.184203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.40, Y:-13.08, Z:-3.77 [[ 9.61779118e-01 2.73634580e-01 1.02491157e-02 1.15402226e+02] [-2.73618953e-01 9.61833726e-01 -2.92440068e-03 -1.30806963e+01] [-1.06581623e-02 8.27520284e-06 9.99943200e-01 -3.76779477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.214203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.43, Y:-13.10, Z:-3.77 [[ 9.62633937e-01 2.70609362e-01 1.03187277e-02 1.15431507e+02] [-2.70593332e-01 9.62689239e-01 -2.94574932e-03 -1.30956711e+01] [-1.07308755e-02 4.34993477e-05 9.99942422e-01 -3.76675567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.244203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.46, Y:-13.11, Z:-3.76 [[ 9.63852060e-01 2.66181066e-01 1.16981757e-02 1.15460409e+02] [-2.66160108e-01 9.63923041e-01 -3.34189777e-03 -1.31147976e+01] [-1.21656910e-02 1.07507335e-04 9.99925989e-01 -3.76460454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.274203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.49, Y:-13.13, Z:-3.76 [[ 9.64213351e-01 2.64867944e-01 1.17297262e-02 1.15490929e+02] [-2.64846741e-01 9.64284686e-01 -3.35371380e-03 -1.31267605e+01] [-1.21990866e-02 1.27115869e-04 9.99925580e-01 -3.76414541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.304203822 meters Centerline goodness [0,1] 0.9999786748555222 Centerline is valid? [True, True] Translation: X:115.52, Y:-13.14, Z:-3.77 [[ 9.64474296e-01 2.63929692e-01 1.14214492e-02 1.15519750e+02] [-2.63909497e-01 9.64541911e-01 -3.26776199e-03 -1.31388889e+01] [-1.18789259e-02 1.37443535e-04 9.99929434e-01 -3.76685311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.334203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.55, Y:-13.15, Z:-3.77 [[ 9.64563197e-01 2.63601016e-01 1.15040557e-02 1.15551294e+02] [-2.63580489e-01 9.64631787e-01 -3.29269939e-03 -1.31497139e+01] [-1.19651368e-02 1.43772004e-04 9.99928405e-01 -3.76756015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.36420382200001 meters Centerline goodness [0,1] 0.9999788547745919 Centerline is valid? [True, True] Translation: X:115.58, Y:-13.16, Z:-3.77 [[ 9.64218567e-01 2.64821335e-01 1.23375342e-02 1.15581370e+02] [-2.64797766e-01 9.64297485e-01 -3.53595615e-03 -1.31585114e+01] [-1.28334498e-02 1.42483079e-04 9.99917638e-01 -3.76898184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.39420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.61, Y:-13.16, Z:-3.77 [[ 9.63778888e-01 2.66396774e-01 1.27677101e-02 1.15613090e+02] [-2.66371668e-01 9.63863446e-01 -3.65945258e-03 -1.31637885e+01] [-1.32811955e-02 1.25946892e-04 9.99911793e-01 -3.76681156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.42420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.65, Y:-13.17, Z:-3.77 [[ 9.62596448e-01 2.70609328e-01 1.33667575e-02 1.15645712e+02] [-2.70582180e-01 9.62689247e-01 -3.83378576e-03 -1.31667850e+01] [-1.39054919e-02 7.35821689e-05 9.99903311e-01 -3.76653462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.454203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.68, Y:-13.17, Z:-3.77 [[ 9.61809193e-01 2.73406381e-01 1.31158789e-02 1.15676724e+02] [-2.73380454e-01 9.61898617e-01 -3.76533172e-03 -1.31728610e+01] [-1.36456115e-02 3.59057434e-05 9.99906894e-01 -3.76847046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.484203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.71, Y:-13.18, Z:-3.77 [[ 9.60254416e-01 2.78864297e-01 1.20896653e-02 1.15708858e+02] [-2.78842701e-01 9.60330517e-01 -3.47069833e-03 -1.31751611e+01] [-1.25779284e-02 -3.83615272e-05 9.99920894e-01 -3.77069458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.514203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.74, Y:-13.18, Z:-3.77 [[ 9.59327189e-01 2.82025010e-01 1.23789281e-02 1.15741132e+02] [-2.82002607e-01 9.59407050e-01 -3.55562234e-03 -1.31790245e+01] [-1.28792053e-02 -7.98848178e-05 9.99917056e-01 -3.77007519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.544203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.77, Y:-13.18, Z:-3.77 [[ 9.58502101e-01 2.84827932e-01 1.21149677e-02 1.15772419e+02] [-2.84806634e-01 9.58578655e-01 -3.48482275e-03 -1.31815686e+01] [-1.26057243e-02 -1.10213243e-04 9.99920539e-01 -3.77147782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.574203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.80, Y:-13.18, Z:-3.78 [[ 9.57773001e-01 2.87292983e-01 1.15593962e-02 1.15802037e+02] [-2.87273769e-01 9.57842745e-01 -3.32544930e-03 -1.31829372e+01] [-1.20274620e-02 -1.35685738e-04 9.99927658e-01 -3.77543322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.604203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.83, Y:-13.19, Z:-3.78 [[ 9.56604282e-01 2.91208561e-01 1.02869990e-02 1.15831723e+02] [-2.91193572e-01 9.56659577e-01 -2.95921564e-03 -1.31863920e+01] [-1.07029051e-02 -1.64709637e-04 9.99942709e-01 -3.77571647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.634203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.86, Y:-13.19, Z:-3.78 [[ 9.56134333e-01 2.92757687e-01 1.00037212e-02 1.15860430e+02] [-2.92743594e-01 9.56186648e-01 -2.87797488e-03 -1.31915983e+01] [-1.04079739e-02 -1.76794711e-04 9.99945820e-01 -3.77578531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.664203822 meters Centerline goodness [0,1] 0.9999786274551711 Centerline is valid? [True, True] Translation: X:115.89, Y:-13.19, Z:-3.78 [[ 9.55648218e-01 2.94340397e-01 1.00106674e-02 1.15888574e+02] [-2.94326374e-01 9.55700629e-01 -2.87969155e-03 -1.31934167e+01] [-1.04148107e-02 -1.94431338e-04 9.99945745e-01 -3.77865242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.694203822 meters Centerline goodness [0,1] 0.9999356457944527 Centerline is valid? [True, True] Translation: X:115.92, Y:-13.19, Z:-3.78 [[ 9.54762748e-01 2.97220160e-01 9.39530948e-03 1.15919160e+02] [-2.97207959e-01 9.54808950e-01 -2.70146005e-03 -1.31939641e+01] [-9.77365397e-03 -2.13107343e-04 9.99952214e-01 -3.77943966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.724203822 meters Centerline goodness [0,1] 0.9999360341151385 Centerline is valid? [True, True] Translation: X:115.95, Y:-13.19, Z:-3.78 [[ 9.54407168e-01 2.98356955e-01 9.49131589e-03 1.15948240e+02] [-2.98344555e-01 9.54454334e-01 -2.72954666e-03 -1.31948442e+01] [-9.87340682e-03 -2.26583517e-04 9.99951231e-01 -3.78256701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.75420382200001 meters Centerline goodness [0,1] 0.9999570206730563 Centerline is valid? [True, True] Translation: X:115.98, Y:-13.20, Z:-3.78 [[ 9.54182504e-01 2.99040157e-01 1.05230148e-02 1.15977645e+02] [-2.99024969e-01 9.54240492e-01 -3.02513622e-03 -1.31979064e+01] [-1.09461240e-02 -2.60112118e-04 9.99940056e-01 -3.78096579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.78420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.00, Y:-13.21, Z:-3.78 [[ 9.54359341e-01 2.98483107e-01 1.02996617e-02 1.16004669e+02] [-2.98468529e-01 9.54414885e-01 -2.96046046e-03 -1.32069566e+01] [-1.07137979e-02 -2.48781785e-04 9.99942575e-01 -3.78085102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.814203822 meters Centerline goodness [0,1] 0.9998723132581401 Centerline is valid? [True, True] Translation: X:116.03, Y:-13.21, Z:-3.79 [[ 9.54612764e-01 2.97676397e-01 1.01603964e-02 1.16032914e+02] [-2.97662167e-01 9.54666804e-01 -2.92015792e-03 -1.32097092e+01] [-1.05690553e-02 -2.36745597e-04 9.99944118e-01 -3.78575048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.844203822 meters Centerline goodness [0,1] 0.9999575362534237 Centerline is valid? [True, True] Translation: X:116.06, Y:-13.22, Z:-3.78 [[ 9.55049699e-01 2.96224115e-01 1.14606334e-02 1.16061125e+02] [-2.96205923e-01 9.55118428e-01 -3.29236810e-03 -1.32177264e+01] [-1.19215410e-02 -2.50332340e-04 9.99928905e-01 -3.78205220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.874203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.09, Y:-13.23, Z:-3.78 [[ 9.55349485e-01 2.95212226e-01 1.25340921e-02 1.16088926e+02] [-2.95190384e-01 9.55431669e-01 -3.60041922e-03 -1.32268463e+01] [-1.30383563e-02 -2.60284808e-04 9.99914963e-01 -3.77771231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.904203822 meters Centerline goodness [0,1] 0.9999788346350033 Centerline is valid? [True, True] Translation: X:116.12, Y:-13.23, Z:-3.78 [[ 9.55638228e-01 2.94234248e-01 1.34827687e-02 1.16116939e+02] [-2.94208886e-01 9.55733298e-01 -3.87230874e-03 -1.32305860e+01] [-1.40252968e-02 -2.66224096e-04 9.99901605e-01 -3.77781925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.934203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.15, Y:-13.23, Z:-3.78 [[ 9.56546210e-01 2.91280529e-01 1.32288428e-02 1.16145801e+02] [-2.91255845e-01 9.56637656e-01 -3.79833625e-03 -1.32344034e+01] [-1.37615905e-02 -2.19693643e-04 9.99905281e-01 -3.77914183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.964203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.17, Y:-13.24, Z:-3.78 [[ 9.57119458e-01 2.89434087e-01 1.22577825e-02 1.16172525e+02] [-2.89412748e-01 9.57197930e-01 -3.51906077e-03 -1.32441227e+01] [-1.27516601e-02 -1.79396980e-04 9.99918678e-01 -3.77964648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.994203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.20, Y:-13.25, Z:-3.79 [[ 9.58640688e-01 2.84407678e-01 1.09683118e-02 1.16199112e+02] [-2.84390265e-01 9.58703428e-01 -3.14868004e-03 -1.32524599e+01] [-1.14108669e-02 -1.00828301e-04 9.99934889e-01 -3.78975028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.024203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.23, Y:-13.26, Z:-3.79 [[ 9.59566514e-01 2.81283282e-01 1.05744902e-02 1.16225542e+02] [-2.81266917e-01 9.59624776e-01 -3.03475784e-03 -1.32649015e+01] [-1.10011695e-02 -6.22022694e-05 9.99939483e-01 -3.78564171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.054203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.25, Y:-13.27, Z:-3.79 [[ 9.60438263e-01 2.78305476e-01 1.02178806e-02 1.16252181e+02] [-2.78290031e-01 9.60492614e-01 -2.93216544e-03 -1.32737101e+01] [-1.06302365e-02 -2.73704239e-05 9.99943497e-01 -3.78911316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.084203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.28, Y:-13.28, Z:-3.79 [[ 9.61906883e-01 2.73211599e-01 9.51684246e-03 1.16278652e+02] [-2.73197958e-01 9.61953960e-01 -2.73021494e-03 -1.32835048e+01] [-9.90069068e-03 2.62306100e-05 9.99950987e-01 -3.79253469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.11420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.31, Y:-13.29, Z:-3.79 [[ 9.62503291e-01 2.71111555e-01 9.27032892e-03 1.16306664e+02] [-2.71098518e-01 9.62547933e-01 -2.65911997e-03 -1.32919486e+01] [-9.64405409e-03 4.62392887e-05 9.99953494e-01 -3.79073857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.14420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.33, Y:-13.30, Z:-3.79 [[ 9.63337225e-01 2.68135601e-01 9.20275908e-03 1.16334120e+02] [-2.68122622e-01 9.63381178e-01 -2.63925988e-03 -1.33007701e+01] [-9.57344441e-03 7.50293935e-05 9.99954171e-01 -3.79160857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.17420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.36, Y:-13.31, Z:-3.79 [[ 9.63814660e-01 2.66405830e-01 9.44642347e-03 1.16360734e+02] [-2.66392079e-01 9.63860947e-01 -2.70832737e-03 -1.33100514e+01] [-9.82655287e-03 9.38732366e-05 9.99951714e-01 -3.79456616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.204203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.39, Y:-13.32, Z:-3.79 [[ 9.64276797e-01 2.64724064e-01 9.56189492e-03 1.16389727e+02] [-2.64709898e-01 9.64324197e-01 -2.74079004e-03 -1.33174307e+01] [-9.94631972e-03 1.11752006e-04 9.99950528e-01 -3.79234420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.234203822 meters Centerline goodness [0,1] 0.9998927613941019 Centerline is valid? [True, True] Translation: X:116.42, Y:-13.33, Z:-3.80 [[ 9.65061240e-01 2.61866451e-01 9.09746208e-03 1.16417118e+02] [-2.61853507e-01 9.65104110e-01 -2.60718694e-03 -1.33294842e+01] [-9.46273284e-03 1.33892716e-04 9.99955218e-01 -3.79841933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.264203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.45, Y:-13.33, Z:-3.80 [[ 9.65239590e-01 2.61185727e-01 9.72364475e-03 1.16445276e+02] [-2.61170899e-01 9.65288554e-01 -2.78720548e-03 -1.33346335e+01] [-1.01141013e-02 1.50788037e-04 9.99948840e-01 -3.79629671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.294203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.47, Y:-13.34, Z:-3.80 [[ 9.65144265e-01 2.61525104e-01 1.00582492e-02 1.16474322e+02] [-2.61509261e-01 9.65196662e-01 -2.88254635e-03 -1.33388335e+01] [-1.04620468e-02 1.51747764e-04 9.99945260e-01 -3.79614960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.324203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.50, Y:-13.34, Z:-3.80 [[ 9.64188548e-01 2.65048617e-01 9.46969803e-03 1.16503667e+02] [-2.65034746e-01 9.64235044e-01 -2.71371410e-03 -1.33382970e+01] [-9.85028086e-03 1.06733044e-04 9.99951479e-01 -3.80129293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.354203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.53, Y:-13.34, Z:-3.80 [[ 9.63526481e-01 2.67450872e-01 9.31401097e-03 1.16531606e+02] [-2.67437572e-01 9.63571494e-01 -2.66846277e-03 -1.33412686e+01] [-9.68839817e-03 8.02180668e-05 9.99953063e-01 -3.80283941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.384203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.56, Y:-13.34, Z:-3.80 [[ 9.62265593e-01 2.71942062e-01 9.61471843e-03 1.16563401e+02] [-2.71928121e-01 9.62313625e-01 -2.75378454e-03 -1.33362010e+01] [-1.00012444e-02 3.53597968e-05 9.99949986e-01 -3.79906809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.414203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.59, Y:-13.34, Z:-3.80 [[ 9.61847213e-01 2.73432275e-01 9.20485283e-03 1.16593080e+02] [-2.73419569e-01 9.61891257e-01 -2.63599548e-03 -1.33383609e+01] [-9.57483370e-03 1.86380071e-05 9.99954160e-01 -3.79998791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.444203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.62, Y:-13.34, Z:-3.80 [[ 9.61629819e-01 2.74199374e-01 9.09913843e-03 1.16621640e+02] [-2.74186992e-01 9.61672867e-01 -2.60577748e-03 -1.33417931e+01] [-9.46489709e-03 1.09279243e-05 9.99955207e-01 -3.80098253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.474203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.65, Y:-13.35, Z:-3.80 [[ 9.61629200e-01 2.74167453e-01 1.00742146e-02 1.16649397e+02] [-2.74152287e-01 9.61681968e-01 -2.88375134e-03 -1.33461456e+01] [-1.04788213e-02 1.12305139e-05 9.99945096e-01 -3.80121996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.50420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.68, Y:-13.35, Z:-3.80 [[ 9.62322338e-01 2.71661656e-01 1.16474641e-02 1.16676746e+02] [-2.71641212e-01 9.62392821e-01 -3.33304428e-03 -1.33526949e+01] [-1.21148961e-02 4.35317086e-05 9.99926611e-01 -3.79980643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.53420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.70, Y:-13.36, Z:-3.80 [[ 9.63010990e-01 2.69220780e-01 1.14019733e-02 1.16703476e+02] [-2.69201028e-01 9.63078484e-01 -3.26189394e-03 -1.33626958e+01] [-1.18591647e-02 7.18167920e-05 9.99929675e-01 -3.80131248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.564203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.73, Y:-13.37, Z:-3.80 [[ 9.63846723e-01 2.66217167e-01 1.13099168e-02 1.16730012e+02] [-2.66197532e-01 9.63913071e-01 -3.23501883e-03 -1.33743490e+01] [-1.17629942e-02 1.07390361e-04 9.99930808e-01 -3.80123620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.594203822 meters Centerline goodness [0,1] 0.9999359631147541 Centerline is valid? [True, True] Translation: X:116.76, Y:-13.39, Z:-3.80 [[ 9.65399348e-01 2.60472059e-01 1.25859204e-02 1.16755456e+02] [-2.60447265e-01 9.65481366e-01 -3.59918551e-03 -1.33900625e+01] [-1.30889589e-02 1.96682798e-04 9.99914317e-01 -3.79927171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.624203822 meters Centerline goodness [0,1] 0.9999785098747126 Centerline is valid? [True, True] Translation: X:116.78, Y:-13.40, Z:-3.80 [[ 9.65991202e-01 2.58252229e-01 1.29144920e-02 1.16782476e+02] [-2.58225936e-01 9.66077498e-01 -3.69243411e-03 -1.34000434e+01] [-1.34299795e-02 2.32002081e-04 9.99909787e-01 -3.79870871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.654203822 meters Centerline goodness [0,1] 0.9999785490583036 Centerline is valid? [True, True] Translation: X:116.81, Y:-13.41, Z:-3.80 [[ 9.66669482e-01 2.55696314e-01 1.30195319e-02 1.16808899e+02] [-2.55669371e-01 9.66757117e-01 -3.72154649e-03 -1.34111818e+01] [-1.35383109e-02 2.68809871e-04 9.99908317e-01 -3.80011504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.684203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.84, Y:-13.42, Z:-3.80 [[ 9.66820120e-01 2.55121112e-01 1.31177012e-02 1.16836944e+02] [-2.55093713e-01 9.66909065e-01 -3.74927769e-03 -1.34182400e+01] [-1.36401441e-02 2.78634002e-04 9.99906930e-01 -3.79992059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.714203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.86, Y:-13.43, Z:-3.80 [[ 9.66831681e-01 2.55069278e-01 1.32726449e-02 1.16863560e+02] [-2.55041230e-01 9.66922739e-01 -3.79304242e-03 -1.34264997e+01] [-1.38011107e-02 2.82161901e-04 9.99904720e-01 -3.80085246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.744203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.89, Y:-13.43, Z:-3.80 [[ 9.66698846e-01 2.55627367e-01 1.21651442e-02 1.16891874e+02] [-2.55603860e-01 9.66775355e-01 -3.47569482e-03 -1.34322398e+01] [-1.26494443e-02 2.50492364e-04 9.99919961e-01 -3.80316877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.774203822 meters Centerline goodness [0,1] 0.9999785426143679 Centerline is valid? [True, True] Translation: X:116.92, Y:-13.44, Z:-3.81 [[ 9.66484925e-01 2.56474934e-01 1.12914992e-02 1.16919856e+02] [-2.56454745e-01 9.66550857e-01 -3.22558890e-03 -1.34398741e+01] [-1.17410910e-02 2.21724481e-04 9.99931046e-01 -3.80610644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.804203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.95, Y:-13.45, Z:-3.81 [[ 9.66178317e-01 2.57638471e-01 1.10398409e-02 1.16946895e+02] [-2.57619252e-01 9.66241366e-01 -3.15337856e-03 -1.34475062e+01] [-1.14795825e-02 2.02650447e-04 9.99934087e-01 -3.80956654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.834203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.98, Y:-13.45, Z:-3.81 [[ 9.65233803e-01 2.61127085e-01 1.16769543e-02 1.16976713e+02] [-2.61105853e-01 9.65304417e-01 -3.33423430e-03 -1.34489549e+01] [-1.21424744e-02 1.69394561e-04 9.99926263e-01 -3.80946112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.86420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.00, Y:-13.46, Z:-3.81 [[ 9.65252646e-01 2.61057423e-01 1.16769964e-02 1.17003189e+02] [-2.61036187e-01 9.65323258e-01 -3.33408682e-03 -1.34563710e+01] [-1.21424643e-02 1.70117513e-04 9.99926263e-01 -3.81027945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.89420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.03, Y:-13.46, Z:-3.81 [[ 9.64691395e-01 2.63125664e-01 1.16360518e-02 1.17031809e+02] [-2.63104743e-01 9.64761558e-01 -3.32106822e-03 -1.34595868e+01] [-1.20998738e-02 1.42305509e-04 9.99926784e-01 -3.81061075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.92420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.06, Y:-13.46, Z:-3.81 [[ 9.64151780e-01 2.65120557e-01 1.10650112e-02 1.17061123e+02] [-2.65101777e-01 9.64215265e-01 -3.15757400e-03 -1.34634074e+01] [-1.15061905e-02 1.11026459e-04 9.99933795e-01 -3.81274755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.954203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.09, Y:-13.46, Z:-3.82 [[ 9.63087958e-01 2.68995659e-01 1.01449623e-02 1.17090119e+02] [-2.68980088e-01 9.63141387e-01 -2.89485313e-03 -1.34630518e+01] [-1.05497360e-02 5.92053414e-05 9.99944348e-01 -3.81754842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.984203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.12, Y:-13.47, Z:-3.82 [[ 9.62680938e-01 2.70429308e-01 1.06490197e-02 1.17119041e+02] [-2.70412250e-01 9.62739834e-01 -3.03765685e-03 -1.34668458e+01] [-1.10737069e-02 4.46689783e-05 9.99938684e-01 -3.81610638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.014203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.15, Y:-13.47, Z:-3.82 [[ 9.62180183e-01 2.72183639e-01 1.11964894e-02 1.17147436e+02] [-2.72164909e-01 9.62245325e-01 -3.19316828e-03 -1.34710852e+01] [-1.16428978e-02 2.51117278e-05 9.99932219e-01 -3.81566224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.044203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.17, Y:-13.48, Z:-3.82 [[ 9.62154252e-01 2.72271240e-01 1.12946099e-02 1.17173179e+02] [-2.72252185e-01 9.62220542e-01 -3.22122144e-03 -1.34772686e+01] [-1.17449516e-02 2.43296699e-05 9.99931025e-01 -3.81809690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.074203822 meters Centerline goodness [0,1] 0.99987002296261 Centerline is valid? [True, True] Translation: X:117.20, Y:-13.48, Z:-3.82 [[ 9.62272789e-01 2.71843007e-01 1.15091280e-02 1.17201016e+02] [-2.71823212e-01 9.62341612e-01 -3.28061994e-03 -1.34835084e+01] [-1.19675264e-02 2.84031456e-05 9.99928386e-01 -3.81533550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.104203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.23, Y:-13.49, Z:-3.82 [[ 9.62616586e-01 2.70574204e-01 1.26059048e-02 1.17227468e+02] [-2.70550351e-01 9.62699121e-01 -3.59305915e-03 -1.34918882e+01] [-1.31078826e-02 4.82063576e-05 9.99914087e-01 -3.81607184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.134203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.25, Y:-13.51, Z:-3.81 [[ 9.63728078e-01 2.66527475e-01 1.38310136e-02 1.17253698e+02] [-2.66498373e-01 9.63827315e-01 -3.94007692e-03 -1.35068784e+01] [-1.43808474e-02 1.11220133e-04 9.99896584e-01 -3.81491207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.164203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.28, Y:-13.52, Z:-3.82 [[ 9.64374493e-01 2.64143942e-01 1.44850270e-02 1.17278879e+02] [-2.64111764e-01 9.64483258e-01 -4.12571911e-03 -1.35197687e+01] [-1.50603497e-02 1.53072252e-04 9.99886575e-01 -3.81701936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.194203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.31, Y:-13.53, Z:-3.81 [[ 9.65035256e-01 2.61694291e-01 1.49349241e-02 1.17305765e+02] [-2.61659806e-01 9.65150796e-01 -4.25282125e-03 -1.35290670e+01] [-1.55273929e-02 1.96253113e-04 9.99879424e-01 -3.81462496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.224203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.33, Y:-13.55, Z:-3.82 [[ 9.66475998e-01 2.56302372e-01 1.52721744e-02 1.17329965e+02] [-2.56265660e-01 9.66596612e-01 -4.34745647e-03 -1.35485377e+01] [-1.58762954e-02 2.87978476e-04 9.99873922e-01 -3.81648225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.25420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.36, Y:-13.56, Z:-3.82 [[ 9.67126313e-01 2.53846853e-01 1.51152303e-02 1.17357096e+02] [-2.53810606e-01 9.67244369e-01 -4.30189095e-03 -1.35628837e+01] [-1.57121429e-02 3.24066169e-04 9.99876504e-01 -3.81702277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.28420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.38, Y:-13.58, Z:-3.82 [[ 9.67933842e-01 2.50742566e-01 1.52395175e-02 1.17382945e+02] [-2.50705345e-01 9.68053730e-01 -4.33667489e-03 -1.35800275e+01] [-1.58400607e-02 3.76985904e-04 9.99874467e-01 -3.81795318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.31420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.41, Y:-13.59, Z:-3.82 [[ 9.68013628e-01 2.50431243e-01 1.52908142e-02 1.17410418e+02] [-2.50393732e-01 9.68134312e-01 -4.35124213e-03 -1.35906050e+01] [-1.58932489e-02 3.83337635e-04 9.99873621e-01 -3.81839388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.344203822 meters Centerline goodness [0,1] 0.9999574875119567 Centerline is valid? [True, True] Translation: X:117.44, Y:-13.60, Z:-3.82 [[ 9.67847426e-01 2.51107952e-01 1.47022460e-02 1.17437635e+02] [-2.51073360e-01 9.67959022e-01 -4.18321473e-03 -1.36011446e+01] [-1.52816102e-02 3.57371308e-04 9.99883166e-01 -3.82167812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.374203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.47, Y:-13.60, Z:-3.83 [[ 9.66999230e-01 2.54459446e-01 1.27624468e-02 1.17466773e+02] [-2.54433668e-01 9.67083409e-01 -3.63157487e-03 -1.36023272e+01] [-1.32664391e-02 2.64533964e-04 9.99911962e-01 -3.82544622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.404203822 meters Centerline goodness [0,1] 0.9999784983228692 Centerline is valid? [True, True] Translation: X:117.50, Y:-13.61, Z:-3.83 [[ 9.66380767e-01 2.56784515e-01 1.30355869e-02 1.17496200e+02] [-2.56757839e-01 9.66468653e-01 -3.70878089e-03 -1.36064304e+01] [-1.35508437e-02 2.37105385e-04 9.99908155e-01 -3.82651251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.434203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.52, Y:-13.61, Z:-3.83 [[ 9.65595175e-01 2.59711156e-01 1.32692755e-02 1.17524730e+02] [-2.59683796e-01 9.65686324e-01 -3.77492890e-03 -1.36116263e+01] [-1.37943490e-02 1.99237298e-04 9.99904834e-01 -3.82706330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.464203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.55, Y:-13.62, Z:-3.83 [[ 9.64755243e-01 2.62834467e-01 1.28593934e-02 1.17552136e+02] [-2.62809058e-01 9.64840930e-01 -3.65768391e-03 -1.36185105e+01] [-1.33686345e-02 1.49204676e-04 9.99910625e-01 -3.83025877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.494203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.58, Y:-13.62, Z:-3.83 [[ 9.63283791e-01 2.68211621e-01 1.21187300e-02 1.17581854e+02] [-2.68189486e-01 9.63360017e-01 -3.44645018e-03 -1.36202631e+01] [-1.25990780e-02 6.97936114e-05 9.99920626e-01 -3.83243749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.524203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.61, Y:-13.62, Z:-3.83 [[ 9.62753264e-01 2.70126184e-01 1.17472436e-02 1.17608962e+02] [-2.70105527e-01 9.62824928e-01 -3.34088702e-03 -1.36248783e+01] [-1.22130001e-02 4.34544531e-05 9.99925418e-01 -3.83471574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.554203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.64, Y:-13.63, Z:-3.84 [[ 9.61909955e-01 2.73148858e-01 1.09059219e-02 1.17637218e+02] [-2.73131262e-01 9.61971778e-01 -3.10035192e-03 -1.36262955e+01] [-1.13380467e-02 3.51116310e-06 9.99935722e-01 -3.83763843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.584203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.67, Y:-13.63, Z:-3.84 [[ 9.61642779e-01 2.74072019e-01 1.13001418e-02 1.17665986e+02] [-2.74053204e-01 9.61709170e-01 -3.21145473e-03 -1.36324219e+01] [-1.17476199e-02 -8.56780250e-06 9.99930994e-01 -3.83625430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.61420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.69, Y:-13.64, Z:-3.83 [[ 9.61560446e-01 2.74297838e-01 1.27359776e-02 1.17693278e+02] [-2.74273968e-01 9.61644787e-01 -3.61867515e-03 -1.36406706e+01] [-1.32400812e-02 -1.35722247e-05 9.99912346e-01 -3.83380195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.64420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.72, Y:-13.65, Z:-3.83 [[ 9.61831528e-01 2.73204777e-01 1.54680948e-02 1.17718633e+02] [-2.73169441e-01 9.61955898e-01 -4.39396736e-03 -1.36532384e+01] [-1.60800779e-02 8.45538619e-07 9.99870707e-01 -3.83219267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.67420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.75, Y:-13.66, Z:-3.83 [[ 9.62247563e-01 2.71715971e-01 1.58132239e-02 1.17745548e+02] [-2.71678860e-01 9.62377488e-01 -4.49072756e-03 -1.36641124e+01] [-1.64384931e-02 2.50730164e-05 9.99864879e-01 -3.83144299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.704203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.77, Y:-13.67, Z:-3.83 [[ 9.62800532e-01 2.69733763e-01 1.60882749e-02 1.17771482e+02] [-2.69695081e-01 9.62934937e-01 -4.56832073e-03 -1.36748002e+01] [-1.67241924e-02 5.94530060e-05 9.99860139e-01 -3.83174312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.734203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.80, Y:-13.69, Z:-3.83 [[ 9.63401472e-01 2.67571315e-01 1.62233078e-02 1.17798334e+02] [-2.67531701e-01 9.63538054e-01 -4.60508725e-03 -1.36852701e+01] [-1.68639637e-02 9.62986975e-05 9.99857789e-01 -3.83109468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.764203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.82, Y:-13.70, Z:-3.83 [[ 9.64308220e-01 2.64283517e-01 1.62443811e-02 1.17823370e+02] [-2.64243345e-01 9.64445021e-01 -4.61036010e-03 -1.36991988e+01] [-1.68852546e-02 1.53338552e-04 9.99857422e-01 -3.83406284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.794203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.85, Y:-13.71, Z:-3.84 [[ 9.64601133e-01 2.63215911e-01 1.61875887e-02 1.17848887e+02] [-2.63175888e-01 9.64736936e-01 -4.59315555e-03 -1.37106748e+01] [-1.68257564e-02 1.70380019e-04 9.99858422e-01 -3.83615705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.824203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.88, Y:-13.72, Z:-3.84 [[ 9.64705428e-01 2.62834665e-01 1.61671192e-02 1.17875113e+02] [-2.62794709e-01 9.64840872e-01 -4.58614290e-03 -1.37231151e+01] [-1.68040947e-02 1.75643562e-04 9.99858786e-01 -3.83594391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.854203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.90, Y:-13.73, Z:-3.84 [[ 9.64591134e-01 2.63282426e-01 1.56942401e-02 1.17903149e+02] [-2.63244846e-01 9.64718787e-01 -4.45123005e-03 -1.37296656e+01] [-1.63124589e-02 1.62189222e-04 9.99866930e-01 -3.83706194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.884203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.93, Y:-13.73, Z:-3.84 [[ 9.63957625e-01 2.65639329e-01 1.48809735e-02 1.17930802e+02] [-2.65605832e-01 9.64072473e-01 -4.22003294e-03 -1.37320756e+01] [-1.54673436e-02 1.15459603e-04 9.99880367e-01 -3.84063191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.914203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.96, Y:-13.74, Z:-3.84 [[ 9.63518755e-01 2.67249380e-01 1.44698828e-02 1.17959395e+02] [-2.67217906e-01 9.63627398e-01 -4.10236522e-03 -1.37366580e+01] [-1.50399300e-02 8.60940484e-05 9.99886890e-01 -3.84098655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.944203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.99, Y:-13.74, Z:-3.84 [[ 9.62943108e-01 2.69331841e-01 1.41750175e-02 1.17987094e+02] [-2.69301870e-01 9.63047432e-01 -4.01823450e-03 -1.37408508e+01] [-1.47334527e-02 5.19724967e-05 9.99891455e-01 -3.84278440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.974203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.02, Y:-13.74, Z:-3.84 [[ 9.61784427e-01 2.73459135e-01 1.38136785e-02 1.18016238e+02] [-2.73431108e-01 9.61883621e-01 -3.91512537e-03 -1.37416824e+01] [-1.43577779e-02 -1.15828061e-05 9.99896922e-01 -3.84443665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.00420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.04, Y:-13.75, Z:-3.85 [[ 9.61374959e-01 2.74928975e-01 1.31243079e-02 1.18044865e+02] [-2.74903830e-01 9.61464538e-01 -3.71842004e-03 -1.37472880e+01] [-1.36408580e-02 -3.31265864e-05 9.99906959e-01 -3.84625220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.03420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.07, Y:-13.75, Z:-3.85 [[ 9.61183932e-01 2.75606470e-01 1.29043695e-02 1.18072483e+02] [-2.75582227e-01 9.61270551e-01 -3.65565736e-03 -1.37528112e+01] [-1.34121132e-02 -4.24557659e-05 9.99910053e-01 -3.85081674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.06420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.10, Y:-13.76, Z:-3.85 [[ 9.61303747e-01 2.75150640e-01 1.36832456e-02 1.18100371e+02] [-2.75123354e-01 9.61401125e-01 -3.87510841e-03 -1.37603161e+01] [-1.42213262e-02 -3.94241831e-05 9.99898871e-01 -3.84718959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.094203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.13, Y:-13.77, Z:-3.85 [[ 9.62336720e-01 2.71376021e-01 1.62201503e-02 1.18126862e+02] [-2.71337157e-01 9.62473405e-01 -4.59259317e-03 -1.37685494e+01] [-1.68577829e-02 1.84915831e-05 9.99857897e-01 -3.84505394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.124203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.15, Y:-13.78, Z:-3.85 [[ 9.63424244e-01 2.67463225e-01 1.66477936e-02 1.18151697e+02] [-2.67421721e-01 9.63568065e-01 -4.71251913e-03 -1.37813531e+01] [-1.73017078e-02 8.81735709e-05 9.99850310e-01 -3.84572122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.154203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.18, Y:-13.81, Z:-3.85 [[ 9.66167429e-01 2.57365383e-01 1.68392252e-02 1.18175871e+02] [-2.57321412e-01 9.66314124e-01 -4.76490733e-03 -1.38064539e+01] [-1.74983034e-02 2.70605052e-04 9.99846856e-01 -3.84557366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.184203822 meters Centerline goodness [0,1] 0.9999786132854271 Centerline is valid? [True, True] Translation: X:118.20, Y:-13.83, Z:-3.85 [[ 9.67611840e-01 2.51883030e-01 1.68007615e-02 1.18200635e+02] [-2.51838442e-01 9.67757616e-01 -4.75349428e-03 -1.38304175e+01] [-1.74563894e-02 3.68459750e-04 9.99847558e-01 -3.85040611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.214203822 meters Centerline goodness [0,1] 0.9999148084254468 Centerline is valid? [True, True] Translation: X:118.23, Y:-13.85, Z:-3.85 [[ 9.70268564e-01 2.41412450e-01 1.72899773e-02 1.18226499e+02] [-2.41363548e-01 9.70422433e-01 -4.89267663e-03 -1.38538142e+01] [-1.79597349e-02 5.74040062e-04 9.99838546e-01 -3.84810249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.244203822 meters Centerline goodness [0,1] 0.9999573506205485 Centerline is valid? [True, True] Translation: X:118.25, Y:-13.87, Z:-3.85 [[ 9.71138830e-01 2.37873061e-01 1.74865658e-02 1.18252336e+02] [-2.37822455e-01 9.71296035e-01 -4.94898516e-03 -1.38712522e+01] [-1.81618622e-02 6.47453660e-04 9.99834850e-01 -3.84943012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.274203822 meters Centerline goodness [0,1] 0.999809342230696 Centerline is valid? [True, True] Translation: X:118.28, Y:-13.89, Z:-3.85 [[ 9.71748788e-01 2.35437651e-01 1.65349644e-02 1.18278464e+02] [-2.35392051e-01 9.71889234e-01 -4.67966636e-03 -1.38892696e+01] [-1.71719236e-02 6.55260927e-04 9.99852337e-01 -3.85278725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.304203822 meters Centerline goodness [0,1] 0.9999566320445823 Centerline is valid? [True, True] Translation: X:118.31, Y:-13.90, Z:-3.85 [[ 9.71914338e-01 2.34832803e-01 1.53647081e-02 1.18310153e+02] [-2.34793393e-01 9.72035583e-01 -4.34598500e-03 -1.38953364e+01] [-1.59556228e-02 6.16393192e-04 9.99872511e-01 -3.85375255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.334203822 meters Centerline goodness [0,1] 0.9999570179020438 Centerline is valid? [True, True] Translation: X:118.34, Y:-13.91, Z:-3.86 [[ 9.71084283e-01 2.38339253e-01 1.37737687e-02 1.18338510e+02] [-2.38307872e-01 9.71181829e-01 -3.90038445e-03 -1.39056897e+01] [-1.43064486e-02 5.05204538e-04 9.99897530e-01 -3.85730680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.36420382200001 meters Centerline goodness [0,1] 0.999893781998173 Centerline is valid? [True, True] Translation: X:118.37, Y:-13.91, Z:-3.86 [[ 9.70160102e-01 2.42083637e-01 1.35974024e-02 1.18366800e+02] [-2.42053408e-01 9.70255283e-01 -3.85138821e-03 -1.39134611e+01] [-1.41253096e-02 4.45165573e-04 9.99900134e-01 -3.85985974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.39420382200001 meters Centerline goodness [0,1] 0.9999787116277089 Centerline is valid? [True, True] Translation: X:118.40, Y:-13.92, Z:-3.86 [[ 9.68909290e-01 2.47061405e-01 1.32457656e-02 1.18397050e+02] [-2.47033189e-01 9.68999758e-01 -3.75142251e-03 -1.39171719e+01] [-1.37619754e-02 3.62644403e-04 9.99905234e-01 -3.86079286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.42420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.43, Y:-13.91, Z:-3.86 [[ 9.65806559e-01 2.58961157e-01 1.25223822e-02 1.18430665e+02] [-2.58936932e-01 9.65887719e-01 -3.54675854e-03 -1.39114610e+01] [-1.30136879e-02 1.82975420e-04 9.99915302e-01 -3.86222452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.454203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.46, Y:-13.91, Z:-3.86 [[ 9.64039778e-01 2.65440709e-01 1.29821981e-02 1.18460600e+02] [-2.65415261e-01 9.64127181e-01 -3.67676731e-03 -1.39117489e+01] [-1.34924538e-02 9.88764278e-05 9.99908968e-01 -3.86263404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.484203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.49, Y:-13.90, Z:-3.86 [[ 9.60292314e-01 2.78626594e-01 1.43489437e-02 1.18493668e+02] [-2.78596966e-01 9.60399507e-01 -4.06426250e-03 -1.39011562e+01] [-1.49131301e-02 -9.46921430e-05 9.99888789e-01 -3.86109293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.514203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.52, Y:-13.90, Z:-3.86 [[ 9.58448119e-01 2.84895554e-01 1.45508200e-02 1.18523907e+02] [-2.84865820e-01 9.58558546e-01 -4.12062771e-03 -1.38980086e+01] [-1.51217614e-02 -1.95623397e-04 9.99885640e-01 -3.86176763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.544203822 meters Centerline goodness [0,1] 0.9999786511816571 Centerline is valid? [True, True] Translation: X:118.55, Y:-13.90, Z:-3.86 [[ 9.56758763e-01 2.90524320e-01 1.44322159e-02 1.18554644e+02] [-2.90495720e-01 9.56867566e-01 -4.08620880e-03 -1.38959315e+01] [-1.49968623e-02 -2.82980865e-04 9.99887501e-01 -3.86261347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.574203822 meters Centerline goodness [0,1] 0.9999787066413985 Centerline is valid? [True, True] Translation: X:118.59, Y:-13.89, Z:-3.86 [[ 9.55253320e-01 2.95431624e-01 1.45344077e-02 1.18585565e+02] [-2.95403201e-01 9.55363817e-01 -4.11410484e-03 -1.38940120e+01] [-1.51010839e-02 -3.63498235e-04 9.99885906e-01 -3.86449269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.604203822 meters Centerline goodness [0,1] 0.9995760016959933 Centerline is valid? [True, True] Translation: X:118.62, Y:-13.89, Z:-3.87 [[ 9.53123672e-01 3.02277164e-01 1.35566146e-02 1.18617588e+02] [-3.02253126e-01 9.53219976e-01 -3.83739078e-03 -1.38888322e+01] [-1.40823915e-02 -4.40021160e-04 9.99900741e-01 -3.86846824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.634203822 meters Centerline goodness [0,1] 0.9989368714252301 Centerline is valid? [True, True] Translation: X:118.65, Y:-13.89, Z:-3.87 [[ 9.52587898e-01 3.03985319e-01 1.30085791e-02 1.18646645e+02] [-3.03963340e-01 9.52676612e-01 -3.68248866e-03 -1.38930755e+01] [-1.35123915e-02 -4.46237026e-04 9.99908604e-01 -3.87048306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.664203822 meters Centerline goodness [0,1] 0.9996569688913663 Centerline is valid? [True, True] Translation: X:118.67, Y:-13.90, Z:-3.87 [[ 9.52427252e-01 3.04506831e-01 1.25666127e-02 1.18674069e+02] [-3.04486369e-01 9.52510051e-01 -3.55717839e-03 -1.39025644e+01] [-1.30530100e-02 -4.38408619e-04 9.99914710e-01 -3.87065992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.694203822 meters Centerline goodness [0,1] 0.9997859680664355 Centerline is valid? [True, True] Translation: X:118.70, Y:-13.91, Z:-3.87 [[ 9.53364766e-01 3.01598006e-01 1.15872965e-02 1.18701591e+02] [-3.01580400e-01 9.53435109e-01 -3.27946963e-03 -1.39093972e+01] [-1.20368168e-02 -3.67970714e-04 9.99927487e-01 -3.87434795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.724203822 meters Centerline goodness [0,1] 0.9998507971694092 Centerline is valid? [True, True] Translation: X:118.73, Y:-13.92, Z:-3.88 [[ 9.54442953e-01 2.98175687e-01 1.13977822e-02 1.18728731e+02] [-2.98158417e-01 9.54510952e-01 -3.22505866e-03 -1.39191809e+01] [-1.18409421e-02 -3.20210201e-04 9.99929842e-01 -3.87626587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.75420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.75, Y:-13.94, Z:-3.88 [[ 9.57123407e-01 2.89445751e-01 1.16593402e-02 1.18754609e+02] [-2.89427043e-01 9.57194395e-01 -3.29801277e-03 -1.39371606e+01] [-1.21148509e-02 -2.17923136e-04 9.99926589e-01 -3.87807542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.78420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.78, Y:-13.94, Z:-3.88 [[ 9.57143552e-01 2.89379141e-01 1.16590324e-02 1.18781104e+02] [-2.89360415e-01 9.57214535e-01 -3.29910096e-03 -1.39445136e+01] [-1.21148863e-02 -2.15949251e-04 9.99926589e-01 -3.87889390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.81420382200001 meters Centerline goodness [0,1] 0.9999787834425986 Centerline is valid? [True, True] Translation: X:118.81, Y:-13.96, Z:-3.88 [[ 9.58520189e-01 2.84800252e-01 1.13077198e-02 1.18807295e+02] [-2.84782327e-01 9.58586873e-01 -3.19903217e-03 -1.39588974e+01] [-1.17505169e-02 -1.53901833e-04 9.99930948e-01 -3.88084550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.844203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.83, Y:-13.97, Z:-3.88 [[ 9.59851214e-01 2.80286393e-01 1.11886416e-02 1.18833175e+02] [-2.80268553e-01 9.59916417e-01 -3.16388616e-03 -1.39722426e+01] [-1.16269550e-02 -9.89644180e-05 9.99932400e-01 -3.88105888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.874203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.86, Y:-13.99, Z:-3.88 [[ 9.62019752e-01 2.72724809e-01 1.17972227e-02 1.18858787e+02] [-2.72704414e-01 9.62092084e-01 -3.33532626e-03 -1.39868380e+01] [-1.22596408e-02 -8.50496630e-06 9.99924848e-01 -3.88042622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.904203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.89, Y:-14.00, Z:-3.88 [[ 9.62880834e-01 2.69697133e-01 1.11335290e-02 1.18886200e+02] [-2.69678773e-01 9.62945199e-01 -3.14699793e-03 -1.39970841e+01] [-1.15697146e-02 2.77075656e-05 9.99933068e-01 -3.88063099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.934203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.91, Y:-14.01, Z:-3.88 [[ 9.63585962e-01 2.67187482e-01 1.06274905e-02 1.18912194e+02] [-2.67170600e-01 9.63644564e-01 -3.00406985e-03 -1.40072316e+01] [-1.10437733e-02 5.53265365e-05 9.99939014e-01 -3.88394355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.964203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.94, Y:-14.02, Z:-3.88 [[ 9.64357365e-01 2.64339584e-01 1.18091891e-02 1.18939669e+02] [-2.64318540e-01 9.64429663e-01 -3.33683036e-03 -1.40178268e+01] [-1.22711886e-02 9.65093040e-05 9.99924701e-01 -3.88303345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.994203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.97, Y:-14.03, Z:-3.88 [[ 9.64582752e-01 2.63502029e-01 1.21159326e-02 1.18965972e+02] [-2.63479817e-01 9.64658835e-01 -3.42304537e-03 -1.40259980e+01] [-1.25897208e-02 1.09506806e-04 9.99920740e-01 -3.88375408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.024203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.99, Y:-14.03, Z:-3.88 [[ 9.65008268e-01 2.61930001e-01 1.23173425e-02 1.18993179e+02] [-2.61906929e-01 9.65086865e-01 -3.47890789e-03 -1.40344730e+01] [-1.27985358e-02 1.31177521e-04 9.99918087e-01 -3.88457870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.054203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.02, Y:-14.04, Z:-3.89 [[ 9.65297689e-01 2.60840737e-01 1.27468513e-02 1.19020609e+02] [-2.60815943e-01 9.65381835e-01 -3.59950866e-03 -1.40425450e+01] [-1.32444772e-02 1.50015346e-04 9.99912277e-01 -3.88517871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.084203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.05, Y:-14.05, Z:-3.89 [[ 9.65607815e-01 2.59664184e-01 1.32687013e-02 1.19047520e+02] [-2.59637215e-01 9.65698960e-01 -3.74632786e-03 -1.40504068e+01] [-1.37863583e-02 1.72434795e-04 9.99904949e-01 -3.88610482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.11420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.08, Y:-14.06, Z:-3.89 [[ 9.65847091e-01 2.58781911e-01 1.30889147e-02 1.19075476e+02] [-2.58755600e-01 9.65935759e-01 -3.69455765e-03 -1.40589939e+01] [-1.35991354e-02 1.81547791e-04 9.99907511e-01 -3.88820006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.14420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.10, Y:-14.07, Z:-3.89 [[ 9.66117519e-01 2.57774263e-01 1.30141707e-02 1.19103176e+02] [-2.57748169e-01 9.66205150e-01 -3.67281212e-03 -1.40679381e+01] [-1.35211152e-02 1.93989462e-04 9.99908567e-01 -3.88935152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.17420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.13, Y:-14.08, Z:-3.89 [[ 9.66055190e-01 2.57993396e-01 1.32957518e-02 1.19131446e+02] [-2.57966191e-01 9.66146661e-01 -3.75157223e-03 -1.40754115e+01] [-1.38135271e-02 1.94371370e-04 9.99904570e-01 -3.88987045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.204203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.16, Y:-14.08, Z:-3.89 [[ 9.65776039e-01 2.59034555e-01 1.33320100e-02 1.19159991e+02] [-2.59007310e-01 9.65868038e-01 -3.76113948e-03 -1.40802831e+01] [-1.38512274e-02 1.79330342e-04 9.99904051e-01 -3.89042739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.234203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.19, Y:-14.09, Z:-3.89 [[ 9.65423447e-01 2.60351104e-01 1.32238970e-02 1.19187021e+02] [-2.60324429e-01 9.65513996e-01 -3.73017382e-03 -1.40851956e+01] [-1.37390125e-02 1.58693831e-04 9.99905603e-01 -3.89187784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.264203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.22, Y:-14.09, Z:-3.89 [[ 9.64954289e-01 2.62078629e-01 1.33421572e-02 1.19215953e+02] [-2.62051654e-01 9.65046514e-01 -3.76248582e-03 -1.40883021e+01] [-1.38618695e-02 1.34292456e-04 9.99903911e-01 -3.89209639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.294203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.25, Y:-14.09, Z:-3.89 [[ 9.63818784e-01 2.66175704e-01 1.42774473e-02 1.19245845e+02] [-2.66145273e-01 9.63924524e-01 -4.02559335e-03 -1.40858456e+01] [-1.48338968e-02 8.00673790e-05 9.99889968e-01 -3.89290091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.324203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.27, Y:-14.09, Z:-3.89 [[ 9.63294823e-01 2.68072761e-01 1.41449485e-02 1.19274970e+02] [-2.68043112e-01 9.63398667e-01 -3.98718532e-03 -1.40879310e+01] [-1.46960804e-02 4.93789484e-05 9.99892006e-01 -3.89212382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.354203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.30, Y:-14.09, Z:-3.89 [[ 9.62945302e-01 2.69342706e-01 1.38149424e-02 1.19302349e+02] [-2.69314557e-01 9.63044394e-01 -3.89405121e-03 -1.40917973e+01] [-1.43532372e-02 2.91932134e-05 9.99896987e-01 -3.89424525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.384203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.33, Y:-14.10, Z:-3.90 [[ 9.62564054e-01 2.70728995e-01 1.32760717e-02 1.19331637e+02] [-2.70703154e-01 9.62655604e-01 -3.74048909e-03 -1.40955263e+01] [-1.37929436e-02 6.58587442e-06 9.99904873e-01 -3.89637511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.414203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.36, Y:-14.10, Z:-3.90 [[ 9.62503779e-01 2.70959834e-01 1.29322860e-02 1.19358746e+02] [-2.70935341e-01 9.62590655e-01 -3.64320297e-03 -1.41016978e+01] [-1.34356593e-02 2.78332641e-06 9.99909737e-01 -3.89895794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.444203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.39, Y:-14.11, Z:-3.90 [[ 9.62625189e-01 2.70492015e-01 1.36680447e-02 1.19386833e+02] [-2.70464624e-01 9.62722218e-01 -3.84932716e-03 -1.41084158e+01] [-1.41997425e-02 8.73672650e-06 9.99899179e-01 -3.89750883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.474203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.41, Y:-14.12, Z:-3.90 [[ 9.62676189e-01 2.70260727e-01 1.46183087e-02 1.19413640e+02] [-2.70229373e-01 9.62787172e-01 -4.11661865e-03 -1.41150605e+01] [-1.51868805e-02 1.26743519e-05 9.99884673e-01 -3.89787825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.50420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.44, Y:-14.12, Z:-3.90 [[ 9.62581807e-01 2.70539762e-01 1.56365483e-02 1.19442190e+02] [-2.70503959e-01 9.62708802e-01 -4.40125663e-03 -1.41210532e+01] [-1.62441576e-02 6.82135093e-06 9.99868055e-01 -3.89589010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.53420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.47, Y:-14.12, Z:-3.90 [[ 9.62452684e-01 2.70972031e-01 1.60931336e-02 1.19470488e+02] [-2.70934179e-01 9.62587221e-01 -4.52904303e-03 -1.41222258e+01] [-1.67182888e-02 -1.19032095e-06 9.99860240e-01 -3.89618987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.56420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.50, Y:-14.13, Z:-3.90 [[ 9.62468351e-01 2.70910809e-01 1.61865939e-02 1.19496559e+02] [-2.70872521e-01 9.62604453e-01 -4.55457588e-03 -1.41275060e+01] [-1.68151712e-02 -8.68359223e-07 9.99858615e-01 -3.89772162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.594203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.52, Y:-14.13, Z:-3.90 [[ 9.62526640e-01 2.70724345e-01 1.58365626e-02 1.19523516e+02] [-2.70687697e-01 9.62656911e-01 -4.45438813e-03 -1.41346988e+01] [-1.64510877e-02 7.04592275e-07 9.99864672e-01 -3.90075812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.624203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.55, Y:-14.14, Z:-3.90 [[ 9.62890860e-01 2.69494910e-01 1.46179713e-02 1.19551200e+02] [-2.69463558e-01 9.63001814e-01 -4.11069092e-03 -1.41435470e+01] [-1.51849431e-02 1.91361558e-05 9.99884702e-01 -3.90214049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.654203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.58, Y:-14.15, Z:-3.90 [[ 9.63088451e-01 2.68794438e-01 1.44977712e-02 1.19579007e+02] [-2.68763532e-01 9.63197565e-01 -4.07614696e-03 -1.41506639e+01] [-1.50598636e-02 2.92178636e-05 9.99886593e-01 -3.90323510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.684203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.61, Y:-14.16, Z:-3.90 [[ 9.63262799e-01 2.68132954e-01 1.51492103e-02 1.19607411e+02] [-2.68099138e-01 9.63381917e-01 -4.25845231e-03 -1.41569090e+01] [-1.57363067e-02 4.05184550e-05 9.99876176e-01 -3.90254779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.714203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.64, Y:-14.16, Z:-3.90 [[ 9.63252942e-01 2.68132464e-01 1.57718749e-02 1.19635788e+02] [-2.68095824e-01 9.63382053e-01 -4.43276238e-03 -1.41598078e+01] [-1.63829087e-02 4.14976096e-05 9.99865790e-01 -3.90221980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.744203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.66, Y:-14.16, Z:-3.90 [[ 9.63225321e-01 2.68247601e-01 1.54985577e-02 1.19662487e+02] [-2.68212235e-01 9.63350000e-01 -4.35592309e-03 -1.41645262e+01] [-1.60990015e-02 3.88326201e-05 9.99870402e-01 -3.90385532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.774203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.69, Y:-14.17, Z:-3.91 [[ 9.63166684e-01 2.68519731e-01 1.43907074e-02 1.19690473e+02] [-2.68489305e-01 9.63274184e-01 -4.04223717e-03 -1.41670433e+01] [-1.49476173e-02 2.95971556e-05 9.99888278e-01 -3.90726200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.804203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.72, Y:-14.17, Z:-3.91 [[ 9.63187999e-01 2.68440786e-01 1.44368772e-02 1.19717855e+02] [-2.68410181e-01 9.63296187e-01 -4.05359874e-03 -1.41723707e+01] [-1.49951400e-02 2.93728485e-05 9.99887566e-01 -3.90793680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.834203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.75, Y:-14.18, Z:-3.91 [[ 9.63366144e-01 2.67763321e-01 1.51154387e-02 1.19746554e+02] [-2.67729687e-01 9.63484718e-01 -4.24409785e-03 -1.41788236e+01] [-1.56999079e-02 4.17685070e-05 9.99876748e-01 -3.90719583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.86420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.77, Y:-14.19, Z:-3.91 [[ 9.63678485e-01 2.66566596e-01 1.63103341e-02 1.19774995e+02] [-2.66527339e-01 9.63816500e-01 -4.57511835e-03 -1.41854134e+01] [-1.69397429e-02 6.17931738e-05 9.99856510e-01 -3.90537146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.89420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.80, Y:-14.19, Z:-3.90 [[ 9.64847578e-01 2.62230828e-01 1.74397133e-02 1.19801598e+02] [-2.62185252e-01 9.65005166e-01 -4.89105573e-03 -1.41930500e+01] [-1.81119991e-02 1.46687643e-04 9.99835954e-01 -3.90387966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.92420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.83, Y:-14.20, Z:-3.91 [[ 9.65615339e-01 2.59405675e-01 1.71963133e-02 1.19828140e+02] [-2.59360935e-01 9.65768429e-01 -4.82156777e-03 -1.42039636e+01] [-1.78583985e-02 1.95727897e-04 9.99840507e-01 -3.90535504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.954203822 meters Centerline goodness [0,1] 0.9999147430568877 Centerline is valid? [True, True] Translation: X:119.85, Y:-14.22, Z:-3.91 [[ 9.67283930e-01 2.53023086e-01 1.84693347e-02 1.19853948e+02] [-2.52970334e-01 9.67460183e-01 -5.17733781e-03 -1.42206136e+01] [-1.91783320e-02 3.35761878e-04 9.99816022e-01 -3.90531149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.984203822 meters Centerline goodness [0,1] 0.9999785679075848 Centerline is valid? [True, True] Translation: X:119.88, Y:-14.23, Z:-3.90 [[ 9.68124731e-01 2.49749228e-01 1.89691374e-02 1.19881675e+02] [-2.49692971e-01 9.68310464e-01 -5.31656335e-03 -1.42319805e+01] [-1.96958218e-02 4.10636192e-04 9.99805934e-01 -3.90436208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.014203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.91, Y:-14.24, Z:-3.91 [[ 9.68949613e-01 2.46542636e-01 1.87982812e-02 1.19909125e+02] [-2.46486791e-01 9.69131831e-01 -5.26832679e-03 -1.42424496e+01] [-1.95168798e-02 4.71215211e-04 9.99809417e-01 -3.90530376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.044203822 meters Centerline goodness [0,1] 0.9999786265415607 Centerline is valid? [True, True] Translation: X:119.94, Y:-14.26, Z:-3.91 [[ 9.70261149e-01 2.41319600e-01 1.89249149e-02 1.19935109e+02] [-2.41262026e-01 9.70445524e-01 -5.30281088e-03 -1.42594622e+01] [-1.96452711e-02 5.79248077e-04 9.99806845e-01 -3.90681148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.074203822 meters Centerline goodness [0,1] 0.9999575064802617 Centerline is valid? [True, True] Translation: X:119.96, Y:-14.27, Z:-3.91 [[ 9.70703232e-01 2.39525273e-01 1.90493925e-02 1.19962791e+02] [-2.39466594e-01 9.70889932e-01 -5.33768742e-03 -1.42689963e+01] [-1.97733744e-02 6.19617295e-04 9.99804296e-01 -3.90721322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.104203822 meters Centerline goodness [0,1] 0.9999571312213315 Centerline is valid? [True, True] Translation: X:119.99, Y:-14.28, Z:-3.91 [[ 9.70890908e-01 2.38819276e-01 1.83357280e-02 1.19988956e+02] [-2.38764799e-01 9.71063840e-01 -5.13704782e-03 -1.42806669e+01] [-1.90319885e-02 6.09586621e-04 9.99818689e-01 -3.91028060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.134203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.02, Y:-14.29, Z:-3.92 [[ 9.70776023e-01 2.39479659e-01 1.56014530e-02 1.20016264e+02] [-2.39440309e-01 9.70901249e-01 -4.37072440e-03 -1.42897777e+01] [-1.61941698e-02 5.07377727e-04 9.99868737e-01 -3.91535166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.164203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.04, Y:-14.30, Z:-3.92 [[ 9.70545954e-01 2.40434242e-01 1.52291004e-02 1.20042948e+02] [-2.40396877e-01 9.70665311e-01 -4.26567237e-03 -1.42994927e+01] [-1.58079732e-02 4.79002886e-04 9.99874931e-01 -3.91673300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.194203822 meters Centerline goodness [0,1] 0.9999151661682679 Centerline is valid? [True, True] Translation: X:120.07, Y:-14.31, Z:-3.92 [[ 9.70219647e-01 2.41710049e-01 1.58141986e-02 1.20069796e+02] [-2.41669938e-01 9.70348405e-01 -4.42886540e-03 -1.43074325e+01] [-1.64157836e-02 4.75155846e-04 9.99865139e-01 -3.91693511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.224203822 meters Centerline goodness [0,1] 0.9999787125340599 Centerline is valid? [True, True] Translation: X:120.10, Y:-14.31, Z:-3.92 [[ 9.69092677e-01 2.46157840e-01 1.63003521e-02 1.20100255e+02] [-2.46115881e-01 9.69229668e-01 -4.56331829e-03 -1.43103030e+01] [-1.69220815e-02 4.10502807e-04 9.99856727e-01 -3.91612582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.25420382200001 meters Centerline goodness [0,1] 0.9999573269608262 Centerline is valid? [True, True] Translation: X:120.13, Y:-14.31, Z:-3.92 [[ 9.68305380e-01 2.49213154e-01 1.66581789e-02 1.20129850e+02] [-2.49169779e-01 9.68448589e-01 -4.66374918e-03 -1.43120596e+01] [-1.72948575e-02 3.65218666e-04 9.99850366e-01 -3.91520371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.28420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.16, Y:-14.32, Z:-3.91 [[ 9.66426528e-01 2.56291206e-01 1.82916527e-02 1.20159889e+02] [-2.56240200e-01 9.66599581e-01 -5.11956839e-03 -1.43154152e+01] [-1.89928041e-02 2.60629969e-04 9.99819586e-01 -3.91340466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.31420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.19, Y:-14.32, Z:-3.91 [[ 9.65429814e-01 2.59960916e-01 1.91205637e-02 1.20188230e+02] [-2.59905899e-01 9.65619119e-01 -5.35168517e-03 -1.43213268e+01] [-1.98544109e-02 1.97129110e-04 9.99802862e-01 -3.91158827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.344203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.22, Y:-14.33, Z:-3.91 [[ 9.64385004e-01 2.63699610e-01 2.05932030e-02 1.20215449e+02] [-2.63636666e-01 9.64604841e-01 -5.76275716e-03 -1.43278316e+01] [-2.13839401e-02 1.28393214e-04 9.99771329e-01 -3.91140247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.374203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.25, Y:-14.33, Z:-3.91 [[ 9.62177151e-01 2.71656537e-01 2.04415055e-02 1.20246407e+02] [-2.71596339e-01 9.62394266e-01 -5.71884351e-03 -1.43256334e+01] [-2.12263489e-02 -4.92974825e-05 9.99774694e-01 -3.91087566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.404203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.27, Y:-14.33, Z:-3.91 [[ 9.61053854e-01 2.75612132e-01 2.03333005e-02 1.20274811e+02] [-2.75553469e-01 9.61268919e-01 -5.68789774e-03 -1.43270220e+01] [-2.11134234e-02 -1.36535443e-04 9.99777078e-01 -3.91252200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.434203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.30, Y:-14.33, Z:-3.91 [[ 9.60013255e-01 2.79237733e-01 2.00209428e-02 1.20303806e+02] [-2.79181691e-01 9.60221975e-01 -5.59830772e-03 -1.43318403e+01] [-2.07878080e-02 -2.15031066e-04 9.99783887e-01 -3.91379721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.464203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.33, Y:-14.34, Z:-3.92 [[ 9.58309781e-01 2.85163812e-01 1.79989851e-02 1.20332786e+02] [-2.85119580e-01 9.58478745e-01 -5.03199181e-03 -1.43354681e+01] [-1.86865867e-02 -3.09656105e-04 9.99825343e-01 -3.91977924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.494203822 meters Centerline goodness [0,1] 0.9999789247402474 Centerline is valid? [True, True] Translation: X:120.36, Y:-14.34, Z:-3.92 [[ 9.57684546e-01 2.87313202e-01 1.70714346e-02 1.20360169e+02] [-2.87273755e-01 9.57836631e-01 -4.77250977e-03 -1.43389804e+01] [-1.77228505e-02 -3.33616273e-04 9.99842882e-01 -3.92415464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.524203822 meters Centerline goodness [0,1] 0.9999574395641811 Centerline is valid? [True, True] Translation: X:120.39, Y:-14.35, Z:-3.93 [[ 9.56890018e-01 2.89967905e-01 1.67363990e-02 1.20389001e+02] [-2.89930430e-01 9.57036296e-01 -4.67696198e-03 -1.43459382e+01] [-1.73735102e-02 -3.77053120e-04 9.99848998e-01 -3.92548229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.554203822 meters Centerline goodness [0,1] 0.9999787798408488 Centerline is valid? [True, True] Translation: X:120.42, Y:-14.35, Z:-3.93 [[ 9.56657066e-01 2.90714867e-01 1.70916281e-02 1.20417223e+02] [-2.90675879e-01 9.56809651e-01 -4.77753785e-03 -1.43529287e+01] [-1.77423360e-02 -3.97658676e-04 9.99842513e-01 -3.92531907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.584203822 meters Centerline goodness [0,1] 0.9999155761924863 Centerline is valid? [True, True] Translation: X:120.44, Y:-14.36, Z:-3.93 [[ 9.56332992e-01 2.91741289e-01 1.77264988e-02 1.20444471e+02] [-2.91699612e-01 9.56497167e-01 -4.95042350e-03 -1.43572766e+01] [-1.83995888e-02 -4.36559488e-04 9.99830618e-01 -3.92539550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.61420382200001 meters Centerline goodness [0,1] 0.999978736976398 Centerline is valid? [True, True] Translation: X:120.47, Y:-14.37, Z:-3.92 [[ 9.55667075e-01 2.93858599e-01 1.86431161e-02 1.20471829e+02] [-2.93812927e-01 9.55848770e-01 -5.20516313e-03 -1.43652962e+01] [-1.93495816e-02 -5.03185493e-04 9.99812653e-01 -3.92161213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.64420382200001 meters Centerline goodness [0,1] 0.999978813559322 Centerline is valid? [True, True] Translation: X:120.50, Y:-14.37, Z:-3.92 [[ 9.55475873e-01 2.94467142e-01 1.88403584e-02 1.20500307e+02] [-2.94420617e-01 9.55661462e-01 -5.26014986e-03 -1.43719838e+01] [-1.95539458e-02 -5.21043679e-04 9.99808668e-01 -3.92187270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.67420382200001 meters Centerline goodness [0,1] 0.999978813559322 Centerline is valid? [True, True] Translation: X:120.53, Y:-14.38, Z:-3.92 [[ 9.55497345e-01 2.94397387e-01 1.88415220e-02 1.20526826e+02] [-2.94350931e-01 9.55682952e-01 -5.25597836e-03 -1.43792479e+01] [-1.95538676e-02 -5.23946166e-04 9.99808668e-01 -3.92269102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.704203822 meters Centerline goodness [0,1] 0.9999787061879818 Centerline is valid? [True, True] Translation: X:120.55, Y:-14.39, Z:-3.92 [[ 9.55744956e-01 2.93594816e-01 1.88059352e-02 1.20554087e+02] [-2.93548414e-01 9.55929823e-01 -5.24432151e-03 -1.43871892e+01] [-1.95168599e-02 -5.08218619e-04 9.99809399e-01 -3.92376390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.734203822 meters Centerline goodness [0,1] 0.99993674489215 Centerline is valid? [True, True] Translation: X:120.58, Y:-14.39, Z:-3.93 [[ 9.56146832e-01 2.92252763e-01 1.92758736e-02 1.20582030e+02] [-2.92203758e-01 9.56340985e-01 -5.37443920e-03 -1.43912968e+01] [-2.00050027e-02 -4.93729703e-04 9.99799758e-01 -3.92577288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.764203822 meters Centerline goodness [0,1] 0.9999787964886985 Centerline is valid? [True, True] Translation: X:120.61, Y:-14.40, Z:-3.93 [[ 9.56785989e-01 2.90137178e-01 1.95189495e-02 1.20609012e+02] [-2.90086519e-01 9.56984958e-01 -5.44078992e-03 -1.44030853e+01] [-2.02579165e-02 -4.56512533e-04 9.99794683e-01 -3.92519056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.794203822 meters Centerline goodness [0,1] 0.9999788587979113 Centerline is valid? [True, True] Translation: X:120.64, Y:-14.41, Z:-3.93 [[ 9.57554620e-01 2.87546550e-01 2.01527011e-02 1.20635630e+02] [-2.87491996e-01 9.57766573e-01 -5.61635774e-03 -1.44134551e+01] [-2.09165478e-02 -4.15770979e-04 9.99781139e-01 -3.92527832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.824203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.66, Y:-14.43, Z:-3.93 [[ 9.59403236e-01 2.81290836e-01 2.05157773e-02 1.20662373e+02] [-2.81232896e-01 9.59622522e-01 -5.71615482e-03 -1.44304453e+01] [-2.12953039e-02 -2.85614013e-04 9.99773189e-01 -3.92552050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.854203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.69, Y:-14.44, Z:-3.93 [[ 9.60363231e-01 2.78043768e-01 1.98526618e-02 1.20689420e+02] [-2.77988818e-01 9.60568384e-01 -5.53138523e-03 -1.44427592e+01] [-2.06078065e-02 -2.06679004e-04 9.99787615e-01 -3.92730656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.884203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.71, Y:-14.46, Z:-3.93 [[ 9.61647906e-01 2.73586904e-01 1.95834405e-02 1.20714667e+02] [-2.73532516e-01 9.61847282e-01 -5.45606818e-03 -1.44551484e+01] [-2.03289878e-02 -1.09891231e-04 9.99793339e-01 -3.92995527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.914203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.74, Y:-14.47, Z:-3.93 [[ 9.62092050e-01 2.72017625e-01 1.96290499e-02 1.20742118e+02] [-2.71962699e-01 9.62292266e-01 -5.46670510e-03 -1.44652018e+01] [-2.03759230e-02 -7.88958712e-05 9.99792386e-01 -3.92974199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.944203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.77, Y:-14.47, Z:-3.93 [[ 9.62593285e-01 2.70228725e-01 1.97637072e-02 1.20769852e+02] [-2.70172686e-01 9.62796154e-01 -5.50319073e-03 -1.44737874e+01] [-2.05155415e-02 -4.22794273e-05 9.99789533e-01 -3.92838461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.974203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.80, Y:-14.48, Z:-3.93 [[ 9.62838590e-01 2.69404001e-01 1.90613417e-02 1.20796689e+02] [-2.69351724e-01 9.63027250e-01 -5.30705943e-03 -1.44808725e+01] [-1.97863345e-02 -2.43636325e-05 9.99804231e-01 -3.93103063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.00420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.82, Y:-14.49, Z:-3.93 [[ 9.63050329e-01 2.68744969e-01 1.76126322e-02 1.20824453e+02] [-2.68700261e-01 9.63211369e-01 -4.90183596e-03 -1.44894327e+01] [-1.82820313e-02 -1.18041420e-05 9.99832870e-01 -3.93410738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.03420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.85, Y:-14.50, Z:-3.94 [[ 9.63559824e-01 2.66971729e-01 1.66901434e-02 1.20851179e+02] [-2.66931330e-01 9.63704361e-01 -4.64432775e-03 -1.45006049e+01] [-1.73242682e-02 1.99654664e-05 9.99849923e-01 -3.93807402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.06420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.88, Y:-14.51, Z:-3.94 [[ 9.63863898e-01 2.65875919e-01 1.66247331e-02 1.20877214e+02] [-2.65835684e-01 9.64007258e-01 -4.62542876e-03 -1.45098198e+01] [-1.72561535e-02 3.88364902e-05 9.99851101e-01 -3.93903284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.094203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.90, Y:-14.52, Z:-3.94 [[ 9.64543981e-01 2.63342751e-01 1.74786591e-02 1.20902521e+02] [-2.63297878e-01 9.64702331e-01 -4.86207116e-03 -1.45207216e+01] [-1.81420943e-02 8.75876370e-05 9.99835415e-01 -3.93889962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.124203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.93, Y:-14.53, Z:-3.94 [[ 9.64932956e-01 2.61881341e-01 1.79597788e-02 1.20929348e+02] [-2.61833749e-01 9.65100072e-01 -4.99382887e-03 -1.45302401e+01] [-1.86407744e-02 1.16233836e-04 9.99826239e-01 -3.93826354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.154203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.96, Y:-14.54, Z:-3.94 [[ 9.65370064e-01 2.60242972e-01 1.82821188e-02 1.20956375e+02] [-2.60193380e-01 9.65543149e-01 -5.08250678e-03 -1.45403487e+01] [-1.89748612e-02 1.49613625e-04 9.99819950e-01 -3.93848139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.184203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.98, Y:-14.55, Z:-3.94 [[ 9.65867287e-01 2.58383257e-01 1.83977090e-02 1.20983334e+02] [-2.58332716e-01 9.66042472e-01 -5.11370111e-03 -1.45515664e+01] [-1.90942630e-02 1.86426487e-04 9.99817671e-01 -3.93896127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.214203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.01, Y:-14.57, Z:-3.94 [[ 9.66953296e-01 2.54280209e-01 1.85174992e-02 1.21008781e+02] [-2.54228273e-01 9.67130551e-01 -5.14604741e-03 -1.45680850e+01] [-1.92173772e-02 2.68315671e-04 9.99815293e-01 -3.93895079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.244203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.04, Y:-14.58, Z:-3.94 [[ 9.67390532e-01 2.52580498e-01 1.89380819e-02 1.21035342e+02] [-2.52525869e-01 9.67575835e-01 -5.26193726e-03 -1.45791010e+01] [-1.96530932e-02 3.07992681e-04 9.99806812e-01 -3.93889988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.274203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.06, Y:-14.59, Z:-3.94 [[ 9.67848097e-01 2.50769387e-01 1.96157030e-02 1.21060846e+02] [-2.50710431e-01 9.68046790e-01 -5.44905150e-03 -1.45944092e+01] [-2.03553736e-02 3.55992777e-04 9.99792745e-01 -3.93924165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.304203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.09, Y:-14.60, Z:-3.94 [[ 9.67798118e-01 2.50952822e-01 1.97353291e-02 1.21089654e+02] [-2.50893200e-01 9.67999254e-01 -5.48142333e-03 -1.46030353e+01] [-2.04793625e-02 3.53451301e-04 9.99790213e-01 -3.93912572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.334203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.12, Y:-14.61, Z:-3.94 [[ 9.67478372e-01 2.52183370e-01 1.97267975e-02 1.21116940e+02] [-2.52124066e-01 9.67679410e-01 -5.47852266e-03 -1.46125751e+01] [-2.04708081e-02 3.26751784e-04 9.99790398e-01 -3.94065080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.36420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.15, Y:-14.61, Z:-3.94 [[ 9.66211097e-01 2.57057426e-01 1.89102080e-02 1.21145320e+02] [-2.57003863e-01 9.66396106e-01 -5.25169482e-03 -1.46145027e+01] [-1.96247386e-02 2.14249284e-04 9.99807393e-01 -3.94291591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.39420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.17, Y:-14.62, Z:-3.95 [[ 9.65368896e-01 2.60286985e-01 1.77081817e-02 1.21173694e+02] [-2.60240576e-01 9.65531287e-01 -4.91697035e-03 -1.46169007e+01] [-1.83776268e-02 1.38302841e-04 9.99831108e-01 -3.94622140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.42420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.20, Y:-14.62, Z:-3.95 [[ 9.64479914e-01 2.63671050e-01 1.60023064e-02 1.21203428e+02] [-2.63633636e-01 9.64612655e-01 -4.44216837e-03 -1.46187986e+01] [-1.66072985e-02 6.56359471e-05 9.99862087e-01 -3.94828998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.454203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.23, Y:-14.62, Z:-3.95 [[ 9.62614988e-01 2.70460371e-01 1.49523298e-02 1.21232184e+02] [-2.70428525e-01 9.62731108e-01 -4.15057204e-03 -1.46173973e+01] [-1.55176382e-02 -4.81336323e-05 9.99879593e-01 -3.95201669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.484203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.26, Y:-14.62, Z:-3.95 [[ 9.61807473e-01 2.73284775e-01 1.55504266e-02 1.21260682e+02] [-2.73250731e-01 9.61933169e-01 -4.31463269e-03 -1.46188730e+01] [-1.61375945e-02 -9.93194760e-05 9.99869776e-01 -3.95352894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.514203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.29, Y:-14.62, Z:-3.95 [[ 9.61034590e-01 2.75928323e-01 1.66155797e-02 1.21290228e+02] [-2.75889873e-01 9.61178202e-01 -4.60881414e-03 -1.46209198e+01] [-1.72422354e-02 -1.54840367e-04 9.99851330e-01 -3.95268473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.544203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.32, Y:-14.62, Z:-3.95 [[ 9.59786672e-01 2.80126452e-01 1.84042130e-02 1.21319020e+02] [-2.80080066e-01 9.59963075e-01 -5.10402566e-03 -1.46205306e+01] [-1.90971375e-02 -2.55877388e-04 9.99817600e-01 -3.95100337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.574203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.35, Y:-14.63, Z:-3.95 [[ 9.59391784e-01 2.81460018e-01 1.86457054e-02 1.21346708e+02] [-2.81412682e-01 9.59572913e-01 -5.16978764e-03 -1.46295162e+01] [-1.93470023e-02 -2.87286179e-04 9.99812788e-01 -3.94847807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.604203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.37, Y:-14.63, Z:-3.95 [[ 9.59050546e-01 2.82597715e-01 1.89890105e-02 1.21374855e+02] [-2.82548860e-01 9.59238464e-01 -5.26406772e-03 -1.46320651e+01] [-1.97026028e-02 -3.16816263e-04 9.99805835e-01 -3.95165971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.634203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.40, Y:-14.64, Z:-3.95 [[ 9.59251400e-01 2.81959051e-01 1.83260887e-02 1.21401555e+02] [-2.81913456e-01 9.59426395e-01 -5.07899038e-03 -1.46420292e+01] [-1.90146005e-02 -2.94342361e-04 9.99819163e-01 -3.95388129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.664203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.43, Y:-14.65, Z:-3.96 [[ 9.59660642e-01 2.80574384e-01 1.81512436e-02 1.21428770e+02] [-2.80529425e-01 9.59832248e-01 -5.02963202e-03 -1.46531014e+01] [-1.88333348e-02 -2.65218040e-04 9.99822602e-01 -3.95549253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.694203822 meters Centerline goodness [0,1] 0.9999788435906658 Centerline is valid? [True, True] Translation: X:121.46, Y:-14.66, Z:-3.96 [[ 9.60243127e-01 2.78567466e-01 1.82565819e-02 1.21455332e+02] [-2.78521639e-01 9.60416636e-01 -5.05788402e-03 -1.46631783e+01] [-1.89428869e-02 -2.28054739e-04 9.99820541e-01 -3.95644971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.724203822 meters Centerline goodness [0,1] 0.9999161460735398 Centerline is valid? [True, True] Translation: X:121.48, Y:-14.68, Z:-3.96 [[ 9.61785389e-01 2.73268734e-01 1.71190974e-02 1.21480175e+02] [-2.73227610e-01 9.61937724e-01 -4.74212024e-03 -1.46762464e+01] [-1.77633788e-02 -1.16508109e-04 9.99842212e-01 -3.96262190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.75420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.51, Y:-14.69, Z:-3.96 [[ 9.62578685e-01 2.70518307e-01 1.61901420e-02 1.21505703e+02] [-2.70481153e-01 9.62714829e-01 -4.48375411e-03 -1.46915419e+01] [-1.67994274e-02 -6.31621464e-05 9.99858878e-01 -3.96019353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.78420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.53, Y:-14.71, Z:-3.96 [[ 9.63889618e-01 2.65843332e-01 1.56245901e-02 1.21529914e+02] [-2.65808127e-01 9.64016246e-01 -4.32636360e-03 -1.47090577e+01] [-1.62124936e-02 1.69939244e-05 9.99868569e-01 -3.96298644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.81420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.56, Y:-14.72, Z:-3.96 [[ 9.64345901e-01 2.64146342e-01 1.62386089e-02 1.21556535e+02] [-2.64108090e-01 9.64482611e-01 -4.49547380e-03 -1.47195770e+01] [-1.68493189e-02 4.64437469e-05 9.99858039e-01 -3.96225252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.844203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.58, Y:-14.73, Z:-3.96 [[ 9.64783107e-01 2.62331003e-01 1.93907689e-02 1.21582899e+02] [-2.62276114e-01 9.64977946e-01 -5.36693518e-03 -1.47290550e+01] [-2.01195778e-02 9.21928929e-05 9.99797577e-01 -3.95822334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.874203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.61, Y:-14.74, Z:-3.96 [[ 9.64768172e-01 2.62302884e-01 2.04834452e-02 1.21609687e+02] [-2.62241658e-01 9.64985589e-01 -5.66793263e-03 -1.47359760e+01] [-2.12529445e-02 9.66283724e-05 9.99774126e-01 -3.95736936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.904203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.64, Y:-14.74, Z:-3.96 [[ 9.64667410e-01 2.62650693e-01 2.07701975e-02 1.21637255e+02] [-2.62587852e-01 9.64890981e-01 -5.74583274e-03 -1.47428180e+01] [-2.15501232e-02 8.88160507e-05 9.99767765e-01 -3.95765681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.934203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.67, Y:-14.75, Z:-3.96 [[ 9.64511692e-01 2.63228807e-01 2.06831100e-02 1.21665425e+02] [-2.63166647e-01 9.64733429e-01 -5.72068867e-03 -1.47504455e+01] [-2.14595377e-02 7.45664080e-05 9.99769715e-01 -3.95890866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.964203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.69, Y:-14.76, Z:-3.96 [[ 9.64156678e-01 2.64628100e-01 1.93356884e-02 1.21692964e+02] [-2.64574075e-01 9.64350542e-01 -5.34713493e-03 -1.47580203e+01] [-2.00613838e-02 3.97539704e-05 9.99798749e-01 -3.96091258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.994203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.72, Y:-14.76, Z:-3.96 [[ 9.63945744e-01 2.65439568e-01 1.87200100e-02 1.21719531e+02] [-2.65389098e-01 9.64127500e-01 -5.17604799e-03 -1.47647167e+01] [-1.94224044e-02 2.13428733e-05 9.99811367e-01 -3.96472487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.024203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.75, Y:-14.77, Z:-3.97 [[ 9.63453659e-01 2.67298322e-01 1.75685420e-02 1.21747981e+02] [-2.67254202e-01 9.63613827e-01 -4.85644171e-03 -1.47686714e+01] [-1.82274087e-02 -1.63101174e-05 9.99833867e-01 -3.96774490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.054203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.78, Y:-14.77, Z:-3.97 [[ 9.63195314e-01 2.68298717e-01 1.64495017e-02 1.21776693e+02] [-2.68260197e-01 9.63335765e-01 -4.54636272e-03 -1.47726878e+01] [-1.70661766e-02 -3.37113042e-05 9.99854362e-01 -3.97025639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.084203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.81, Y:-14.78, Z:-3.97 [[ 9.63011481e-01 2.68984000e-01 1.60154502e-02 1.21805010e+02] [-2.68947594e-01 9.63144644e-01 -4.42562916e-03 -1.47769833e+01] [-1.66156186e-02 -4.53851085e-05 9.99861950e-01 -3.97124008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.11420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.83, Y:-14.78, Z:-3.97 [[ 9.62732880e-01 2.69946443e-01 1.65626113e-02 1.21832603e+02] [-2.69907662e-01 9.62875337e-01 -4.57605647e-03 -1.47805999e+01] [-1.71830201e-02 -6.48556690e-05 9.99852359e-01 -3.97254228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.14420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.86, Y:-14.79, Z:-3.97 [[ 9.62714112e-01 2.69992952e-01 1.68921639e-02 1.21860630e+02] [-2.69952642e-01 9.62862296e-01 -4.66580563e-03 -1.47890148e+01] [-1.75245623e-02 -6.82473486e-05 9.99846431e-01 -3.97173529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.17420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.89, Y:-14.80, Z:-3.97 [[ 9.62720878e-01 2.69897189e-01 1.80005116e-02 1.21887381e+02] [-2.69851416e-01 9.62889143e-01 -4.97103773e-03 -1.47975252e+01] [-1.86741663e-02 -7.17417230e-05 9.99825620e-01 -3.97340873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.204203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.92, Y:-14.81, Z:-3.97 [[ 9.62847695e-01 2.69376921e-01 1.89839356e-02 1.21915323e+02] [-2.69325937e-01 9.63034823e-01 -5.24112940e-03 -1.48061671e+01] [-1.96940304e-02 -6.64568996e-05 9.99806052e-01 -3.97214524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.234203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.94, Y:-14.82, Z:-3.97 [[ 9.63559389e-01 2.66767272e-01 1.97110540e-02 1.21942033e+02] [-2.66711782e-01 9.63760978e-01 -5.44087693e-03 -1.48175574e+01] [-2.04481926e-02 -1.45622762e-05 9.99790914e-01 -3.97010181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.264203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.97, Y:-14.83, Z:-3.97 [[ 9.64082099e-01 2.64869363e-01 1.97465767e-02 1.21968068e+02] [-2.64813290e-01 9.64284305e-01 -5.44990945e-03 -1.48270975e+01] [-2.04848280e-02 2.50042191e-05 9.99790164e-01 -3.97157632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.294203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.99, Y:-14.84, Z:-3.97 [[ 9.64635956e-01 2.62847290e-01 1.97173484e-02 1.21994605e+02] [-2.62790994e-01 9.64837446e-01 -5.44014880e-03 -1.48375822e+01] [-2.04539644e-02 6.62215557e-05 9.99790794e-01 -3.97256260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.324203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.02, Y:-14.85, Z:-3.98 [[ 9.65140288e-01 2.60979226e-01 1.98511335e-02 1.22020432e+02] [-2.60921787e-01 9.65344411e-01 -5.47614540e-03 -1.48495182e+01] [-2.05923410e-02 1.05655315e-04 9.99787950e-01 -3.97536701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.354203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.05, Y:-14.87, Z:-3.98 [[ 9.66324718e-01 2.56637551e-01 1.88071032e-02 1.22046568e+02] [-2.56585202e-01 9.66507699e-01 -5.18666338e-03 -1.48662140e+01] [-1.95083027e-02 1.86376648e-04 9.99809678e-01 -3.97711892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.384203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.07, Y:-14.88, Z:-3.98 [[ 9.67229515e-01 2.53223703e-01 1.85693928e-02 1.22073742e+02] [-2.53172053e-01 9.67407718e-01 -5.12038560e-03 -1.48814867e+01] [-1.92607769e-02 2.51336791e-04 9.99814462e-01 -3.97847708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.414203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.10, Y:-14.89, Z:-3.98 [[ 9.67442767e-01 2.52408058e-01 1.85651682e-02 1.22101678e+02] [-2.52356279e-01 9.67620845e-01 -5.11934974e-03 -1.48914229e+01] [-1.92562088e-02 2.67641111e-04 9.99814546e-01 -3.97990944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.444203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.13, Y:-14.90, Z:-3.98 [[ 9.67506626e-01 2.52160260e-01 1.86046079e-02 1.22129125e+02] [-2.52108215e-01 9.67685449e-01 -5.13024446e-03 -1.49002263e+01] [-1.92970522e-02 2.73171005e-04 9.99813757e-01 -3.98125488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.474203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.16, Y:-14.91, Z:-3.98 [[ 9.67457944e-01 2.52358986e-01 1.84409625e-02 1.22157990e+02] [-2.52307904e-01 9.67633645e-01 -5.08429299e-03 -1.49076438e+01] [-1.91271628e-02 2.66039046e-04 9.99817024e-01 -3.98189206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.50420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.18, Y:-14.92, Z:-3.98 [[ 9.67129806e-01 2.53626112e-01 1.82683767e-02 1.22184653e+02] [-2.53576217e-01 9.67302299e-01 -5.03623832e-03 -1.49174120e+01] [-1.89483643e-02 2.38270333e-04 9.99820435e-01 -3.98323636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.53420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.21, Y:-14.93, Z:-3.98 [[ 9.66879970e-01 2.54554562e-01 1.85768492e-02 1.22212904e+02] [-2.54503147e-01 9.67058388e-01 -5.12081404e-03 -1.49250159e+01] [-1.92684244e-02 2.23345919e-04 9.99814322e-01 -3.98386225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.56420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.24, Y:-14.93, Z:-3.99 [[ 9.66224237e-01 2.57143189e-01 1.69736327e-02 1.22240466e+02] [-2.57100664e-01 9.66373300e-01 -4.67895286e-03 -1.49277146e+01] [-1.76060263e-02 1.56985424e-04 9.99844990e-01 -3.98792789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.594203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.27, Y:-14.94, Z:-3.99 [[ 9.66236239e-01 2.57098067e-01 1.69739420e-02 1.22267797e+02] [-2.57055555e-01 9.66385306e-01 -4.67783024e-03 -1.49351501e+01] [-1.76060293e-02 1.56643005e-04 9.99844990e-01 -3.98877085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.624203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.30, Y:-14.94, Z:-3.99 [[ 9.65935459e-01 2.58289889e-01 1.59694098e-02 1.22296150e+02] [-2.58252435e-01 9.66067450e-01 -4.40029301e-03 -1.49396531e+01] [-1.65640782e-02 1.26260070e-04 9.99862798e-01 -3.99068068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.654203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.32, Y:-14.95, Z:-3.99 [[ 9.65654335e-01 2.59313113e-01 1.63833765e-02 1.22322627e+02] [-2.59273850e-01 9.65793299e-01 -4.51370766e-03 -1.49467720e+01] [-1.69934188e-02 1.10900272e-04 9.99855595e-01 -3.99323222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.684203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.35, Y:-14.95, Z:-3.99 [[ 9.65235746e-01 2.60815944e-01 1.71754904e-02 1.22350344e+02] [-2.60773057e-01 9.65388541e-01 -4.73042768e-03 -1.49543493e+01] [-1.78147926e-02 8.70727545e-05 9.99841300e-01 -3.99078359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.714203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.38, Y:-14.96, Z:-3.99 [[ 9.64997316e-01 2.61725920e-01 1.67249382e-02 1.22378342e+02] [-2.61685405e-01 9.65142237e-01 -4.60549373e-03 -1.49624439e+01] [-1.73473214e-02 6.76168539e-05 9.99849522e-01 -3.99225600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.744203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.40, Y:-14.97, Z:-4.00 [[ 9.64685844e-01 2.62875880e-01 1.66581340e-02 1.22404700e+02] [-2.62835872e-01 9.64829658e-01 -4.58638002e-03 -1.49701292e+01] [-1.72779104e-02 4.60607174e-05 9.99850725e-01 -3.99532026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.774203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.43, Y:-14.98, Z:-3.99 [[ 9.64076294e-01 2.65068322e-01 1.71954504e-02 1.22433044e+02] [-2.65026063e-01 9.64229633e-01 -4.73297667e-03 -1.49755359e+01] [-1.78349250e-02 5.70810340e-06 9.99840945e-01 -3.99440508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.804203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.46, Y:-14.98, Z:-4.00 [[ 9.63874004e-01 2.65839012e-01 1.66290385e-02 1.22459888e+02] [-2.65799617e-01 9.64017438e-01 -4.57641015e-03 -1.49812841e+01] [-1.72472714e-02 -8.90928906e-06 9.99851255e-01 -3.99740489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.834203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.49, Y:-14.99, Z:-4.00 [[ 9.63369751e-01 2.67748231e-01 1.51528071e-02 1.22488440e+02] [-2.67715773e-01 9.63488912e-01 -4.16914262e-03 -1.49871100e+01] [-1.57158422e-02 -4.02195934e-05 9.99876498e-01 -4.00132563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.86420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.52, Y:-14.99, Z:-4.00 [[ 9.63075291e-01 2.68786017e-01 1.54939275e-02 1.22515949e+02] [-2.68752228e-01 9.63199914e-01 -4.26219221e-03 -1.49941716e+01] [-1.60693673e-02 -5.92155459e-05 9.99870878e-01 -4.00186377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.89420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.54, Y:-15.00, Z:-4.00 [[ 9.62778992e-01 2.69835432e-01 1.56669382e-02 1.22543861e+02] [-2.69801036e-01 9.62906451e-01 -4.30897998e-03 -1.50016284e+01] [-1.62485113e-02 -7.83607539e-05 9.99867981e-01 -4.00195323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.92420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.57, Y:-15.01, Z:-4.00 [[ 9.62320530e-01 2.71419804e-01 1.64465203e-02 1.22570913e+02] [-2.71382144e-01 9.62461053e-01 -4.52263574e-03 -1.50071518e+01] [-1.70566682e-02 -1.11066718e-04 9.99854518e-01 -4.00192800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.954203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.60, Y:-15.01, Z:-4.00 [[ 9.62091137e-01 2.72183281e-01 1.72309339e-02 1.22599598e+02] [-2.72142089e-01 9.62245418e-01 -4.73701871e-03 -1.50129268e+01] [-1.78697245e-02 -1.31818626e-04 9.99840315e-01 -4.00154233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.984203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.63, Y:-15.02, Z:-4.00 [[ 9.61915005e-01 2.72784935e-01 1.75471271e-02 1.22627351e+02] [-2.72742329e-01 9.62075027e-01 -4.82331953e-03 -1.50188362e+01] [-1.81973817e-02 -1.46220872e-04 9.99834403e-01 -4.00181919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.014203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.66, Y:-15.03, Z:-4.00 [[ 9.61713096e-01 2.73549246e-01 1.66952502e-02 1.22655597e+02] [-2.73510816e-01 9.61857987e-01 -4.58771611e-03 -1.50260863e+01] [-1.73134260e-02 -1.54264833e-04 9.99850100e-01 -4.00480745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.044203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.68, Y:-15.03, Z:-4.01 [[ 9.61582798e-01 2.74010462e-01 1.66369991e-02 1.22683972e+02] [-2.73972383e-01 9.61726697e-01 -4.57089700e-03 -1.50331756e+01] [-1.72527198e-02 -1.62782360e-04 9.99851148e-01 -4.00592710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.074203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.71, Y:-15.04, Z:-4.01 [[ 9.61561046e-01 2.74099524e-01 1.64257684e-02 1.22711892e+02] [-2.74062433e-01 9.61701318e-01 -4.51206082e-03 -1.50410342e+01] [-1.70334368e-02 -1.63064130e-04 9.99854907e-01 -4.00627220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.104203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.74, Y:-15.05, Z:-4.01 [[ 9.61594461e-01 2.73941463e-01 1.70929226e-02 1.22739954e+02] [-2.73901289e-01 9.61746353e-01 -4.69440819e-03 -1.50483919e+01] [-1.77250491e-02 -1.67656630e-04 9.99842885e-01 -4.00540383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.134203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.77, Y:-15.05, Z:-4.00 [[ 9.61667130e-01 2.73635649e-01 1.78846846e-02 1.22768004e+02] [-2.73591631e-01 9.61833407e-01 -4.91088109e-03 -1.50544450e+01] [-1.85458793e-02 -1.70467116e-04 9.99827996e-01 -4.00467001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.164203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.80, Y:-15.06, Z:-4.01 [[ 9.61812396e-01 2.73104203e-01 1.81936519e-02 1.22795962e+02] [-2.73058574e-01 9.61984443e-01 -4.99475101e-03 -1.50594161e+01] [-1.88660976e-02 -1.63919205e-04 9.99822006e-01 -4.00674929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.194203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.82, Y:-15.07, Z:-4.01 [[ 9.62408285e-01 2.71084426e-01 1.68382513e-02 1.22822175e+02] [-2.71045042e-01 9.62555568e-01 -4.62217844e-03 -1.50683038e+01] [-1.74607531e-02 -1.15501704e-04 9.99847543e-01 -4.01026091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.224203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.85, Y:-15.08, Z:-4.01 [[ 9.62741140e-01 2.69896477e-01 1.68934723e-02 1.22848699e+02] [-2.69856676e-01 9.62889341e-01 -4.63590427e-03 -1.50765544e+01] [-1.75177586e-02 -9.56405157e-05 9.99846548e-01 -4.01216333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.25420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.87, Y:-15.09, Z:-4.01 [[ 9.63354803e-01 2.67625886e-01 1.79974902e-02 1.22874780e+02] [-2.67580340e-01 9.63522901e-01 -4.93760405e-03 -1.50867189e+01] [-1.86624246e-02 -5.91099647e-05 9.99825840e-01 -4.01240133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.28420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.90, Y:-15.10, Z:-4.01 [[ 9.63630854e-01 2.66656989e-01 1.75962287e-02 1.22902175e+02] [-2.66613311e-01 9.63791496e-01 -4.82639217e-03 -1.50959015e+01] [-1.82460867e-02 -4.05283662e-05 9.99833525e-01 -4.01157458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.31420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.93, Y:-15.10, Z:-4.01 [[ 9.63875398e-01 2.65834077e-01 1.66270888e-02 1.22928669e+02] [-2.65794966e-01 9.64018798e-01 -4.55994186e-03 -1.51031363e+01] [-1.72410141e-02 -2.41807364e-05 9.99851362e-01 -4.01442672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.344203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.96, Y:-15.11, Z:-4.02 [[ 9.64425285e-01 2.63938496e-01 1.48438209e-02 1.22955465e+02] [-2.63907112e-01 9.64539512e-01 -4.07011682e-03 -1.51093708e+01] [-1.53917123e-02 7.93367609e-06 9.99881541e-01 -4.02017666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.374203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.98, Y:-15.12, Z:-4.02 [[ 9.64749743e-01 2.62803459e-01 1.38663402e-02 1.22983233e+02] [-2.62775969e-01 9.64849388e-01 -3.80113832e-03 -1.51171386e+01] [-1.43778822e-02 2.34062283e-05 9.99896633e-01 -4.02263138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.404203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.01, Y:-15.13, Z:-4.03 [[ 9.65294824e-01 2.60851496e-01 1.27436454e-02 1.23008564e+02] [-2.60828112e-01 9.65378938e-01 -3.49304124e-03 -1.51282306e+01] [-1.32136119e-02 4.79136642e-05 9.99912695e-01 -4.02880935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.434203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.04, Y:-15.14, Z:-4.03 [[ 9.65443923e-01 2.60285875e-01 1.30113377e-02 1.23036507e+02] [-2.60261461e-01 9.65531595e-01 -3.56534017e-03 -1.51360753e+01] [-1.34908653e-02 5.57862459e-05 9.99908993e-01 -4.02616154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.464203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.06, Y:-15.14, Z:-4.03 [[ 9.65288183e-01 2.60814615e-01 1.39449036e-02 1.23064621e+02] [-2.60786637e-01 9.65388903e-01 -3.82051813e-03 -1.51385598e+01] [-1.44587022e-02 5.12564953e-05 9.99895466e-01 -4.02530804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.494203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.09, Y:-15.14, Z:-4.03 [[ 9.65193485e-01 2.61185267e-01 1.35569798e-02 1.23093270e+02] [-2.61158875e-01 9.65288690e-01 -3.71322108e-03 -1.51437100e+01] [-1.40562379e-02 4.34512113e-05 9.99901205e-01 -4.02652211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.524203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.12, Y:-15.15, Z:-4.03 [[ 9.65204494e-01 2.61177464e-01 1.29080099e-02 1.23121450e+02] [-2.61153545e-01 9.65290801e-01 -3.53490698e-03 -1.51494974e+01] [-1.33832212e-02 4.09355652e-05 9.99910440e-01 -4.02784885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.554203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.15, Y:-15.16, Z:-4.03 [[ 9.65240933e-01 2.61044211e-01 1.28786981e-02 1.23149028e+02] [-2.61020394e-01 9.65326845e-01 -3.52642105e-03 -1.51550391e+01] [-1.33527048e-02 4.22431019e-05 9.99910848e-01 -4.02975503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.584203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.18, Y:-15.16, Z:-4.03 [[ 9.65803767e-01 2.58901293e-01 1.38997914e-02 1.23175982e+02] [-2.58873343e-01 9.65903781e-01 -3.80495798e-03 -1.51615630e+01] [-1.44109696e-02 7.65572940e-05 9.99896154e-01 -4.03188256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.61420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.20, Y:-15.17, Z:-4.03 [[ 9.66226142e-01 2.57332738e-01 1.36712780e-02 1.23203227e+02] [-2.57305557e-01 9.66322851e-01 -3.74138032e-03 -1.51708145e+01] [-1.41736480e-02 9.73236655e-05 9.99899544e-01 -4.03269705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.64420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.23, Y:-15.19, Z:-4.04 [[ 9.67339782e-01 2.53168032e-01 1.26369599e-02 1.23230036e+02] [-2.53144465e-01 9.67422310e-01 -3.45739486e-03 -1.51853537e+01] [-1.31005788e-02 1.45499137e-04 9.99914173e-01 -4.03566451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.67420382200001 meters Centerline goodness [0,1] 0.9999787816418766 Centerline is valid? [True, True] Translation: X:123.26, Y:-15.20, Z:-4.04 [[ 9.67857801e-01 2.51182297e-01 1.25987946e-02 1.23256451e+02] [-2.51158699e-01 9.67939783e-01 -3.44731963e-03 -1.51955789e+01] [-1.30607802e-02 1.72218344e-04 9.99914690e-01 -4.03697090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.704203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.28, Y:-15.21, Z:-4.04 [[ 9.68361049e-01 2.49250440e-01 1.22921201e-02 1.23282338e+02] [-2.49227832e-01 9.68439044e-01 -3.36253177e-03 -1.52053570e+01] [-1.27422815e-02 1.92606350e-04 9.99918795e-01 -4.03997177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.734203822 meters Centerline goodness [0,1] 0.9999788561158685 Centerline is valid? [True, True] Translation: X:123.31, Y:-15.21, Z:-4.04 [[ 9.68872336e-01 2.47310856e-01 1.11236910e-02 1.23310271e+02] [-2.47292225e-01 9.68936170e-01 -3.04193662e-03 -1.52134100e+01] [-1.15304505e-02 1.96445945e-04 9.99933503e-01 -4.04343558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.764203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.34, Y:-15.22, Z:-4.04 [[ 9.68979029e-01 2.46910156e-01 1.07246012e-02 1.23339037e+02] [-2.46892815e-01 9.69038357e-01 -2.93273486e-03 -1.52176504e+01] [-1.11166720e-02 1.93931585e-04 9.99938189e-01 -4.04090333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.794203822 meters Centerline goodness [0,1] 0.999935754668494 Centerline is valid? [True, True] Translation: X:123.37, Y:-15.22, Z:-4.05 [[ 9.69001131e-01 2.46881643e-01 9.28776568e-03 1.23366784e+02] [-2.46868641e-01 9.69045626e-01 -2.53928248e-03 -1.52239787e+01] [-9.62717095e-03 1.67709502e-04 9.99953644e-01 -4.04588697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.824203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.40, Y:-15.23, Z:-4.05 [[ 9.68927917e-01 2.47191058e-01 8.67597705e-03 1.23395249e+02] [-2.47179725e-01 9.68966747e-01 -2.37199418e-03 -1.52275520e+01] [-8.99306901e-03 1.53765761e-04 9.99959550e-01 -4.04691597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.854203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.42, Y:-15.23, Z:-4.05 [[ 9.68969560e-01 2.47020392e-01 8.88355442e-03 1.23424244e+02] [-2.47008507e-01 9.69010269e-01 -2.42828310e-03 -1.52326862e+01] [-9.20809090e-03 1.58618889e-04 9.99957592e-01 -4.04609237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.884203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.45, Y:-15.24, Z:-4.04 [[ 9.69051838e-01 2.46614495e-01 1.09465395e-02 1.23451977e+02] [-2.46596434e-01 9.69113642e-01 -2.99128973e-03 -1.52410814e+01] [-1.13461362e-02 1.99337191e-04 9.99935611e-01 -4.04274935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.914203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.48, Y:-15.25, Z:-4.04 [[ 9.69014451e-01 2.46728746e-01 1.16584347e-02 1.23480455e+02] [-2.46708275e-01 9.69084559e-01 -3.18511614e-03 -1.52475570e+01] [-1.20838688e-02 2.10191248e-04 9.99926965e-01 -4.04226865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.944203822 meters Centerline goodness [0,1] 0.999978456169076 Centerline is valid? [True, True] Translation: X:123.51, Y:-15.25, Z:-4.04 [[ 9.68719961e-01 2.47819440e-01 1.29291648e-02 1.23510319e+02] [-2.47794375e-01 9.68806213e-01 -3.53124296e-03 -1.52491806e+01] [-1.34009659e-02 2.17011229e-04 9.99910179e-01 -4.04185078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.974203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.54, Y:-15.26, Z:-4.04 [[ 9.68431493e-01 2.48926577e-01 1.32665850e-02 1.23537842e+02] [-2.48900295e-01 9.68522337e-01 -3.62304540e-03 -1.52559059e+01] [-1.37508562e-02 2.06614335e-04 9.99905431e-01 -4.04389412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.00420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.57, Y:-15.26, Z:-4.04 [[ 9.68210638e-01 2.49791065e-01 1.31371018e-02 1.23566866e+02] [-2.49765382e-01 9.68299740e-01 -3.58703249e-03 -1.52606923e+01] [-1.36166610e-02 1.91809756e-04 9.99907271e-01 -4.04331449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.03420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.59, Y:-15.26, Z:-4.05 [[ 9.67668655e-01 2.51914801e-01 1.25022593e-02 1.23594915e+02] [-2.51891722e-01 9.67749404e-01 -3.41331094e-03 -1.52641937e+01] [-1.29589175e-02 1.53738380e-04 9.99916018e-01 -4.04696011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.06420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.62, Y:-15.27, Z:-4.05 [[ 9.67425951e-01 2.52838388e-01 1.26403923e-02 1.23624014e+02] [-2.52814890e-01 9.67508516e-01 -3.44996146e-03 -1.52666559e+01] [-1.31019699e-02 1.41902862e-04 9.99914155e-01 -4.04553771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.094203822 meters Centerline goodness [0,1] 0.99997854997855 Centerline is valid? [True, True] Translation: X:123.65, Y:-15.27, Z:-4.05 [[ 9.67116774e-01 2.54070546e-01 1.15456825e-02 1.23653634e+02] [-2.54051035e-01 9.67185683e-01 -3.15070111e-03 -1.52692152e+01] [-1.19673191e-02 1.13903312e-04 9.99928383e-01 -4.04830020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.124203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.68, Y:-15.28, Z:-4.05 [[ 9.67097398e-01 2.54171002e-01 1.09418496e-02 1.23680320e+02] [-2.54153488e-01 9.67159289e-01 -2.98565250e-03 -1.52771746e+01] [-1.13413778e-02 1.06507524e-04 9.99935679e-01 -4.05336438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.154203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.71, Y:-15.28, Z:-4.05 [[ 9.67200838e-01 2.53781189e-01 1.08464899e-02 1.23708516e+02] [-2.53763965e-01 9.67261648e-01 -2.95870516e-03 -1.52833566e+01] [-1.12422574e-02 1.09213843e-04 9.99936798e-01 -4.05234249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.184203822 meters Centerline goodness [0,1] 0.9999785504386435 Centerline is valid? [True, True] Translation: X:123.74, Y:-15.29, Z:-4.05 [[ 9.67348798e-01 2.53192041e-01 1.14058643e-02 1.23735486e+02] [-2.53172959e-01 9.67416030e-01 -3.11083637e-03 -1.52910796e+01] [-1.18218550e-02 1.21607404e-04 9.99930112e-01 -4.05350771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.214203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.76, Y:-15.30, Z:-4.06 [[ 9.67631499e-01 2.52083049e-01 1.19757779e-02 1.23760637e+02] [-2.52061933e-01 9.67705594e-01 -3.26581284e-03 -1.53022200e+01] [-1.24122834e-02 1.41465633e-04 9.99922955e-01 -4.05738876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.244203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.79, Y:-15.31, Z:-4.06 [[ 9.67699534e-01 2.51827389e-01 1.18565709e-02 1.23788585e+02] [-2.51806693e-01 9.67772156e-01 -3.23162725e-03 -1.53086717e+01] [-1.22882714e-02 1.41680275e-04 9.99924486e-01 -4.05515228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.274203822 meters Centerline goodness [0,1] 0.9999788400093104 Centerline is valid? [True, True] Translation: X:123.82, Y:-15.32, Z:-4.06 [[ 9.67263086e-01 2.53529594e-01 1.11744365e-02 1.23815748e+02] [-2.53511327e-01 9.67327624e-01 -3.04542820e-03 -1.53159784e+01] [-1.15814473e-02 1.12884059e-04 9.99932926e-01 -4.05978972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.304203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.84, Y:-15.32, Z:-4.06 [[ 9.66879888e-01 2.55039542e-01 9.90524629e-03 1.23843571e+02] [-2.55025274e-01 9.66930621e-01 -2.69906552e-03 -1.53203911e+01] [-1.02660544e-02 8.35840203e-05 9.99947299e-01 -4.06382788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.334203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.87, Y:-15.32, Z:-4.07 [[ 9.66442144e-01 2.56731880e-01 8.85010027e-03 1.23873144e+02] [-2.56720566e-01 9.66482663e-01 -2.41094259e-03 -1.53231297e+01] [-9.17243430e-03 5.80337753e-05 9.99957931e-01 -4.06607062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.36420382200001 meters Centerline goodness [0,1] 0.9999787775891341 Centerline is valid? [True, True] Translation: X:123.90, Y:-15.33, Z:-4.07 [[ 9.66031810e-01 2.58285860e-01 8.42361567e-03 1.23900491e+02] [-2.58275666e-01 9.66068534e-01 -2.29516955e-03 -1.53264808e+01] [-8.73059989e-03 4.15918439e-05 9.99961887e-01 -4.06906851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.39420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.93, Y:-15.33, Z:-4.07 [[ 9.65337978e-01 2.60899891e-01 7.33722612e-03 1.23929895e+02] [-2.60892240e-01 9.65365862e-01 -1.99803803e-03 -1.53298588e+01] [-7.60439552e-03 1.45566324e-05 9.99971086e-01 -4.07032002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.42420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.96, Y:-15.33, Z:-4.07 [[ 9.64945852e-01 2.62376434e-01 6.17323647e-03 1.23958747e+02] [-2.62371049e-01 9.64965599e-01 -1.68099474e-03 -1.53337872e+01] [-6.39801423e-03 2.39036903e-06 9.99979532e-01 -4.07244165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.454203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.99, Y:-15.34, Z:-4.07 [[ 9.64964455e-01 2.62308010e-01 6.17317092e-03 1.23985312e+02] [-2.62302622e-01 9.64984201e-01 -1.68123589e-03 -1.53408715e+01] [-6.39801404e-03 3.09395864e-06 9.99979532e-01 -4.07325997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.484203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.02, Y:-15.34, Z:-4.08 [[ 9.64090559e-01 2.65513098e-01 5.67347068e-03 1.24016034e+02] [-2.65508590e-01 9.64107253e-01 -1.54726193e-03 -1.53379193e+01] [-5.88065254e-03 -1.46545818e-05 9.99982709e-01 -4.07551182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.514203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.04, Y:-15.34, Z:-4.08 [[ 9.63837160e-01 2.66422107e-01 6.09828579e-03 1.24043859e+02] [-2.66416943e-01 9.63856452e-01 -1.65902432e-03 -1.53420189e+01] [-6.31987286e-03 -2.56573602e-05 9.99980029e-01 -4.07772621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.544203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.07, Y:-15.35, Z:-4.08 [[ 9.63656528e-01 2.67058953e-01 6.75360853e-03 1.24072008e+02] [-2.67052641e-01 9.63680193e-01 -1.83641907e-03 -1.53480333e+01] [-6.99875092e-03 -3.38917678e-05 9.99975508e-01 -4.07581834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.574203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.10, Y:-15.35, Z:-4.08 [[ 9.63405780e-01 2.67932878e-01 7.82792333e-03 1.24101035e+02] [-2.67924431e-01 9.63437580e-01 -2.12816578e-03 -1.53476417e+01] [-8.11192109e-03 -4.70046862e-05 9.99967097e-01 -4.07585166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.604203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.13, Y:-15.35, Z:-4.08 [[ 9.63498071e-01 2.67603078e-01 7.74980022e-03 1.24128392e+02] [-2.67594787e-01 9.63529237e-01 -2.10696016e-03 -1.53492882e+01] [-8.03098811e-03 -4.37540862e-05 9.99967750e-01 -4.07955883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.634203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.16, Y:-15.35, Z:-4.08 [[ 9.64153060e-01 2.65239517e-01 7.54159231e-03 1.24156256e+02] [-2.65231580e-01 9.64182554e-01 -2.05211130e-03 -1.53545120e+01] [-7.81577274e-03 -2.17190531e-05 9.99969456e-01 -4.07980783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.664203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.18, Y:-15.36, Z:-4.08 [[ 9.64734882e-01 2.63115514e-01 7.53884653e-03 1.24182617e+02] [-2.63107528e-01 9.64764337e-01 -2.04986626e-03 -1.53628867e+01] [-7.81256189e-03 -5.94979414e-06 9.99969481e-01 -4.08088487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.694203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.21, Y:-15.37, Z:-4.08 [[ 9.65303686e-01 2.61026934e-01 7.33029814e-03 1.24209889e+02] [-2.61019358e-01 9.65331518e-01 -1.98864881e-03 -1.53713820e+01] [-7.59525874e-03 6.30031007e-06 9.99971156e-01 -4.08100032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.724203822 meters Centerline goodness [0,1] 0.9999786151148369 Centerline is valid? [True, True] Translation: X:124.24, Y:-15.38, Z:-4.08 [[ 9.65921395e-01 2.58743983e-01 6.88545087e-03 1.24236663e+02] [-2.58737241e-01 9.65945936e-01 -1.86797066e-03 -1.53797194e+01] [-7.13429945e-03 2.27902641e-05 9.99974550e-01 -4.08282195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.75420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.26, Y:-15.39, Z:-4.08 [[ 9.66897664e-01 2.55078454e-01 6.62496227e-03 1.24264260e+02] [-2.55072130e-01 9.66920359e-01 -1.79670961e-03 -1.53889430e+01] [-6.86411280e-03 4.73910833e-05 9.99976441e-01 -4.08194424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.78420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.29, Y:-15.40, Z:-4.08 [[ 9.67238753e-01 2.53778715e-01 6.74971952e-03 1.24290682e+02] [-2.53772121e-01 9.67262302e-01 -1.83043603e-03 -1.53966918e+01] [-6.99327494e-03 5.75780297e-05 9.99975545e-01 -4.08426964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.81420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.32, Y:-15.40, Z:-4.08 [[ 9.67437170e-01 2.53026234e-01 6.56096012e-03 1.24318535e+02] [-2.53019990e-01 9.67459416e-01 -1.77857784e-03 -1.54025913e+01] [-6.79748950e-03 6.06082468e-05 9.99976895e-01 -4.08444801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.844203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.35, Y:-15.40, Z:-4.09 [[ 9.67501734e-01 2.52789737e-01 6.14365057e-03 1.24347306e+02] [-2.52784257e-01 9.67521238e-01 -1.66551377e-03 -1.54039192e+01] [-6.36513719e-03 5.83693137e-05 9.99979741e-01 -4.08658159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.874203822 meters Centerline goodness [0,1] 0.999978456169076 Centerline is valid? [True, True] Translation: X:124.38, Y:-15.41, Z:-4.09 [[ 9.67492787e-01 2.52835068e-01 5.66878141e-03 1.24375651e+02] [-2.52830407e-01 9.67509393e-01 -1.53629441e-03 -1.54080031e+01] [-5.87302836e-03 5.31134547e-05 9.99982752e-01 -4.08679815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.904203822 meters Centerline goodness [0,1] 0.9999354561101549 Centerline is valid? [True, True] Translation: X:124.40, Y:-15.42, Z:-4.09 [[ 9.67830244e-01 2.51559558e-01 4.73377252e-03 1.24402432e+02] [-2.51556290e-01 9.67841819e-01 -1.28319756e-03 -1.54158427e+01] [-4.90434361e-03 5.11071538e-05 9.99987972e-01 -4.09207131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.934203822 meters Centerline goodness [0,1] 0.9999785747953893 Centerline is valid? [True, True] Translation: X:124.43, Y:-15.43, Z:-4.09 [[ 9.68266674e-01 2.49859152e-01 5.48201179e-03 1.24429192e+02] [-2.49854744e-01 9.68282190e-01 -1.48563457e-03 -1.54256053e+01] [-5.67933377e-03 6.87837917e-05 9.99983870e-01 -4.09064460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.964203822 meters Centerline goodness [0,1] 0.9999784788877889 Centerline is valid? [True, True] Translation: X:124.46, Y:-15.44, Z:-4.09 [[ 9.68879337e-01 2.47465301e-01 5.80994064e-03 1.24455667e+02] [-2.47460312e-01 9.68896753e-01 -1.57365053e-03 -1.54363893e+01] [-6.01865652e-03 8.69477578e-05 9.99981884e-01 -4.09023243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.994203822 meters Centerline goodness [0,1] 0.9999785931412425 Centerline is valid? [True, True] Translation: X:124.48, Y:-15.45, Z:-4.09 [[ 9.69567021e-01 2.44750847e-01 6.06747514e-03 1.24480946e+02] [-2.44745357e-01 9.69586000e-01 -1.64292993e-03 -1.54488794e+01] [-6.28504744e-03 1.07944312e-04 9.99980243e-01 -4.09119905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.024203822 meters Centerline goodness [0,1] 0.9999784012613664 Centerline is valid? [True, True] Translation: X:124.51, Y:-15.46, Z:-4.09 [[ 9.70619614e-01 2.40530773e-01 6.52006988e-03 1.24507090e+02] [-2.40524345e-01 9.70641502e-01 -1.76439154e-03 -1.54641386e+01] [-6.75304089e-03 1.44317496e-04 9.99977188e-01 -4.08798724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.054203822 meters Centerline goodness [0,1] 0.9999354949686076 Centerline is valid? [True, True] Translation: X:124.53, Y:-15.48, Z:-4.09 [[ 9.70893735e-01 2.39419090e-01 6.62226788e-03 1.24532230e+02] [-2.39412431e-01 9.70916307e-01 -1.79234075e-03 -1.54767332e+01] [-6.85878847e-03 1.54719155e-04 9.99976466e-01 -4.09184382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.084203822 meters Centerline goodness [0,1] 0.9999784185082873 Centerline is valid? [True, True] Translation: X:124.56, Y:-15.49, Z:-4.09 [[ 9.70752913e-01 2.39974945e-01 7.12787661e-03 1.24559593e+02] [-2.39967252e-01 9.70779068e-01 -1.92831016e-03 -1.54857042e+01] [-7.38233954e-03 1.61455745e-04 9.99972737e-01 -4.08957993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.11420382200001 meters Centerline goodness [0,1] 0.9999784515267093 Centerline is valid? [True, True] Translation: X:124.59, Y:-15.49, Z:-4.09 [[ 9.70388259e-01 2.41435096e-01 7.46471064e-03 1.24587474e+02] [-2.41426706e-01 9.70416957e-01 -2.01897074e-03 -1.54939117e+01] [-7.73133218e-03 1.57005002e-04 9.99970100e-01 -4.08980021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.14420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.62, Y:-15.50, Z:-4.09 [[ 9.69164591e-01 2.46336674e-01 6.18367322e-03 1.24616498e+02] [-2.46331018e-01 9.69184313e-01 -1.67212907e-03 -1.54979579e+01] [-6.40502580e-03 9.73377671e-05 9.99979483e-01 -4.09357179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.17420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.65, Y:-15.50, Z:-4.10 [[ 9.68370240e-01 2.49458470e-01 5.43592608e-03 1.24645444e+02] [-2.49454147e-01 9.68385495e-01 -1.47015934e-03 -1.55022985e+01] [-5.63081567e-03 6.76442475e-05 9.99984145e-01 -4.09616035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.20420382200001 meters Centerline goodness [0,1] 0.9999785706632379 Centerline is valid? [True, True] Translation: X:124.67, Y:-15.51, Z:-4.10 [[ 9.67534208e-01 2.52693100e-01 4.87378697e-03 1.24673028e+02] [-2.52689661e-01 9.67546482e-01 -1.31908663e-03 -1.55067225e+01] [-5.04893952e-03 4.47058634e-05 9.99987253e-01 -4.09965683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.234203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.70, Y:-15.51, Z:-4.10 [[ 9.66625102e-01 2.56160414e-01 4.21369225e-03 1.24701862e+02] [-2.56157881e-01 9.66634286e-01 -1.13932254e-03 -1.55094939e+01] [-4.36494873e-03 2.19272909e-05 9.99990473e-01 -4.09973026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.264203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.73, Y:-15.51, Z:-4.11 [[ 9.64891079e-01 2.62637138e-01 2.63426056e-03 1.24731135e+02] [-2.62636168e-01 9.64894675e-01 -7.13894677e-04 -1.55069766e+01] [-2.72927925e-03 -3.02149502e-06 9.99996276e-01 -4.10585853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.294203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.76, Y:-15.51, Z:-4.11 [[ 9.64068607e-01 2.65646528e-01 1.90885694e-03 1.24760534e+02] [-2.65646019e-01 9.64070496e-01 -5.20018357e-04 -1.55097681e+01] [-1.97841373e-03 -5.74687534e-06 9.99998043e-01 -4.10846344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.324203822 meters Centerline goodness [0,1] 0.999978594515915 Centerline is valid? [True, True] Translation: X:124.79, Y:-15.51, Z:-4.11 [[ 9.63399529e-01 2.68064589e-01 1.65044412e-03 1.24789284e+02] [-2.68064212e-01 9.63400942e-01 -4.50021416e-04 -1.55132802e+01] [-1.71067423e-03 -8.87458167e-06 9.99998537e-01 -4.10961421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.354203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.82, Y:-15.52, Z:-4.10 [[ 9.62243234e-01 2.72179484e-01 2.50759327e-03 1.24818785e+02] [-2.72178633e-01 9.62246501e-01 -6.80906878e-04 -1.55150036e+01] [-2.59825174e-03 -2.73152744e-05 9.99996624e-01 -4.10435115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.384203822 meters Centerline goodness [0,1] 0.9999572055204878 Centerline is valid? [True, True] Translation: X:124.85, Y:-15.52, Z:-4.11 [[ 9.61839597e-01 2.73598004e-01 2.95338446e-03 1.24847367e+02] [-2.73596846e-01 9.61844130e-01 -7.97315044e-04 -1.55165351e+01] [-3.05883931e-03 -4.11474903e-05 9.99995321e-01 -4.10909234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.414203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.87, Y:-15.52, Z:-4.11 [[ 9.61632799e-01 2.74315735e-01 3.63823363e-03 1.24874950e+02] [-2.74313971e-01 9.61639680e-01 -9.85107080e-04 -1.55215259e+01] [-3.76890020e-03 -5.07070340e-05 9.99992896e-01 -4.10580673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.444203822 meters Centerline goodness [0,1] 0.9999572027732603 Centerline is valid? [True, True] Translation: X:124.90, Y:-15.53, Z:-4.11 [[ 9.61790071e-01 2.73754361e-01 4.29064600e-03 1.24902649e+02] [-2.73751913e-01 9.61799639e-01 -1.15910140e-03 -1.55271279e+01] [-4.44405084e-03 -5.97603333e-05 9.99990123e-01 -4.10894251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.474203822 meters Centerline goodness [0,1] 0.9999785177228786 Centerline is valid? [True, True] Translation: X:124.93, Y:-15.54, Z:-4.11 [[ 9.62676259e-01 2.70630906e-01 3.65143441e-03 1.24928603e+02] [-2.70629111e-01 9.62683183e-01 -9.86595810e-04 -1.55410855e+01] [-3.78217782e-03 -3.84120850e-05 9.99992847e-01 -4.10854458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.50420382200001 meters Centerline goodness [0,1] 0.9999143193745315 Centerline is valid? [True, True] Translation: X:124.95, Y:-15.55, Z:-4.11 [[ 9.63345027e-01 2.68252040e-01 2.68353512e-03 1.24953782e+02] [-2.68251065e-01 9.63348765e-01 -7.23572058e-04 -1.55512202e+01] [-2.77927993e-03 -2.28116101e-05 9.99996138e-01 -4.11226526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.53420382200001 meters Centerline goodness [0,1] 0.9999359097609434 Centerline is valid? [True, True] Translation: X:124.98, Y:-15.56, Z:-4.12 [[ 9.64112994e-01 2.65483782e-01 2.12053500e-03 1.24979558e+02] [-2.65483167e-01 9.64115326e-01 -5.71418950e-04 -1.55613220e+01] [-2.19614276e-03 -1.20539140e-05 9.99997588e-01 -4.12026572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.56420382200001 meters Centerline goodness [0,1] 0.9999784987851814 Centerline is valid? [True, True] Translation: X:125.01, Y:-15.57, Z:-4.12 [[ 9.64804266e-01 2.62965139e-01 1.43695350e-03 1.25006347e+02] [-2.62964849e-01 9.64805336e-01 -3.90761690e-04 -1.55720390e+01] [-1.48913711e-03 -8.59715656e-07 9.99998891e-01 -4.11894538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.594203822 meters Centerline goodness [0,1] 0.9999786984769411 Centerline is valid? [True, True] Translation: X:125.03, Y:-15.58, Z:-4.12 [[ 9.65508476e-01 2.60370738e-01 6.79884362e-04 1.25033111e+02] [-2.60370673e-01 9.65508715e-01 -1.84242368e-04 -1.55780467e+01] [-7.04405598e-04 8.65618854e-07 9.99999752e-01 -4.12473157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.624203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.06, Y:-15.58, Z:-4.12 [[ 9.65561726e-01 2.60174074e-01 -7.12127280e-05 1.25061282e+02] [-2.60174073e-01 9.65561728e-01 1.39196599e-05 -1.55835142e+01] [ 7.23818192e-05 5.08741468e-06 9.99999997e-01 -4.12179174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.654203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.09, Y:-15.59, Z:-4.12 [[ 9.65199090e-01 2.61512108e-01 -1.46100838e-03 1.25089082e+02] [-2.61511823e-01 9.65200195e-01 3.86188699e-04 -1.55899027e+01] [ 1.51115859e-03 9.32198484e-06 9.99998858e-01 -4.12222061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.684203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.12, Y:-15.60, Z:-4.12 [[ 9.64832543e-01 2.62862763e-01 -1.15367119e-03 1.25115788e+02] [-2.62862584e-01 9.64833233e-01 3.07187614e-04 -1.55967132e+01] [ 1.19384849e-03 6.87238336e-06 9.99999287e-01 -4.12410435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.714203822 meters Centerline goodness [0,1] 0.9999784747185569 Centerline is valid? [True, True] Translation: X:125.14, Y:-15.60, Z:-4.13 [[ 9.64330739e-01 2.64698790e-01 -8.80617245e-04 1.25142548e+02] [-2.64698688e-01 9.64331141e-01 2.33277116e-04 -1.55995812e+01] [ 9.10954803e-04 8.14193563e-06 9.99999585e-01 -4.13031579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.744203822 meters Centerline goodness [0,1] 0.9999784385174325 Centerline is valid? [True, True] Translation: X:125.17, Y:-15.60, Z:-4.12 [[ 9.63659357e-01 2.67128073e-01 -1.79881853e-03 1.25171717e+02] [-2.67127649e-01 9.63661036e-01 4.76138806e-04 -1.56016021e+01] [ 1.86064137e-03 2.16785510e-05 9.99998269e-01 -4.12417677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.774203822 meters Centerline goodness [0,1] 0.9998914836357322 Centerline is valid? [True, True] Translation: X:125.21, Y:-15.59, Z:-4.13 [[ 9.61923692e-01 2.73276880e-01 -4.74940020e-03 1.25205650e+02] [-2.73273937e-01 9.61935414e-01 1.27038709e-03 -1.55882737e+01] [ 4.91578367e-03 7.58718484e-05 9.99987915e-01 -4.13439197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.804203822 meters Centerline goodness [0,1] 0.9997431726735725 Centerline is valid? [True, True] Translation: X:125.24, Y:-15.59, Z:-4.14 [[ 9.61117756e-01 2.76075782e-01 -5.90105687e-03 1.25236262e+02] [-2.76071293e-01 9.61135865e-01 1.57833313e-03 -1.55892299e+01] [ 6.10745695e-03 1.12148403e-04 9.99981343e-01 -4.13897595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.834203822 meters Centerline goodness [0,1] 0.9998925493735629 Centerline is valid? [True, True] Translation: X:125.26, Y:-15.60, Z:-4.14 [[ 9.61223488e-01 2.75713380e-01 -5.61585833e-03 1.25263637e+02] [-2.75709340e-01 9.61239887e-01 1.49646073e-03 -1.55986453e+01] [ 5.81078127e-03 1.09911393e-04 9.99983111e-01 -4.13731105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.86420382200001 meters Centerline goodness [0,1] 0.9997653533565136 Centerline is valid? [True, True] Translation: X:125.29, Y:-15.61, Z:-4.14 [[ 9.61562400e-01 2.74541530e-01 -4.96977050e-03 1.25290452e+02] [-2.74538338e-01 9.61575239e-01 1.32676730e-03 -1.56067271e+01] [ 5.14306098e-03 8.86229835e-05 9.99986770e-01 -4.14164318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.89420382200001 meters Centerline goodness [0,1] 0.9999569688885064 Centerline is valid? [True, True] Translation: X:125.32, Y:-15.62, Z:-4.14 [[ 9.62087998e-01 2.72697524e-01 -4.76917246e-03 1.25317027e+02] [-2.72694583e-01 9.62099815e-01 1.26896243e-03 -1.56191312e+01] [ 4.93446286e-03 7.96739697e-05 9.99987822e-01 -4.13774997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.92420382200001 meters Centerline goodness [0,1] 0.999935709234297 Centerline is valid? [True, True] Translation: X:125.34, Y:-15.63, Z:-4.14 [[ 9.63160191e-01 2.68900480e-01 -3.87023959e-03 1.25344149e+02] [-2.68898517e-01 9.63167965e-01 1.02852413e-03 -1.56313758e+01] [ 4.00426143e-03 5.00681858e-05 9.99991982e-01 -4.13595006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.95420382200001 meters Centerline goodness [0,1] 0.9999147357875215 Centerline is valid? [True, True] Translation: X:125.37, Y:-15.64, Z:-4.14 [[ 9.63593487e-01 2.67348055e-01 -3.55106349e-03 1.25371560e+02] [-2.67346388e-01 9.63600029e-01 9.45050078e-04 -1.56374020e+01] [ 3.67446218e-03 3.87198960e-05 9.99993248e-01 -4.13837115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.984203822 meters Centerline goodness [0,1] 0.9998920692483703 Centerline is valid? [True, True] Translation: X:125.40, Y:-15.64, Z:-4.14 [[ 9.63874020e-01 2.66338093e-01 -3.30042149e-03 1.25399706e+02] [-2.66336658e-01 9.63879670e-01 8.75113919e-04 -1.56428295e+01] [ 3.41428535e-03 3.55236575e-05 9.99994171e-01 -4.13718199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.014203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.43, Y:-15.65, Z:-4.14 [[ 9.64296197e-01 2.64819433e-01 -1.87430574e-03 1.25426498e+02] [-2.64818966e-01 9.64298018e-01 4.97169008e-04 -1.56512443e+01] [ 1.93904932e-03 1.69335246e-05 9.99998120e-01 -4.13778925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.04420382200001 meters Centerline goodness [0,1] 0.9999572009415792 Centerline is valid? [True, True] Translation: X:125.45, Y:-15.66, Z:-4.14 [[ 9.64481668e-01 2.64143123e-01 -1.87709750e-03 1.25452931e+02] [-2.64142661e-01 9.64483494e-01 4.94374788e-04 -1.56602745e+01] [ 1.94101526e-03 1.90061093e-05 9.99998116e-01 -4.13945271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.07420382200002 meters Centerline goodness [0,1] 0.9999136218363998 Centerline is valid? [True, True] Translation: X:125.48, Y:-15.67, Z:-4.14 [[ 9.64627442e-01 2.63600631e-01 -2.93349764e-03 1.25480072e+02] [-2.63599482e-01 9.64631902e-01 7.78475653e-04 -1.56686663e+01] [ 3.03495208e-03 2.23294810e-05 9.99995394e-01 -4.13802360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.10420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.51, Y:-15.68, Z:-4.14 [[ 9.64586916e-01 2.63746982e-01 -3.10002090e-03 1.25508118e+02] [-2.63745710e-01 9.64591897e-01 8.19734350e-04 -1.56766923e+01] [ 3.20645750e-03 2.69121829e-05 9.99994859e-01 -4.13756354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.13420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.54, Y:-15.68, Z:-4.13 [[ 9.64197915e-01 2.65179608e-01 -1.46871767e-03 1.25535986e+02] [-2.65179329e-01 9.64199033e-01 3.85274702e-04 -1.56840411e+01] [ 1.51830315e-03 1.79925030e-05 9.99998847e-01 -4.13442669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.164203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.56, Y:-15.69, Z:-4.13 [[ 9.63902887e-01 2.66249625e-01 -1.53659464e-03 1.25564754e+02] [-2.66249321e-01 9.63904112e-01 4.03035493e-04 -1.56891751e+01] [ 1.58843794e-03 2.06302038e-05 9.99998738e-01 -4.13491850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.194203822 meters Centerline goodness [0,1] 0.9999785393909479 Centerline is valid? [True, True] Translation: X:125.59, Y:-15.69, Z:-4.14 [[ 9.63488766e-01 2.67738526e-01 -2.34096079e-03 1.25593798e+02] [-2.67737818e-01 9.63491609e-01 6.16383080e-04 -1.56933749e+01] [ 2.42052558e-03 3.28855616e-05 9.99997070e-01 -4.13721165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.224203822 meters Centerline goodness [0,1] 0.9998932034687513 Centerline is valid? [True, True] Translation: X:125.62, Y:-15.70, Z:-4.15 [[ 9.62996069e-01 2.69496815e-01 -3.16812921e-03 1.25622151e+02] [-2.69495512e-01 9.63001280e-01 8.39315762e-04 -1.56950539e+01] [ 3.27710541e-03 4.55388240e-05 9.99994629e-01 -4.14552412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.254203822 meters Centerline goodness [0,1] 0.9998938045579083 Centerline is valid? [True, True] Translation: X:125.65, Y:-15.70, Z:-4.14 [[ 9.62106588e-01 2.72672088e-01 -9.20099685e-04 1.25651951e+02] [-2.72671984e-01 9.62107027e-01 2.39108514e-04 -1.56970166e+01] [ 9.50432590e-04 2.08375305e-05 9.99999548e-01 -4.13979730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.284203822 meters Centerline goodness [0,1] 0.9999143010176754 Centerline is valid? [True, True] Translation: X:125.68, Y:-15.70, Z:-4.14 [[ 9.61650388e-01 2.74276855e-01 8.59714088e-04 1.25680394e+02] [-2.74276756e-01 9.61650772e-01 -2.33072149e-04 -1.57015807e+01] [-8.90671012e-04 -1.16656681e-05 9.99999603e-01 -4.13575062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.314203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.71, Y:-15.71, Z:-4.14 [[ 9.61189755e-01 2.75884914e-01 1.33011447e-03 1.25709250e+02] [-2.75884683e-01 9.61190675e-01 -3.57581665e-04 -1.57055456e+01] [-1.37714501e-03 -2.32543756e-05 9.99999051e-01 -4.13512171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.344203822 meters Centerline goodness [0,1] 0.9998278311023113 Centerline is valid? [True, True] Translation: X:125.74, Y:-15.71, Z:-4.14 [[ 9.60273422e-01 2.79060495e-01 -4.41512393e-04 1.25740095e+02] [-2.79060471e-01 9.60273523e-01 1.16624655e-04 -1.57056742e+01] [ 4.56517996e-04 1.12170999e-05 9.99999896e-01 -4.13841936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.374203822 meters Centerline goodness [0,1] 0.9998278311023113 Centerline is valid? [True, True] Translation: X:125.77, Y:-15.71, Z:-4.14 [[ 9.60326670e-01 2.78877197e-01 -4.42898542e-04 1.25766712e+02] [-2.78877176e-01 9.60326772e-01 1.11391355e-04 -1.57125202e+01] [ 4.56391836e-04 1.65422054e-05 9.99999896e-01 -4.13923745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.404203822 meters Centerline goodness [0,1] 0.9996998027275067 Centerline is valid? [True, True] Translation: X:125.80, Y:-15.71, Z:-4.14 [[ 9.59964839e-01 2.80118698e-01 -1.01164254e-03 1.25795815e+02] [-2.80118577e-01 9.59965371e-01 2.62548139e-04 -1.57146230e+01] [ 1.04468645e-03 3.13428870e-05 9.99999454e-01 -4.14128045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.434203822 meters Centerline goodness [0,1] 0.9957566582084142 Centerline is valid? [True, True] Translation: X:125.83, Y:-15.71, Z:-4.15 [[ 9.59488914e-01 2.81746234e-01 -2.87863906e-04 1.25825467e+02] [-2.81746225e-01 9.59488957e-01 7.29536426e-05 -1.57089251e+01] [ 2.96756653e-04 1.11063575e-05 9.99999956e-01 -4.14754219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.464203822 meters Centerline goodness [0,1] 0.9997634306851908 Centerline is valid? [True, True] Translation: X:125.85, Y:-15.72, Z:-4.14 [[ 9.59436940e-01 2.81923317e-01 -3.43730583e-05 1.25850818e+02] [-2.81923317e-01 9.59436941e-01 3.05199424e-06 -1.57218118e+01] [ 3.38392101e-05 6.76237058e-06 9.99999999e-01 -4.13987236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.494203822 meters Centerline goodness [0,1] 0.9992497481297292 Centerline is valid? [True, True] Translation: X:125.88, Y:-15.72, Z:-4.14 [[ 9.59394565e-01 2.82067475e-01 -9.21250749e-05 1.25878181e+02] [-2.82067474e-01 9.59394569e-01 2.10389460e-05 -1.57248927e+01] [ 9.43186988e-05 5.80083678e-06 9.99999996e-01 -4.14300360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.524203822 meters Centerline goodness [0,1] 0.9941621760328457 Centerline is valid? [True, True] Translation: X:125.91, Y:-15.73, Z:-4.15 [[ 9.59310864e-01 2.82351910e-01 -2.56098851e-04 1.25906275e+02] [-2.82351902e-01 9.59310898e-01 6.58388770e-05 -1.57255404e+01] [ 2.64268152e-04 9.15004798e-06 9.99999965e-01 -4.14792741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.554203822 meters Centerline goodness [0,1] 0.9973736047275115 Centerline is valid? [True, True] Translation: X:125.94, Y:-15.73, Z:-4.15 [[ 9.59440912e-01 2.81909800e-01 2.88882224e-05 1.25935393e+02] [-2.81909800e-01 9.59440913e-01 -1.25044295e-05 -1.57271947e+01] [-3.12416637e-05 3.85338823e-06 1.00000000e+00 -4.14643583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.584203822 meters Centerline goodness [0,1] 0.9996770651682491 Centerline is valid? [True, True] Translation: X:125.96, Y:-15.74, Z:-4.14 [[ 9.59848861e-01 2.80517620e-01 -1.70188133e-04 1.25962342e+02] [-2.80517618e-01 9.59848876e-01 3.96291876e-05 -1.57376532e+01] [ 1.74471573e-04 9.70273892e-06 9.99999985e-01 -4.14065158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.614203822 meters Centerline goodness [0,1] 0.999805317008804 Centerline is valid? [True, True] Translation: X:125.99, Y:-15.75, Z:-4.14 [[ 9.61262576e-01 2.75632480e-01 -9.98397109e-04 1.25990330e+02] [-2.75632355e-01 9.61263094e-01 2.62538633e-04 -1.57482233e+01] [ 1.03208647e-03 2.28219848e-05 9.99999467e-01 -4.14229760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.644203822 meters Centerline goodness [0,1] 0.9998273592438335 Centerline is valid? [True, True] Translation: X:126.02, Y:-15.76, Z:-4.15 [[ 9.62274672e-01 2.72079690e-01 -3.13137808e-04 1.26017930e+02] [-2.72079678e-01 9.62274723e-01 8.18186601e-05 -1.57572700e+01] [ 3.23585793e-04 6.46640954e-06 9.99999948e-01 -4.14723062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.674203822 meters Centerline goodness [0,1] 0.9999571780323306 Centerline is valid? [True, True] Translation: X:126.05, Y:-15.77, Z:-4.14 [[ 9.63357163e-01 2.68220212e-01 9.45305001e-04 1.26045109e+02] [-2.68220096e-01 9.63357627e-01 -2.49992750e-04 -1.57715426e+01] [-9.77719891e-04 -1.27174915e-05 9.99999522e-01 -4.14350375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.704203822 meters Centerline goodness [0,1] 0.9999573114768094 Centerline is valid? [True, True] Translation: X:126.07, Y:-15.79, Z:-4.15 [[ 9.65617744e-01 2.59960612e-01 1.68915446e-03 1.26070122e+02] [-2.59960229e-01 9.65619221e-01 -4.46422662e-04 -1.57892689e+01] [-1.74713233e-03 -8.03933750e-06 9.99998474e-01 -4.14708379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.734203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.10, Y:-15.80, Z:-4.14 [[ 9.66606574e-01 2.56261541e-01 1.32418883e-03 1.26095825e+02] [-2.56261295e-01 9.66607481e-01 -3.54802249e-04 -1.58024410e+01] [-1.37089300e-03 3.61584284e-06 9.99999060e-01 -4.14394708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.764203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.12, Y:-15.82, Z:-4.15 [[ 9.67491950e-01 2.52901681e-01 2.58088086e-04 1.26122049e+02] [-2.52901670e-01 9.67491984e-01 -7.31362909e-05 -1.58156109e+01] [-2.68194445e-04 5.48786468e-06 9.99999964e-01 -4.14724578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.79420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.15, Y:-15.83, Z:-4.15 [[ 9.68809952e-01 2.47799967e-01 -1.56599355e-03 1.26146762e+02] [-2.47799626e-01 9.68811218e-01 4.11065996e-04 -1.58341756e+01] [ 1.61901426e-03 -1.01922125e-05 9.99998689e-01 -4.15231973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.82420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.17, Y:-15.85, Z:-4.15 [[ 9.69298312e-01 2.45882396e-01 -1.62155727e-03 1.26172938e+02] [-2.45882029e-01 9.69299668e-01 4.24896625e-04 -1.58454648e+01] [ 1.67624952e-03 -1.31397897e-05 9.99998595e-01 -4.15341485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.85420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.20, Y:-15.86, Z:-4.15 [[ 9.69689107e-01 2.44335826e-01 -1.74332159e-03 1.26200296e+02] [-2.44335406e-01 9.69690674e-01 4.53268506e-04 -1.58550042e+01] [ 1.80123243e-03 -1.35743434e-05 9.99998378e-01 -4.15237342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.88420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.23, Y:-15.87, Z:-4.15 [[ 9.69752726e-01 2.44077042e-01 -2.45937727e-03 1.26226870e+02] [-2.44076201e-01 9.69755844e-01 6.41138387e-04 -1.58657459e+01] [ 2.54148264e-03 -2.14702375e-05 9.99996770e-01 -4.15283890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.914203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.26, Y:-15.87, Z:-4.15 [[ 9.69556495e-01 2.44860235e-01 -1.91520506e-03 1.26255069e+02] [-2.44859729e-01 9.69558387e-01 4.97684672e-04 -1.58733921e+01] [ 1.97876631e-03 -1.35768150e-05 9.99998042e-01 -4.15042255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.944203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.28, Y:-15.88, Z:-4.15 [[ 9.68314586e-01 2.49733230e-01 -4.20245179e-04 1.26283646e+02] [-2.49733206e-01 9.68314677e-01 1.09600964e-04 -1.58784832e+01] [ 4.34300577e-04 -1.17903638e-06 9.99999906e-01 -4.15078170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.974203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.31, Y:-15.88, Z:-4.15 [[ 9.67468711e-01 2.52990671e-01 1.19683273e-04 1.26312249e+02] [-2.52990668e-01 9.67468718e-01 -3.65975261e-05 -1.58824892e+01] [-1.25048655e-04 5.12821026e-06 9.99999992e-01 -4.14895240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.004203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.34, Y:-15.89, Z:-4.15 [[ 9.66494350e-01 2.56687006e-01 6.72955590e-04 1.26340491e+02] [-2.56686944e-01 9.66494584e-01 -1.78386249e-04 -1.58859400e+01] [-6.96197365e-04 -3.29611376e-07 9.99999758e-01 -4.14984786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.034203822 meters Centerline goodness [0,1] 0.999893696183693 Centerline is valid? [True, True] Translation: X:126.37, Y:-15.88, Z:-4.15 [[ 9.64309607e-01 2.64768539e-01 2.14536157e-03 1.26370614e+02] [-2.64767931e-01 9.64311993e-01 -5.67507864e-04 -1.58835937e+01] [-2.21905612e-03 -2.07696581e-05 9.99997538e-01 -4.14769944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.064203822 meters Centerline goodness [0,1] 0.9998723295599625 Centerline is valid? [True, True] Translation: X:126.40, Y:-15.88, Z:-4.15 [[ 9.63212694e-01 2.68736680e-01 1.37968684e-03 1.26400011e+02] [-2.68736436e-01 9.63213682e-01 -3.62723378e-04 -1.58840440e+01] [-1.42641032e-03 -2.13923633e-05 9.99998982e-01 -4.15228833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.094203822 meters Centerline goodness [0,1] 0.9999146976030027 Centerline is valid? [True, True] Translation: X:126.43, Y:-15.89, Z:-4.15 [[ 9.62088399e-01 2.72737643e-01 -3.00423883e-04 1.26430232e+02] [-2.72737632e-01 9.62088446e-01 7.87451069e-05 -1.58896753e+01] [ 3.10511102e-04 6.17714460e-06 9.99999952e-01 -4.15106332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.124203822 meters Centerline goodness [0,1] 0.9987189068004697 Centerline is valid? [True, True] Translation: X:126.46, Y:-15.89, Z:-4.16 [[ 9.59909861e-01 2.80306714e-01 -1.09765590e-03 1.26460597e+02] [-2.80306569e-01 9.59910488e-01 2.87135515e-04 -1.58883163e+01] [ 1.13413742e-03 3.20559472e-05 9.99999356e-01 -4.15660656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.154203822 meters Centerline goodness [0,1] 0.9941379604365621 Centerline is valid? [True, True] Translation: X:126.49, Y:-15.89, Z:-4.15 [[ 9.58776373e-01 2.84161687e-01 5.84406262e-05 1.26489894e+02] [-2.84161686e-01 9.58776374e-01 -1.63829484e-05 -1.58908425e+01] [-6.06868981e-05 -8.99003009e-07 9.99999998e-01 -4.15490265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.184203822 meters Centerline goodness [0,1] 0.9830383640577952 Centerline is valid? [True, True] Translation: X:126.52, Y:-15.89, Z:-4.15 [[ 9.56456406e-01 2.91872417e-01 1.27877969e-03 1.26521264e+02] [-2.91872229e-01 9.56457260e-01 -3.35592398e-04 -1.58900185e+01] [-1.32104829e-03 -5.22607802e-05 9.99999126e-01 -4.14956592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.214203822 meters Centerline goodness [0,1] 0.9574981160512435 Centerline is valid? [True, True] Translation: X:126.55, Y:-15.89, Z:-4.15 [[ 9.55328121e-01 2.95542194e-01 1.72973948e-03 1.26551000e+02] [-2.95541856e-01 9.55329684e-01 -4.53607565e-04 -1.58894727e+01] [-1.78653165e-03 -7.78663552e-05 9.99998401e-01 -4.15119389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.244203822 meters Centerline goodness [0,1] 0.974608123691966 Centerline is valid? [True, True] Translation: X:126.58, Y:-15.90, Z:-4.15 [[ 9.54330621e-01 2.98743025e-01 2.38139427e-03 1.26580138e+02] [-2.98742395e-01 9.54333585e-01 -6.24328359e-04 -1.58972640e+01] [-2.45915827e-03 -1.15607757e-04 9.99996970e-01 -4.14777561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.274203822 meters Centerline goodness [0,1] 0.9288794944060125 Centerline is valid? [True, False] Translation: X:126.50, Y:-15.87, Z:-4.15 [[ 9.53658815e-01 3.00852301e-01 4.77042913e-03 1.26495859e+02] [-3.00853797e-01 9.53670183e-01 -4.17892926e-04 -1.58711610e+01] [-4.67514007e-03 -1.03667445e-03 9.99988534e-01 -4.14635496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.304203822 meters Centerline goodness [0,1] 0.932111815832746 Centerline is valid? [False, False] Translation: X:126.41, Y:-15.84, Z:-4.14 [[ 9.53897358e-01 3.00072226e-01 6.04072552e-03 1.26412378e+02] [-3.00059687e-01 9.53916002e-01 -2.90612084e-03 -1.58441623e+01] [-6.63439088e-03 9.59562779e-04 9.99977532e-01 -4.14499921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.334203822 meters Centerline goodness [0,1] 0.9210910862152947 Centerline is valid? [False, False] Translation: X:126.37, Y:-15.82, Z:-4.14 [[ 9.54822742e-01 2.97145229e-01 4.27145621e-03 1.26369586e+02] [-2.97102926e-01 9.54808149e-01 -8.44093913e-03 -1.58241760e+01] [-6.58660599e-03 6.79053850e-03 9.99955252e-01 -4.14169843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.364203822 meters Centerline goodness [0,1] 0.9527261935046214 Centerline is valid? [False, True] Translation: X:126.29, Y:-15.80, Z:-4.14 [[ 9.55241821e-01 2.95784389e-01 4.96574643e-03 1.26287972e+02] [-2.95716347e-01 9.55210124e-01 -1.12009730e-02 -1.57983298e+01] [-8.05640421e-03 9.23118541e-03 9.99924937e-01 -4.14157590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.394203822 meters Centerline goodness [0,1] 0.8630497537782306 Centerline is valid? [True, False] Translation: X:126.22, Y:-15.78, Z:-4.14 [[ 9.56217577e-01 2.92603195e-01 5.59609121e-03 1.26223061e+02] [-2.92573853e-01 9.56227058e-01 -5.50952828e-03 -1.57788320e+01] [-6.96323941e-03 3.63103782e-03 9.99969164e-01 -4.13768644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.424203822 meters Centerline goodness [0,1] 0.8865502754966328 Centerline is valid? [False, False] Translation: X:126.16, Y:-15.76, Z:-4.13 [[ 9.57420171e-01 2.88619939e-01 6.71920609e-03 1.26158225e+02] [-2.88623745e-01 9.57442510e-01 -4.17253322e-04 -1.57606101e+01] [-6.55368117e-03 -1.53983568e-03 9.99977339e-01 -4.13489372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.454203822 meters Centerline goodness [0,1] 0.9494088534506462 Centerline is valid? [False, False] Translation: X:126.08, Y:-15.73, Z:-4.13 [[ 9.58228916e-01 2.85923381e-01 6.72054323e-03 1.26076982e+02] [-2.85896778e-01 9.58249124e-01 -4.65286515e-03 -1.57340997e+01] [-7.77031759e-03 2.53712827e-03 9.99966592e-01 -4.13459430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.484203822 meters Centerline goodness [0,1] 0.9475529676774975 Centerline is valid? [False, False] Translation: X:126.02, Y:-15.71, Z:-4.13 [[ 9.60432265e-01 2.78469249e-01 4.97412942e-03 1.26016862e+02] [-2.78454207e-01 9.60443091e-01 -3.51049956e-03 -1.57141896e+01] [-5.75493441e-03 1.98652978e-03 9.99981467e-01 -4.13347352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.514203822 meters Centerline goodness [0,1] 0.963834097451754 Centerline is valid? [False, True] Translation: X:125.95, Y:-15.70, Z:-4.13 [[ 9.61975633e-01 2.73084692e-01 5.25672032e-03 1.25953347e+02] [-2.73089533e-01 9.61988598e-01 2.12252692e-04 -1.56984457e+01] [-4.99894205e-03 -1.63973721e-03 9.99986161e-01 -4.13186811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.54420382200001 meters Centerline goodness [0,1] 0.9496133064943321 Centerline is valid? [True, False] Translation: X:125.91, Y:-15.68, Z:-4.13 [[ 9.63495738e-01 2.67714331e-01 2.23591625e-03 1.25912693e+02] [-2.67689853e-01 9.63473179e-01 -7.84701182e-03 -1.56796188e+01] [-4.25500286e-03 6.96203036e-03 9.99966712e-01 -4.13008306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.57420382200002 meters Centerline goodness [0,1] 0.9923798982567421 Centerline is valid? [False, True] Translation: X:125.85, Y:-15.66, Z:-4.13 [[ 9.65428202e-01 2.60664542e-01 1.54359159e-03 1.25852300e+02] [-2.60649269e-01 9.65410849e-01 -6.62205488e-03 -1.56592075e+01] [-3.21633496e-03 5.99078252e-03 9.99976883e-01 -4.12975688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.60420382200002 meters Centerline goodness [0,1] 0.996099132905086 Centerline is valid? [True, True] Translation: X:125.88, Y:-15.67, Z:-4.13 [[ 9.66037181e-01 2.58385499e-01 3.01647621e-03 1.25880072e+02] [-2.58384580e-01 9.66041885e-01 -6.97438632e-04 -1.56697292e+01] [-3.09425039e-03 -1.05659287e-04 9.99995207e-01 -4.13097497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.63420382200002 meters Centerline goodness [0,1] 0.9988427662173457 Centerline is valid? [True, True] Translation: X:125.91, Y:-15.68, Z:-4.13 [[ 9.66562515e-01 2.56412318e-01 3.10274527e-03 1.25907872e+02] [-2.56411333e-01 9.66567490e-01 -7.17976706e-04 -1.56780115e+01] [-3.18311078e-03 -1.01609678e-04 9.99994929e-01 -4.13002191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.664203822 meters Centerline goodness [0,1] 0.9996123613653494 Centerline is valid? [True, True] Translation: X:125.94, Y:-15.69, Z:-4.13 [[ 9.67764231e-01 2.51838065e-01 3.15945422e-03 1.25936162e+02] [-2.51837023e-01 9.67769384e-01 -7.29898978e-04 -1.56875478e+01] [-3.24143941e-03 -8.92974207e-05 9.99994743e-01 -4.13180506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.694203822 meters Centerline goodness [0,1] 0.9998510891763104 Centerline is valid? [True, True] Translation: X:125.96, Y:-15.70, Z:-4.13 [[ 9.68397319e-01 2.49398403e-01 2.65884642e-03 1.25964172e+02] [-2.49397650e-01 9.68400967e-01 -6.16358500e-04 -1.56957299e+01] [-2.72854827e-03 -6.62301293e-05 9.99996275e-01 -4.13346543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.724203822 meters Centerline goodness [0,1] 0.999786734911495 Centerline is valid? [True, True] Translation: X:125.99, Y:-15.70, Z:-4.14 [[ 9.69046515e-01 2.46869742e-01 2.04519086e-03 1.25991048e+02] [-2.46869285e-01 9.69048672e-01 -4.76972296e-04 -1.57014999e+01] [-2.09963952e-03 -4.26864640e-05 9.99997795e-01 -4.13643709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.754203822 meters Centerline goodness [0,1] 0.9998102346764501 Centerline is valid? [True, True] Translation: X:126.02, Y:-15.71, Z:-4.14 [[ 9.70213419e-01 2.42237211e-01 2.65599346e-03 1.26018704e+02] [-2.42236439e-01 9.70217054e-01 -6.13576771e-04 -1.57084239e+01] [-2.72552128e-03 -4.80779814e-05 9.99996285e-01 -4.13809650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.784203822 meters Centerline goodness [0,1] 0.9999144183658187 Centerline is valid? [True, True] Translation: X:126.05, Y:-15.72, Z:-4.14 [[ 9.70808391e-01 2.39850503e-01 1.67450665e-03 1.26045884e+02] [-2.39850185e-01 9.70809835e-01 -3.91087577e-04 -1.57169863e+01] [-1.71943008e-03 -2.19596290e-05 9.99998522e-01 -4.13798579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.814203822 meters Centerline goodness [0,1] 0.9999786875812536 Centerline is valid? [True, True] Translation: X:126.07, Y:-15.72, Z:-4.14 [[ 9.71353979e-01 2.37636631e-01 5.28615501e-04 1.26072106e+02] [-2.37636598e-01 9.71354123e-01 -1.25816342e-04 -1.57235675e+01] [-5.43371418e-04 -3.40618537e-06 9.99999852e-01 -4.14201777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.844203822 meters Centerline goodness [0,1] 0.9999572539967513 Centerline is valid? [True, True] Translation: X:126.10, Y:-15.73, Z:-4.14 [[ 9.72111373e-01 2.34519671e-01 -4.86557023e-05 1.26099897e+02] [-2.34519671e-01 9.72111374e-01 5.95765993e-06 -1.57306298e+01] [ 4.86959500e-05 5.61921030e-06 9.99999999e-01 -4.14341493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.874203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.13, Y:-15.74, Z:-4.14 [[ 9.72388748e-01 2.33365334e-01 8.62926744e-04 1.26127029e+02] [-2.33365247e-01 9.72389130e-01 -2.01211374e-04 -1.57359706e+01] [-8.86056346e-04 -5.72143644e-06 9.99999607e-01 -4.14476727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.904203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.16, Y:-15.74, Z:-4.14 [[ 9.72692075e-01 2.32097005e-01 1.05245681e-03 1.26155934e+02] [-2.32096876e-01 9.72692644e-01 -2.44949382e-04 -1.57417232e+01] [-1.08056902e-03 -6.01161497e-06 9.99999416e-01 -4.13903578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.934203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.18, Y:-15.75, Z:-4.14 [[ 9.72878881e-01 2.31311003e-01 1.37931380e-03 1.26183731e+02] [-2.31310783e-01 9.72879859e-01 -3.18977099e-04 -1.57462050e+01] [-1.41568953e-03 -8.72407193e-06 9.99998998e-01 -4.14318333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.964203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.21, Y:-15.75, Z:-4.14 [[ 9.73234690e-01 2.29807800e-01 1.61686277e-03 1.26211651e+02] [-2.29807491e-01 9.73236033e-01 -3.76618312e-04 -1.57539790e+01] [-1.66013893e-03 -5.02917091e-06 9.99998622e-01 -4.14322190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.994203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.24, Y:-15.76, Z:-4.15 [[ 9.73913037e-01 2.26921175e-01 4.20958298e-04 1.26238152e+02] [-2.26921154e-01 9.73913128e-01 -9.85194097e-05 -1.57607013e+01] [-4.32332953e-04 4.24994819e-07 9.99999907e-01 -4.14586207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.024203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.27, Y:-15.77, Z:-4.15 [[ 9.74295558e-01 2.25272851e-01 -5.55104508e-04 1.26266709e+02] [-2.25272818e-01 9.74295716e-01 1.22020577e-04 -1.57656351e+01] [ 5.68323867e-04 6.16585079e-06 9.99999838e-01 -4.14613996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.054203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.29, Y:-15.77, Z:-4.15 [[ 9.74753043e-01 2.23285254e-01 -4.47101922e-04 1.26292486e+02] [-2.23285232e-01 9.74753146e-01 9.83517526e-05 -1.57722576e+01] [ 4.57774501e-04 3.96258630e-06 9.99999895e-01 -4.14978700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.084203822 meters Centerline goodness [0,1] 0.9999574640039133 Centerline is valid? [True, True] Translation: X:126.32, Y:-15.78, Z:-4.15 [[ 9.75231851e-01 2.21185070e-01 4.79636819e-05 1.26320192e+02] [-2.21185070e-01 9.75231852e-01 -1.58215730e-05 -1.57825101e+01] [-5.02752061e-05 4.82085159e-06 9.99999999e-01 -4.14962513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.114203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.35, Y:-15.79, Z:-4.15 [[ 9.75789076e-01 2.18710337e-01 1.21170642e-03 1.26347178e+02] [-2.18710155e-01 9.75789828e-01 -2.82783058e-04 -1.57936230e+01] [-1.24421838e-03 1.09241202e-05 9.99999226e-01 -4.14516026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.144203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.38, Y:-15.80, Z:-4.14 [[ 9.75737440e-01 2.18934604e-01 2.02174489e-03 1.26375945e+02] [-2.18934104e-01 9.75739534e-01 -4.67902131e-04 -1.57974184e+01] [-2.07513639e-03 1.39207203e-05 9.99997847e-01 -4.14398957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.174203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.40, Y:-15.80, Z:-4.15 [[ 9.75195151e-01 2.21342048e-01 1.45429976e-03 1.26404312e+02] [-2.21341795e-01 9.75196236e-01 -3.34510755e-04 -1.57966585e+01] [-1.49226894e-03 4.31594786e-06 9.99998887e-01 -4.15360834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.204203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.43, Y:-15.80, Z:-4.15 [[ 9.74792030e-01 2.23113614e-01 9.01552553e-04 1.26434043e+02] [-2.23113514e-01 9.74792447e-01 -2.11325614e-04 -1.57983661e+01] [-9.25976241e-04 4.84996576e-06 9.99999571e-01 -4.14901293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.234203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.46, Y:-15.80, Z:-4.15 [[ 9.74308667e-01 2.25215241e-01 8.46264515e-04 1.26462533e+02] [-2.25215153e-01 9.74309035e-01 -1.99395694e-04 -1.57993956e+01] [-8.69430112e-04 3.68136003e-06 9.99999622e-01 -4.14872024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.264203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.49, Y:-15.80, Z:-4.15 [[ 9.73277939e-01 2.29630254e-01 -1.48106061e-05 1.26491559e+02] [-2.29630254e-01 9.73277939e-01 1.46552979e-06 -1.57961920e+01] [ 1.47513661e-05 1.97459541e-06 1.00000000e+00 -4.15285609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.29420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.52, Y:-15.80, Z:-4.15 [[ 9.73322628e-01 2.29440760e-01 -1.57178882e-05 1.26518378e+02] [-2.29440760e-01 9.73322628e-01 -2.51202611e-06 -1.58021150e+01] [ 1.47222151e-05 6.05133608e-06 1.00000000e+00 -4.15369499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.32420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.55, Y:-15.80, Z:-4.16 [[ 9.72898906e-01 2.31230597e-01 -3.58920684e-04 1.26546205e+02] [-2.31230583e-01 9.72898973e-01 7.99352690e-05 -1.58033739e+01] [ 3.67677044e-04 5.22450317e-06 9.99999932e-01 -4.16191307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.35420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.57, Y:-15.81, Z:-4.16 [[ 9.72559255e-01 2.32654688e-01 -5.40829497e-04 1.26574981e+02] [-2.32654658e-01 9.72559405e-01 1.17806923e-04 -1.58087554e+01] [ 5.53397147e-04 1.12522889e-05 9.99999847e-01 -4.15611270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.38420382200002 meters Centerline goodness [0,1] 0.9999787347155769 Centerline is valid? [True, True] Translation: X:126.60, Y:-15.81, Z:-4.16 [[ 9.72125052e-01 2.34462529e-01 4.54277254e-04 1.26604175e+02] [-2.34462505e-01 9.72125158e-01 -1.05370364e-04 -1.58067040e+01] [-4.66319750e-04 -4.07781205e-06 9.99999891e-01 -4.15926810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.414203822 meters Centerline goodness [0,1] 0.9999785066414478 Centerline is valid? [True, True] Translation: X:126.63, Y:-15.81, Z:-4.16 [[ 9.72146181e-01 2.34374556e-01 6.08966015e-04 1.26631963e+02] [-2.34374511e-01 9.72146371e-01 -1.44605632e-04 -1.58124170e+01] [-6.25895982e-04 -2.14829969e-06 9.99999804e-01 -4.15729401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.444203822 meters Centerline goodness [0,1] 0.9999359726816776 Centerline is valid? [True, True] Translation: X:126.66, Y:-15.82, Z:-4.16 [[ 9.72440876e-01 2.33139777e-01 2.14170969e-03 1.26659788e+02] [-2.33139264e-01 9.72443234e-01 -4.89748241e-04 -1.58166601e+01] [-2.19687089e-03 -2.30654106e-05 9.99997587e-01 -4.15828117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.474203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.69, Y:-15.82, Z:-4.16 [[ 9.72710036e-01 2.32010270e-01 2.53405052e-03 1.26688264e+02] [-2.32009543e-01 9.72713336e-01 -5.81029735e-04 -1.58227838e+01] [-2.59970960e-03 -2.27504497e-05 9.99996620e-01 -4.15726446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.504203822 meters Centerline goodness [0,1] 0.9999785913080711 Centerline is valid? [True, True] Translation: X:126.72, Y:-15.83, Z:-4.16 [[ 9.72997011e-01 2.30802479e-01 2.65202886e-03 1.26716443e+02] [-2.30801681e-01 9.73000625e-01 -6.07397587e-04 -1.58300370e+01] [-2.72061461e-03 -2.10966824e-05 9.99996299e-01 -4.15781421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.534203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.74, Y:-15.85, Z:-4.16 [[ 9.73796762e-01 2.27412845e-01 1.80693382e-03 1.26741879e+02] [-2.27412464e-01 9.73798438e-01 -4.15836616e-04 -1.58452106e+01] [-1.85415592e-03 -5.97892321e-06 9.99998281e-01 -4.16219392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.564203822 meters Centerline goodness [0,1] 0.999978624257193 Centerline is valid? [True, True] Translation: X:126.77, Y:-15.86, Z:-4.16 [[ 9.74174866e-01 2.25791813e-01 1.17819832e-03 1.26769348e+02] [-2.25791648e-01 9.74175578e-01 -2.72305919e-04 -1.58559811e+01] [-1.20925648e-03 -7.53758702e-07 9.99999269e-01 -4.16366417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.594203822 meters Centerline goodness [0,1] 0.9999575245295842 Centerline is valid? [True, True] Translation: X:126.80, Y:-15.86, Z:-4.17 [[ 9.74422765e-01 2.24721884e-01 5.91057985e-04 1.26795700e+02] [-2.24721842e-01 9.74422945e-01 -1.36169173e-04 -1.58626488e+01] [-6.06540655e-04 -1.37297287e-07 9.99999816e-01 -4.16979208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.624203822 meters Centerline goodness [0,1] 0.999978728835191 Centerline is valid? [True, True] Translation: X:126.82, Y:-15.87, Z:-4.17 [[ 9.74606500e-01 2.23924426e-01 1.45287196e-04 1.26823731e+02] [-2.23924423e-01 9.74606511e-01 -3.80462124e-05 -1.58688972e+01] [-1.50117324e-04 4.54673426e-06 9.99999989e-01 -4.16724829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.654203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.85, Y:-15.88, Z:-4.17 [[ 9.74619983e-01 2.23865399e-01 -4.13761887e-04 1.26851169e+02] [-2.23865382e-01 9.74620071e-01 8.84025396e-05 -1.58767619e+01] [ 4.23050910e-04 6.46808115e-06 9.99999910e-01 -4.16768876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.684203822 meters Centerline goodness [0,1] 0.9999785334020265 Centerline is valid? [True, True] Translation: X:126.88, Y:-15.88, Z:-4.17 [[ 9.74246197e-01 2.25478983e-01 -1.89090664e-03 1.26879645e+02] [-2.25478588e-01 9.74248032e-01 4.22335686e-04 -1.58800264e+01] [ 1.93743989e-03 1.49000225e-05 9.99998123e-01 -4.16970812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.714203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.91, Y:-15.88, Z:-4.17 [[ 9.73942869e-01 2.26790505e-01 -1.16377664e-03 1.26909182e+02] [-2.26790356e-01 9.73943564e-01 2.60092285e-04 -1.58829906e+01] [ 1.19243923e-03 1.06182920e-05 9.99999289e-01 -4.16637588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.744203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.94, Y:-15.89, Z:-4.17 [[ 9.73565894e-01 2.28406268e-01 -1.61604999e-04 1.26938281e+02] [-2.28406266e-01 9.73565908e-01 3.10239569e-05 -1.58862017e+01] [ 1.64419184e-04 6.70772813e-06 9.99999986e-01 -4.16525638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.774203822 meters Centerline goodness [0,1] 0.9998514714931359 Centerline is valid? [True, True] Translation: X:126.97, Y:-15.89, Z:-4.17 [[ 9.73180163e-01 2.30043076e-01 7.43758378e-04 1.26966111e+02] [-2.30043014e-01 9.73180447e-01 -1.69875590e-04 -1.58870222e+01] [-7.62889815e-04 -5.77686423e-06 9.99999709e-01 -4.17415158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.804203822 meters Centerline goodness [0,1] 0.9999783521669481 Centerline is valid? [True, True] Translation: X:126.99, Y:-15.89, Z:-4.17 [[ 9.72750418e-01 2.31849139e-01 1.61245136e-03 1.26993815e+02] [-2.31848845e-01 9.72751755e-01 -3.69816491e-04 -1.58903268e+01] [-1.65425653e-03 -1.41058390e-05 9.99998632e-01 -4.16634304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.834203822 meters Centerline goodness [0,1] 0.9999786557384047 Centerline is valid? [True, True] Translation: X:127.02, Y:-15.89, Z:-4.17 [[ 9.72783675e-01 2.31704713e-01 2.20155419e-03 1.27022027e+02] [-2.31704176e-01 9.72786166e-01 -4.99230170e-04 -1.58920665e+01] [-2.25731544e-03 -2.44663408e-05 9.99997452e-01 -4.17274418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.864203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.05, Y:-15.90, Z:-4.17 [[ 9.73067702e-01 2.30509686e-01 2.12885786e-03 1.27050096e+02] [-2.30509177e-01 9.73070031e-01 -4.84753840e-04 -1.58983461e+01] [-2.18326823e-03 -1.90229672e-05 9.99997616e-01 -4.17144937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.894203822 meters Centerline goodness [0,1] 0.9999150652935556 Centerline is valid? [True, True] Translation: X:127.08, Y:-15.90, Z:-4.17 [[ 9.73269162e-01 2.29664444e-01 1.17573165e-03 1.27077406e+02] [-2.29664290e-01 9.73269872e-01 -2.66643559e-04 -1.59029964e+01] [-1.20554273e-03 -1.05076206e-05 9.99999273e-01 -4.17468222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.924203822 meters Centerline goodness [0,1] 0.9999786971155894 Centerline is valid? [True, True] Translation: X:127.11, Y:-15.91, Z:-4.17 [[ 9.73510037e-01 2.28641969e-01 1.02899445e-03 1.27105034e+02] [-2.28641845e-01 9.73510580e-01 -2.37495431e-04 -1.59094928e+01] [-1.05603840e-03 -4.06700350e-06 9.99999442e-01 -4.17390406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.954203822 meters Centerline goodness [0,1] 0.9999357629223588 Centerline is valid? [True, True] Translation: X:127.13, Y:-15.92, Z:-4.18 [[ 9.73902148e-01 2.26958392e-01 2.11985691e-03 1.27131946e+02] [-2.26957887e-01 9.73904455e-01 -4.78779865e-04 -1.59171354e+01] [-2.17320120e-03 -1.48335070e-05 9.99997638e-01 -4.17510926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.984203822 meters Centerline goodness [0,1] 0.9999785577974569 Centerline is valid? [True, True] Translation: X:127.16, Y:-15.93, Z:-4.17 [[ 9.74103903e-01 2.26096283e-01 1.43436375e-03 1.27159127e+02] [-2.26096050e-01 9.74104959e-01 -3.24499543e-04 -1.59256958e+01] [-1.47058899e-03 -8.20770706e-06 9.99998919e-01 -4.17400802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.014203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.19, Y:-15.93, Z:-4.18 [[ 9.74295652e-01 2.25272979e-01 -2.60335623e-04 1.27187238e+02] [-2.25272973e-01 9.74295687e-01 5.31970657e-05 -1.59324881e+01] [ 2.65627736e-04 6.81691000e-06 9.99999965e-01 -4.17586532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.04420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.22, Y:-15.94, Z:-4.18 [[ 9.74453066e-01 2.24586036e-01 -1.52776658e-03 1.27215493e+02] [-2.24585783e-01 9.74454264e-01 3.37686998e-04 -1.59386135e+01] [ 1.56457844e-03 1.40545218e-05 9.99998776e-01 -4.17765605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.07420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.24, Y:-15.94, Z:-4.18 [[ 9.74426437e-01 2.24706422e-01 -3.77913827e-04 1.27243414e+02] [-2.24706407e-01 9.74426510e-01 8.29203877e-05 -1.59425863e+01] [ 3.86881995e-04 4.11984023e-06 9.99999925e-01 -4.17821132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.10420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.27, Y:-15.95, Z:-4.18 [[ 9.74402681e-01 2.24808418e-01 7.68012569e-04 1.27272157e+02] [-2.24808347e-01 9.74402984e-01 -1.77544266e-04 -1.59467978e+01] [-7.88267184e-04 3.43972658e-07 9.99999689e-01 -4.17703966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.13420382200002 meters Centerline goodness [0,1] 0.9999786274551711 Centerline is valid? [True, True] Translation: X:127.30, Y:-15.96, Z:-4.18 [[ 9.74724466e-01 2.23395634e-01 2.57010648e-03 1.27298961e+02] [-2.23394886e-01 9.74727855e-01 -5.78246969e-04 -1.59553183e+01] [-2.63433222e-03 -1.05171743e-05 9.99996530e-01 -4.17572216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.164203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.33, Y:-15.97, Z:-4.17 [[ 9.75091011e-01 2.21777304e-01 3.51392109e-03 1.27326360e+02] [-2.21775887e-01 9.75097343e-01 -7.92656698e-04 -1.59659284e+01] [-3.60220839e-03 -6.39054760e-06 9.99993512e-01 -4.17445994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.194203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.35, Y:-15.98, Z:-4.17 [[ 9.75774686e-01 2.18677501e-01 6.62668441e-03 1.27354408e+02] [-2.18672453e-01 9.75797187e-01 -1.48580977e-03 -1.59794444e+01] [-6.79121318e-03 7.42221077e-07 9.99976939e-01 -4.16975318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.224203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.38, Y:-15.99, Z:-4.17 [[ 9.76130853e-01 2.17046217e-01 7.71344854e-03 1.27381997e+02] [-2.17039306e-01 9.76161329e-01 -1.73208634e-03 -1.59879983e+01] [-7.90551297e-03 1.66213940e-05 9.99968751e-01 -4.16770114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.254203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.41, Y:-16.00, Z:-4.17 [[ 9.76487343e-01 2.15423905e-01 8.06284512e-03 1.27408369e+02] [-2.15416308e-01 9.76520630e-01 -1.80940865e-03 -1.59962790e+01] [-8.26332447e-03 2.99963142e-05 9.99965858e-01 -4.16721934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.284203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.43, Y:-16.01, Z:-4.17 [[ 9.77217288e-01 2.12069497e-01 8.53821735e-03 1.27434052e+02] [-2.12060893e-01 9.77254586e-01 -1.91110320e-03 -1.60100564e+01] [-8.74929875e-03 5.69410857e-05 9.99961723e-01 -4.16834531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.314203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.46, Y:-16.02, Z:-4.17 [[ 9.77675497e-01 2.09930006e-01 8.94509789e-03 1.27460600e+02] [-2.09920458e-01 9.77716414e-01 -2.00381660e-03 -1.60220317e+01] [-9.16643026e-03 8.13233503e-05 9.99957984e-01 -4.16800204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.344203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.49, Y:-16.04, Z:-4.17 [[ 9.78231309e-01 2.07311893e-01 9.23496186e-03 1.27486844e+02] [-2.07301616e-01 9.78274894e-01 -2.06697858e-03 -1.60353080e+01] [-9.46284057e-03 1.07560641e-04 9.99955221e-01 -4.16854934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.374203822 meters Centerline goodness [0,1] 0.999978601844521 Centerline is valid? [True, True] Translation: X:127.51, Y:-16.06, Z:-4.17 [[ 9.79209209e-01 2.02632727e-01 9.45005460e-03 1.27512349e+02] [-2.02621788e-01 9.79254796e-01 -2.11091836e-03 -1.60552608e+01] [-9.68175243e-03 1.52243735e-04 9.99953119e-01 -4.16632919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.404203822 meters Centerline goodness [0,1] 0.9999365804160325 Centerline is valid? [True, True] Translation: X:127.54, Y:-16.07, Z:-4.17 [[ 9.79542467e-01 2.00988216e-01 1.00145674e-02 1.27537230e+02] [-2.00975847e-01 9.79593643e-01 -2.23694479e-03 -1.60691161e+01] [-1.02598061e-02 1.78496245e-04 9.99947351e-01 -4.16816172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.434203822 meters Centerline goodness [0,1] 0.999978838218178 Centerline is valid? [True, True] Translation: X:127.56, Y:-16.08, Z:-4.17 [[ 9.79709301e-01 2.00084112e-01 1.16633824e-02 1.27562778e+02] [-2.00067291e-01 9.79778700e-01 -2.60353415e-03 -1.60847973e+01] [-1.19484595e-02 2.17245306e-04 9.99928591e-01 -4.16654550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.464203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.59, Y:-16.09, Z:-4.17 [[ 9.79518722e-01 2.01039135e-01 1.12400559e-02 1.27591176e+02] [-2.01023581e-01 9.79583191e-01 -2.50854449e-03 -1.60917643e+01] [-1.15148854e-02 1.97650007e-04 9.99933682e-01 -4.16715952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.494203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.62, Y:-16.10, Z:-4.17 [[ 9.79111677e-01 2.03087239e-01 9.79272703e-03 1.27619529e+02] [-2.03075538e-01 9.79160636e-01 -2.18524923e-03 -1.60971621e+01] [-1.00324491e-02 1.50939726e-04 9.99949662e-01 -4.16970577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.524203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.65, Y:-16.10, Z:-4.17 [[ 9.77963278e-01 2.08661820e-01 6.93337491e-03 1.27647822e+02] [-2.08656071e-01 9.77987853e-01 -1.55041269e-03 -1.61004861e+01] [-7.10426838e-03 6.95559088e-05 9.99974762e-01 -4.17456326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.554203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.68, Y:-16.10, Z:-4.18 [[ 9.77219493e-01 2.12137847e-01 6.29260401e-03 1.27676293e+02] [-2.12133190e-01 9.77239752e-01 -1.40625563e-03 -1.61033041e+01] [-6.44770282e-03 3.93502479e-05 9.99979213e-01 -4.17595504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.584203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.70, Y:-16.11, Z:-4.18 [[ 9.76444364e-01 2.15695098e-01 5.65948470e-03 1.27704140e+02] [-2.15691389e-01 9.76460765e-01 -1.26500547e-03 -1.61061176e+01] [-5.79912024e-03 1.45053444e-05 9.99983185e-01 -4.17652493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.614203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.73, Y:-16.11, Z:-4.18 [[ 9.75702540e-01 2.19032271e-01 5.42385542e-03 1.27731308e+02] [-2.19028935e-01 9.75717615e-01 -1.20878241e-03 -1.61102244e+01] [-5.55691363e-03 -8.56921294e-06 9.99984560e-01 -4.17872522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.644203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.76, Y:-16.11, Z:-4.18 [[ 9.74547205e-01 2.24115475e-01 5.47713581e-03 1.27760015e+02] [-2.24112144e-01 9.74562596e-01 -1.22232890e-03 -1.61148600e+01] [-5.61175452e-03 -3.62754356e-05 9.99984253e-01 -4.17673886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.674203822 meters Centerline goodness [0,1] 0.9999787310972627 Centerline is valid? [True, True] Translation: X:127.79, Y:-16.12, Z:-4.18 [[ 9.73991913e-01 2.26494122e-01 6.33775604e-03 1.27787140e+02] [-2.26489741e-01 9.74012530e-01 -1.41009988e-03 -1.61151565e+01] [-6.49243313e-03 -6.20108396e-05 9.99978922e-01 -4.18244786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.704203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.82, Y:-16.12, Z:-4.18 [[ 9.73137341e-01 2.30110956e-01 7.25698374e-03 1.27815539e+02] [-2.30105326e-01 9.73164394e-01 -1.61285031e-03 -1.61181718e+01] [-7.43337271e-03 -1.00345742e-04 9.99972367e-01 -4.17987295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.734203822 meters Centerline goodness [0,1] 0.9999786775837438 Centerline is valid? [True, True] Translation: X:127.84, Y:-16.12, Z:-4.18 [[ 9.72852357e-01 2.31313289e-01 7.24251968e-03 1.27843685e+02] [-2.31307698e-01 9.72879310e-01 -1.61177206e-03 -1.61236918e+01] [-7.41892184e-03 -1.07234307e-04 9.99972474e-01 -4.18101938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.764203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.87, Y:-16.13, Z:-4.18 [[ 9.72603806e-01 2.32356493e-01 7.23164398e-03 1.27871508e+02] [-2.32350977e-01 9.72630683e-01 -1.60547078e-03 -1.61281137e+01] [-7.40676039e-03 -1.18792553e-04 9.99972563e-01 -4.18390863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.79420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.90, Y:-16.14, Z:-4.18 [[ 9.72139340e-01 2.34276697e-01 7.71582430e-03 1.27898850e+02] [-2.34270462e-01 9.72169949e-01 -1.71490785e-03 -1.61365965e+01] [-7.90285546e-03 -1.40460340e-04 9.99968762e-01 -4.18259584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.82420382200002 meters Centerline goodness [0,1] 0.9998938879456706 Centerline is valid? [True, True] Translation: X:127.93, Y:-16.14, Z:-4.19 [[ 9.71932168e-01 2.35150100e-01 7.23125062e-03 1.27926216e+02] [-2.35144669e-01 9.71959058e-01 -1.60434909e-03 -1.61408665e+01] [-7.40574239e-03 -1.41071542e-04 9.99972567e-01 -4.18714036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.85420382200002 meters Centerline goodness [0,1] 0.9999786402375206 Centerline is valid? [True, True] Translation: X:127.95, Y:-16.15, Z:-4.19 [[ 9.71860468e-01 2.35463148e-01 6.65861316e-03 1.27953796e+02] [-2.35458540e-01 9.71883269e-01 -1.47882775e-03 -1.61499570e+01] [-6.81960416e-03 -1.30613100e-04 9.99976738e-01 -4.18673026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.88420382200002 meters Centerline goodness [0,1] 0.999957111916454 Centerline is valid? [True, True] Translation: X:127.98, Y:-16.16, Z:-4.19 [[ 9.71892447e-01 2.35320799e-01 7.01383660e-03 1.27980984e+02] [-2.35315689e-01 9.71917745e-01 -1.55681765e-03 -1.61574173e+01] [-7.18322382e-03 -1.37406475e-04 9.99974191e-01 -4.18677028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.914203822 meters Centerline goodness [0,1] 0.9998510289642256 Centerline is valid? [True, True] Translation: X:128.01, Y:-16.16, Z:-4.19 [[ 9.71928321e-01 2.35171129e-01 7.06252034e-03 1.28008357e+02] [-2.35165966e-01 9.71953970e-01 -1.56461229e-03 -1.61593524e+01] [-7.23239632e-03 -1.40173427e-04 9.99973836e-01 -4.19223915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.944203822 meters Centerline goodness [0,1] 0.9999150652935556 Centerline is valid? [True, True] Translation: X:128.04, Y:-16.17, Z:-4.19 [[ 9.72012708e-01 2.34837881e-01 6.51654657e-03 1.28035997e+02] [-2.34833476e-01 9.72034544e-01 -1.44382313e-03 -1.61683103e+01] [-6.67337273e-03 -1.26888850e-04 9.99977725e-01 -4.19103955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.974203822 meters Centerline goodness [0,1] 0.999957670165933 Centerline is valid? [True, True] Translation: X:128.06, Y:-16.18, Z:-4.19 [[ 9.72322470e-01 2.33560695e-01 6.19809200e-03 1.28062498e+02] [-2.33556703e-01 9.72342218e-01 -1.37050993e-03 -1.61770302e+01] [-6.34676378e-03 -1.15028331e-04 9.99979852e-01 -4.19369140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.004203822 meters Centerline goodness [0,1] 0.9999575776858628 Centerline is valid? [True, True] Translation: X:128.09, Y:-16.19, Z:-4.19 [[ 9.72533425e-01 2.32688249e-01 5.90899311e-03 1.28088749e+02] [-2.32684591e-01 9.72551371e-01 -1.30874594e-03 -1.61868323e+01] [-6.05132915e-03 -1.02132472e-04 9.99981685e-01 -4.19447534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.034203822 meters Centerline goodness [0,1] 0.9999573415237608 Centerline is valid? [True, True] Translation: X:128.12, Y:-16.20, Z:-4.20 [[ 9.72635443e-01 2.32299238e-01 4.16639048e-03 1.28115230e+02] [-2.32297424e-01 9.72644364e-01 -9.20992262e-04 -1.61965781e+01] [-4.26636202e-03 -7.20520575e-05 9.99990896e-01 -4.19911332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.064203822 meters Centerline goodness [0,1] 0.9999355960584788 Centerline is valid? [True, True] Translation: X:128.14, Y:-16.20, Z:-4.20 [[ 9.72558938e-01 2.32630478e-01 3.48907883e-03 1.28142890e+02] [-2.32629199e-01 9.72565194e-01 -7.73675955e-04 -1.62046992e+01] [-3.57333723e-03 -5.92161475e-05 9.99993614e-01 -4.19817988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.094203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.17, Y:-16.21, Z:-4.20 [[ 9.72479019e-01 2.32967786e-01 3.25092841e-03 1.28171002e+02] [-2.32966678e-01 9.72484451e-01 -7.20674631e-04 -1.62111776e+01] [-3.32937130e-03 -5.65170332e-05 9.99994456e-01 -4.19911939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.124203822 meters Centerline goodness [0,1] 0.9999355988236052 Centerline is valid? [True, True] Translation: X:128.20, Y:-16.22, Z:-4.20 [[ 9.72341034e-01 2.33550702e-01 2.64263402e-03 1.28198608e+02] [-2.33549979e-01 9.72344624e-01 -5.83183850e-04 -1.62166371e+01] [-2.70575398e-03 -5.01335322e-05 9.99996338e-01 -4.20173553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.154203822 meters Centerline goodness [0,1] 0.9998282598428577 Centerline is valid? [True, True] Translation: X:128.23, Y:-16.22, Z:-4.20 [[ 9.72039661e-01 2.34810586e-01 1.69920324e-03 1.28227356e+02] [-2.34810282e-01 9.72041145e-01 -3.78788489e-04 -1.62206146e+01] [-1.74063901e-03 -3.07929566e-05 9.99998485e-01 -4.20301558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.184203822 meters Centerline goodness [0,1] 0.9998282598428577 Centerline is valid? [True, True] Translation: X:128.25, Y:-16.23, Z:-4.20 [[ 9.72085286e-01 2.34621632e-01 1.69912007e-03 1.28254233e+02] [-2.34621327e-01 9.72086770e-01 -3.79169400e-04 -1.62263243e+01] [-1.74065349e-03 -3.00648126e-05 9.99998485e-01 -4.20385497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.214203822 meters Centerline goodness [0,1] 0.9999784710112166 Centerline is valid? [True, True] Translation: X:128.28, Y:-16.23, Z:-4.21 [[ 9.71898127e-01 2.35387640e-01 2.58628294e-03 1.28282392e+02] [-2.35386955e-01 9.71901567e-01 -5.70497452e-04 -1.62286235e+01] [-2.64790049e-03 -5.43118602e-05 9.99996493e-01 -4.20548835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.244203822 meters Centerline goodness [0,1] 0.9998930183794424 Centerline is valid? [True, True] Translation: X:128.31, Y:-16.24, Z:-4.20 [[ 9.71795079e-01 2.35791485e-01 4.08657339e-03 1.28310011e+02] [-2.35789779e-01 9.71803667e-01 -9.01375504e-04 -1.62365902e+01] [-4.18388368e-03 -8.76199570e-05 9.99991244e-01 -4.20463475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.274203822 meters Centerline goodness [0,1] 0.999679658302189 Centerline is valid? [True, True] Translation: X:128.34, Y:-16.25, Z:-4.21 [[ 9.71977183e-01 2.35052419e-01 3.27362495e-03 1.28337875e+02] [-2.35051318e-01 9.71982693e-01 -7.22518228e-04 -1.62452911e+01] [-3.35173646e-03 -6.71986293e-05 9.99994381e-01 -4.20741545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.304203822 meters Centerline goodness [0,1] 0.9998296059637912 Centerline is valid? [True, True] Translation: X:128.36, Y:-16.25, Z:-4.21 [[ 9.72288203e-01 2.33760077e-01 3.44613096e-03 1.28364418e+02] [-2.33758862e-01 9.72294308e-01 -7.56798567e-04 -1.62542369e+01] [-3.52756281e-03 -6.97373327e-05 9.99993776e-01 -4.20771613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.334203822 meters Centerline goodness [0,1] 0.999957373345553 Centerline is valid? [True, True] Translation: X:128.39, Y:-16.27, Z:-4.20 [[ 9.72883350e-01 2.31237497e-01 5.21608149e-03 1.28392104e+02] [-2.31234689e-01 9.72897328e-01 -1.14336594e-03 -1.62668119e+01] [-5.33910082e-03 -9.37772938e-05 9.99985743e-01 -4.20276083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.364203822 meters Centerline goodness [0,1] 0.9998731527874675 Centerline is valid? [True, True] Translation: X:128.42, Y:-16.27, Z:-4.20 [[ 9.72954636e-01 2.30931731e-01 5.46003096e-03 1.28419640e+02] [-2.30928645e-01 9.72969952e-01 -1.19757939e-03 -1.62724209e+01] [-5.58900514e-03 -9.56871329e-05 9.99984377e-01 -4.20461281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.394203822 meters Centerline goodness [0,1] 0.9999571330589849 Centerline is valid? [True, True] Translation: X:128.45, Y:-16.28, Z:-4.20 [[ 9.73049160e-01 2.30536444e-01 5.31789580e-03 1.28447044e+02] [-2.30533494e-01 9.73063688e-01 -1.16948147e-03 -1.62799573e+01] [-5.44425940e-03 -8.79901432e-05 9.99985176e-01 -4.20404417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.424203822 meters Centerline goodness [0,1] 0.999978660748581 Centerline is valid? [True, True] Translation: X:128.47, Y:-16.29, Z:-4.20 [[ 9.73023671e-01 2.30607339e-01 6.72244692e-03 1.28474320e+02] [-2.30602651e-01 9.73046886e-01 -1.47498277e-03 -1.62891744e+01] [-6.88139789e-03 -1.15020928e-04 9.99976316e-01 -4.20000302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.454203822 meters Centerline goodness [0,1] 0.9999786301955337 Centerline is valid? [True, True] Translation: X:128.50, Y:-16.29, Z:-4.20 [[ 9.72918372e-01 2.31040149e-01 7.09161426e-03 1.28500804e+02] [-2.31034969e-01 9.72944209e-01 -1.55235022e-03 -1.62935117e+01] [-7.25840025e-03 -1.28100836e-04 9.99973649e-01 -4.20168101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.484203822 meters Centerline goodness [0,1] 0.9999567726457302 Centerline is valid? [True, True] Translation: X:128.53, Y:-16.30, Z:-4.20 [[ 9.72741268e-01 2.31832079e-01 5.32096655e-03 1.28528308e+02] [-2.31829161e-01 9.72755816e-01 -1.16725552e-03 -1.63014263e+01] [-5.44660844e-03 -9.81175957e-05 9.99985162e-01 -4.20257957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.514203822 meters Centerline goodness [0,1] 0.9999357009666288 Centerline is valid? [True, True] Translation: X:128.56, Y:-16.30, Z:-4.21 [[ 9.72670810e-01 2.32139875e-01 4.75118544e-03 1.28555656e+02] [-2.32137568e-01 9.72682410e-01 -1.03901556e-03 -1.63037050e+01] [-4.86259145e-03 -9.23085232e-05 9.99988173e-01 -4.20952974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.54420382200001 meters Centerline goodness [0,1] 0.9998936848819903 Centerline is valid? [True, True] Translation: X:128.58, Y:-16.31, Z:-4.21 [[ 9.72624059e-01 2.32321773e-01 5.38828973e-03 1.28583648e+02] [-2.32318797e-01 9.72638979e-01 -1.18033840e-03 -1.63097046e+01] [-5.51507893e-03 -1.03775459e-04 9.99984786e-01 -4.20894261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.57420382200002 meters Centerline goodness [0,1] 0.9998728059018062 Centerline is valid? [True, True] Translation: X:128.61, Y:-16.31, Z:-4.21 [[ 9.72533052e-01 2.32681470e-01 6.22873317e-03 1.28613047e+02] [-2.32677514e-01 9.72552990e-01 -1.36254434e-03 -1.63117659e+01] [-6.37481188e-03 -1.24166743e-04 9.99979673e-01 -4.20809553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.60420382200002 meters Centerline goodness [0,1] 0.9998724055801292 Centerline is valid? [True, True] Translation: X:128.64, Y:-16.32, Z:-4.21 [[ 9.72508946e-01 2.32788668e-01 5.98212150e-03 1.28641532e+02] [-2.32785025e-01 9.72527337e-01 -1.30783317e-03 -1.63177612e+01] [-6.12222543e-03 -1.20668848e-04 9.99981252e-01 -4.20854488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.63420382200002 meters Centerline goodness [0,1] 0.9999363476268274 Centerline is valid? [True, True] Translation: X:128.67, Y:-16.33, Z:-4.21 [[ 9.72626467e-01 2.32298958e-01 5.91188764e-03 1.28668014e+02] [-2.32295393e-01 9.72644427e-01 -1.29218302e-03 -1.63257060e+01] [-6.05033733e-03 -1.16492858e-04 9.99981690e-01 -4.20788551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.664203822 meters Centerline goodness [0,1] 0.9999151049515037 Centerline is valid? [True, True] Translation: X:128.69, Y:-16.33, Z:-4.21 [[ 9.72849387e-01 2.31336066e-01 6.90618773e-03 1.28694976e+02] [-2.31331216e-01 9.72873890e-01 -1.50395067e-03 -1.63319603e+01] [-7.06676775e-03 -1.34499318e-04 9.99975021e-01 -4.20840620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.694203822 meters Centerline goodness [0,1] 0.9999150797189139 Centerline is valid? [True, True] Translation: X:128.72, Y:-16.34, Z:-4.21 [[ 9.72993580e-01 2.30736126e-01 6.65833090e-03 1.28722436e+02] [-2.30731586e-01 9.73016354e-01 -1.45272577e-03 -1.63384188e+01] [-6.81386118e-03 -1.22794399e-04 9.99976778e-01 -4.20867176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.724203822 meters Centerline goodness [0,1] 0.99997842363044 Centerline is valid? [True, True] Translation: X:128.75, Y:-16.35, Z:-4.21 [[ 9.73296173e-01 2.29473506e-01 6.03893814e-03 1.28749391e+02] [-2.29469749e-01 9.73314902e-01 -1.31717668e-03 -1.63467288e+01] [-6.18004564e-03 -1.03750603e-04 9.99980898e-01 -4.20688850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.754203822 meters Centerline goodness [0,1] 0.9999785692855 Centerline is valid? [True, True] Translation: X:128.78, Y:-16.35, Z:-4.21 [[ 9.73476271e-01 2.28689667e-01 6.70718362e-03 1.28777615e+02] [-2.28685033e-01 9.73499370e-01 -1.46026455e-03 -1.63524971e+01] [-6.86338644e-03 -1.12299620e-04 9.99976440e-01 -4.20728009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.784203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.81, Y:-16.36, Z:-4.21 [[ 9.73749769e-01 2.27514237e-01 6.97557098e-03 1.28805116e+02] [-2.27509224e-01 9.73774748e-01 -1.51457079e-03 -1.63569935e+01] [-7.13722129e-03 -1.12193781e-04 9.99974523e-01 -4.21003513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.814203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.83, Y:-16.37, Z:-4.21 [[ 9.74674654e-01 2.23549521e-01 5.91023767e-03 1.28832157e+02] [-2.23545851e-01 9.74692570e-01 -1.28286464e-03 -1.63688085e+01] [-6.04744852e-03 -7.08334618e-05 9.99981712e-01 -4.21276752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.844203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.86, Y:-16.38, Z:-4.21 [[ 9.75258356e-01 2.20996192e-01 5.64116742e-03 1.28859588e+02] [-2.20992789e-01 9.75274669e-01 -1.22734092e-03 -1.63796983e+01] [-5.77292536e-03 -4.96828347e-05 9.99983335e-01 -4.21411268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.874203822 meters Centerline goodness [0,1] 0.9999577265329416 Centerline is valid? [True, True] Translation: X:128.89, Y:-16.39, Z:-4.22 [[ 9.75823844e-01 2.18491706e-01 5.40367198e-03 1.28886060e+02] [-2.18488565e-01 9.75838805e-01 -1.17210722e-03 -1.63883948e+01] [-5.52920851e-03 -3.68703666e-05 9.99984713e-01 -4.22082005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.904203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.91, Y:-16.40, Z:-4.22 [[ 9.76352288e-01 2.16134640e-01 4.69329858e-03 1.28913253e+02] [-2.16132245e-01 9.76363568e-01 -1.01763357e-03 -1.63982815e+01] [-4.80231162e-03 -2.08042974e-05 9.99988469e-01 -4.21686923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.934203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.94, Y:-16.41, Z:-4.22 [[ 9.77232298e-01 2.12152919e-01 2.85924586e-03 1.28940326e+02] [-2.12152002e-01 9.77236481e-01 -6.23892131e-04 -1.64086373e+01] [-2.92651990e-03 3.09280728e-06 9.99995718e-01 -4.21856011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.964203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.97, Y:-16.42, Z:-4.22 [[ 9.77530053e-01 2.10780812e-01 2.53849674e-03 1.28966538e+02] [-2.10780093e-01 9.77533349e-01 -5.50892085e-04 -1.64171064e+01] [-2.59758270e-03 3.44899215e-06 9.99996626e-01 -4.22413647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.994203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.99, Y:-16.42, Z:-4.22 [[ 9.77830167e-01 2.09384007e-01 2.54993008e-03 1.28993408e+02] [-2.09383276e-01 9.77833492e-01 -5.53505612e-04 -1.64244936e+01] [-2.60930226e-03 7.32177181e-06 9.99996596e-01 -4.22216684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.024203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.02, Y:-16.43, Z:-4.22 [[ 9.77779953e-01 2.09610257e-01 3.14701372e-03 1.29020607e+02] [-2.09609148e-01 9.77785017e-01 -6.82007584e-04 -1.64293021e+01] [-3.22005865e-03 7.21048064e-06 9.99994816e-01 -4.22293603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.054203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.05, Y:-16.43, Z:-4.22 [[ 9.77735317e-01 2.09822029e-01 2.89230533e-03 1.29048523e+02] [-2.09821094e-01 9.77739595e-01 -6.26477921e-04 -1.64345175e+01] [-2.95937031e-03 5.66292023e-06 9.99995621e-01 -4.22212671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.084203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.08, Y:-16.44, Z:-4.22 [[ 9.77696584e-01 2.09993346e-01 3.49052170e-03 1.29077066e+02] [-2.09991986e-01 9.77702815e-01 -7.55603411e-04 -1.64400172e+01] [-3.57136458e-03 5.76928873e-06 9.99993623e-01 -4.21932694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.114203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.10, Y:-16.45, Z:-4.22 [[ 9.77761297e-01 2.09688011e-01 3.71272907e-03 1.29104140e+02] [-2.09686471e-01 9.77768346e-01 -8.03743234e-04 -1.64454038e+01] [-3.79872428e-03 7.35997162e-06 9.99992785e-01 -4.22273455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.144203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.13, Y:-16.45, Z:-4.22 [[ 9.77815538e-01 2.09434555e-01 3.73378840e-03 1.29131816e+02] [-2.09432995e-01 9.77822667e-01 -8.08365518e-04 -1.64509332e+01] [-3.82028260e-03 8.45387743e-06 9.99992703e-01 -4.22167090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.174203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.16, Y:-16.46, Z:-4.23 [[ 9.77810863e-01 2.09451463e-01 4.00010450e-03 1.29158707e+02] [-2.09449676e-01 9.77819045e-01 -8.65208304e-04 -1.64578512e+01] [-4.09259751e-03 8.18948409e-06 9.99991625e-01 -4.22526371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.204203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.19, Y:-16.46, Z:-4.22 [[ 9.77807989e-01 2.09459048e-01 4.29458440e-03 1.29186881e+02] [-2.09456992e-01 9.77817420e-01 -9.28110728e-04 -1.64649249e+01] [-4.39372063e-03 7.98335335e-06 9.99990348e-01 -4.22391340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.234203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.22, Y:-16.47, Z:-4.22 [[ 9.77423533e-01 2.11226971e-01 5.13841919e-03 1.29215666e+02] [-2.11224055e-01 9.77437040e-01 -1.10997499e-03 -1.64671868e+01] [-5.25693790e-03 -4.42061648e-07 9.99986182e-01 -4.22011898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.264203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.24, Y:-16.47, Z:-4.22 [[ 9.77078511e-01 2.12813723e-01 5.28232380e-03 1.29243129e+02] [-2.12810660e-01 9.77092790e-01 -1.14169261e-03 -1.64698019e+01] [-5.40428835e-03 -8.61149486e-06 9.99985397e-01 -4.22127605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.29420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.27, Y:-16.47, Z:-4.22 [[ 9.76701756e-01 2.14533003e-01 5.41025044e-03 1.29271442e+02] [-2.14529804e-01 9.76716740e-01 -1.17164651e-03 -1.64724829e+01] [-5.53563902e-03 -1.63107687e-05 9.99984678e-01 -4.22085751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.32420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.30, Y:-16.47, Z:-4.22 [[ 9.75440723e-01 2.20146472e-01 7.13625904e-03 1.29300535e+02] [-2.20141102e-01 9.75466825e-01 -1.53932044e-03 -1.64669963e+01] [-7.30005991e-03 -6.94680818e-05 9.99973352e-01 -4.21993067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.35420382200002 meters Centerline goodness [0,1] 0.9999359480752397 Centerline is valid? [True, True] Translation: X:129.33, Y:-16.47, Z:-4.22 [[ 9.74819384e-01 2.22872386e-01 7.42071829e-03 1.29329644e+02] [-2.22866663e-01 9.74847624e-01 -1.60001129e-03 -1.64652421e+01] [-7.59066793e-03 -9.41086995e-05 9.99971186e-01 -4.22197864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.38420382200002 meters Centerline goodness [0,1] 0.9999356816671312 Centerline is valid? [True, True] Translation: X:129.36, Y:-16.47, Z:-4.22 [[ 9.74344863e-01 2.24958818e-01 6.75414910e-03 1.29358759e+02] [-2.24954117e-01 9.74368267e-01 -1.45776859e-03 -1.64661247e+01] [-6.90896645e-03 -9.90043074e-05 9.99976128e-01 -4.22307206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.414203822 meters Centerline goodness [0,1] 0.9998732117574963 Centerline is valid? [True, True] Translation: X:129.39, Y:-16.47, Z:-4.23 [[ 9.73871808e-01 2.26998246e-01 6.74523319e-03 1.29386538e+02] [-2.26993624e-01 9.73895160e-01 -1.45313091e-03 -1.64669315e+01] [-6.89900812e-03 -1.15961697e-04 9.99976195e-01 -4.22687330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.444203822 meters Centerline goodness [0,1] 0.9999574232554179 Centerline is valid? [True, True] Translation: X:129.41, Y:-16.47, Z:-4.23 [[ 9.74047305e-01 2.26254527e-01 6.38254698e-03 1.29412672e+02] [-2.26250380e-01 9.74068210e-01 -1.37391870e-03 -1.64715328e+01] [-6.52789143e-03 -1.05791873e-04 9.99978687e-01 -4.22787251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.474203822 meters Centerline goodness [0,1] 0.999957203689042 Centerline is valid? [True, True] Translation: X:129.44, Y:-16.48, Z:-4.23 [[ 9.74383586e-01 2.24816280e-01 5.85381151e-03 1.29440405e+02] [-2.24812751e-01 9.74401166e-01 -1.26261182e-03 -1.64779998e+01] [-5.98781646e-03 -8.57432420e-05 9.99982069e-01 -4.22749454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.504203822 meters Centerline goodness [0,1] 0.9999787310972627 Centerline is valid? [True, True] Translation: X:129.47, Y:-16.49, Z:-4.23 [[ 9.75442717e-01 2.20181972e-01 5.60404913e-03 1.29467329e+02] [-2.20178687e-01 9.75458813e-01 -1.20418984e-03 -1.64868423e+01] [-5.73166001e-03 -5.92739659e-05 9.99983572e-01 -4.23086985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.534203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.49, Y:-16.50, Z:-4.23 [[ 9.76109661e-01 2.17179700e-01 6.55043216e-03 1.29494341e+02] [-2.17175128e-01 9.76131638e-01 -1.40996324e-03 -1.64981196e+01] [-6.70029947e-03 -4.63122096e-05 9.99977552e-01 -4.22741063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.564203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.52, Y:-16.51, Z:-4.22 [[ 9.77250805e-01 2.11877184e-01 9.42992443e-03 1.29521820e+02] [-2.11867530e-01 9.77296300e-01 -2.02260600e-03 -1.65104740e+01] [-9.64437432e-03 -2.13014571e-05 9.99953492e-01 -4.22460634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.594203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.55, Y:-16.52, Z:-4.23 [[ 9.77749881e-01 2.09564649e-01 9.37164064e-03 1.29547167e+02] [-2.09554998e-01 9.77794793e-01 -2.01112712e-03 -1.65188684e+01] [-9.58500257e-03 2.50516797e-06 9.99954063e-01 -4.22702544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.624203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.57, Y:-16.53, Z:-4.23 [[ 9.78213990e-01 2.07415091e-01 8.73898673e-03 1.29574131e+02] [-2.07406627e-01 9.78253024e-01 -1.87398369e-03 -1.65289671e+01] [-8.93763269e-03 2.06333078e-05 9.99960058e-01 -4.22908615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.654203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.60, Y:-16.54, Z:-4.23 [[ 9.78589269e-01 2.05673506e-01 7.83914840e-03 1.29601761e+02] [-2.05666640e-01 9.78620666e-01 -1.68084512e-03 -1.65383949e+01] [-8.01725793e-03 3.26056825e-05 9.99967861e-01 -4.22816764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.684203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.63, Y:-16.55, Z:-4.23 [[ 9.78903348e-01 2.04187000e-01 7.47688646e-03 1.29628521e+02] [-2.04180711e-01 9.78931901e-01 -1.60313860e-03 -1.65459129e+01] [-7.64670274e-03 4.26817512e-05 9.99970763e-01 -4.23270321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.714203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.66, Y:-16.55, Z:-4.23 [[ 9.78978329e-01 2.03822795e-01 7.59599568e-03 1.29655927e+02] [-2.03816295e-01 9.79007797e-01 -1.62836636e-03 -1.65513341e+01] [-7.76843718e-03 4.59476791e-05 9.99969824e-01 -4.23357998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.744203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.68, Y:-16.56, Z:-4.23 [[ 9.78969616e-01 2.03852796e-01 7.90749155e-03 1.29682926e+02] [-2.03845761e-01 9.79001550e-01 -1.69419414e-03 -1.65587436e+01] [-8.08681269e-03 4.66559540e-05 9.99967300e-01 -4.23362637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.774203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.71, Y:-16.56, Z:-4.23 [[ 9.78869241e-01 2.04323727e-01 8.17455141e-03 1.29711307e+02] [-2.04316232e-01 9.78903372e-01 -1.75064871e-03 -1.65634064e+01] [-8.35979501e-03 4.34626359e-05 9.99965055e-01 -4.23055947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.804203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.74, Y:-16.57, Z:-4.23 [[ 9.78635116e-01 2.05430045e-01 8.47388829e-03 1.29739683e+02] [-2.05422037e-01 9.78671802e-01 -1.81426292e-03 -1.65669823e+01] [-8.66585963e-03 3.47780125e-05 9.99962450e-01 -4.23062288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.834203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.77, Y:-16.57, Z:-4.24 [[ 9.78076220e-01 2.08100703e-01 7.81054233e-03 1.29767322e+02] [-2.08093979e-01 9.78107406e-01 -1.67293786e-03 -1.65688752e+01] [-7.98768884e-03 1.09339047e-05 9.99968098e-01 -4.23620957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.864203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.80, Y:-16.57, Z:-4.24 [[ 9.77724806e-01 2.09760419e-01 7.40069643e-03 1.29795875e+02] [-2.09754420e-01 9.77752815e-01 -1.58633392e-03 -1.65720420e+01] [-7.56880183e-03 -1.33076525e-06 9.99971356e-01 -4.23708087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.894203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.82, Y:-16.57, Z:-4.24 [[ 9.77310238e-01 2.11703680e-01 6.80075168e-03 1.29824955e+02] [-2.11698666e-01 9.77333900e-01 -1.45711363e-03 -1.65746255e+01] [-6.95508148e-03 -1.56579890e-05 9.99975813e-01 -4.23722741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.924203822 meters Centerline goodness [0,1] 0.9999787681267118 Centerline is valid? [True, True] Translation: X:129.85, Y:-16.57, Z:-4.24 [[ 9.76453644e-01 2.15651761e-01 5.70950843e-03 1.29853876e+02] [-2.15648312e-01 9.76470336e-01 -1.22036468e-03 -1.65712170e+01] [-5.83833940e-03 -3.96163163e-05 9.99982956e-01 -4.24271878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.954203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.88, Y:-16.57, Z:-4.25 [[ 9.76136529e-01 2.17096933e-01 5.13787311e-03 1.29881759e+02] [-2.17094161e-01 9.76150050e-01 -1.09798019e-03 -1.65727355e+01] [-5.25370323e-03 -4.36236813e-05 9.99986198e-01 -4.24510773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.984203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.91, Y:-16.58, Z:-4.24 [[ 9.75909180e-01 2.18113537e-01 5.26859681e-03 1.29910351e+02] [-2.18110623e-01 9.75923400e-01 -1.12850640e-03 -1.65765260e+01] [-5.38788944e-03 -4.78171826e-05 9.99985484e-01 -4.24161390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.014203822 meters Centerline goodness [0,1] 0.9999571642750054 Centerline is valid? [True, True] Translation: X:129.94, Y:-16.58, Z:-4.24 [[ 9.75553003e-01 2.19682001e-01 6.01310650e-03 1.29937081e+02] [-2.19678260e-01 9.75571532e-01 -1.28393715e-03 -1.65794021e+01] [-6.14827340e-03 -6.84000312e-05 9.99981097e-01 -4.24144457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.04420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.96, Y:-16.58, Z:-4.24 [[ 9.75467635e-01 2.20059409e-01 6.06215210e-03 1.29964872e+02] [-2.20055621e-01 9.75486469e-01 -1.29321804e-03 -1.65839710e+01] [-6.19813215e-03 -7.25182951e-05 9.99980789e-01 -4.24449850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.07420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.99, Y:-16.59, Z:-4.24 [[ 9.75329798e-01 2.20618863e-01 7.68780679e-03 1.29993077e+02] [-2.20612797e-01 9.75360091e-01 -1.63895164e-03 -1.65869442e+01] [-7.85996358e-03 -9.75101862e-05 9.99969105e-01 -4.24330851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.10420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.02, Y:-16.59, Z:-4.24 [[ 9.75371138e-01 2.20436043e-01 7.68729493e-03 1.30019985e+02] [-2.20429952e-01 9.75401426e-01 -1.64135721e-03 -1.65924641e+01] [-7.86001272e-03 -9.35775996e-05 9.99969105e-01 -4.24414743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.13420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.05, Y:-16.60, Z:-4.24 [[ 9.75465930e-01 2.20006941e-01 7.94765245e-03 1.30048269e+02] [-2.20000435e-01 9.75498302e-01 -1.69471750e-03 -1.65979432e+01] [-8.12577109e-03 -9.53478147e-05 9.99966981e-01 -4.24366536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.164203822 meters Centerline goodness [0,1] 0.9999785591766723 Centerline is valid? [True, True] Translation: X:130.08, Y:-16.60, Z:-4.24 [[ 9.75571318e-01 2.19534217e-01 8.08270523e-03 1.30076136e+02] [-2.19527479e-01 9.75604796e-01 -1.72261308e-03 -1.66026948e+01] [-8.26369850e-03 -9.38439880e-05 9.99965851e-01 -4.24326145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.194203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.10, Y:-16.61, Z:-4.24 [[ 9.75614097e-01 2.19331066e-01 8.42718792e-03 1.30103514e+02] [-2.19323776e-01 9.75650487e-01 -1.79108732e-03 -1.66063659e+01] [-8.61483109e-03 -1.00872635e-04 9.99962887e-01 -4.24388762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.224203822 meters Centerline goodness [0,1] 0.9999784816663797 Centerline is valid? [True, True] Translation: X:130.13, Y:-16.61, Z:-4.25 [[ 9.75669754e-01 2.19127628e-01 7.18426022e-03 1.30131730e+02] [-2.19122306e-01 9.75696201e-01 -1.52935909e-03 -1.66106232e+01] [-7.34478024e-03 -8.20822637e-05 9.99973023e-01 -4.24613603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.254203822 meters Centerline goodness [0,1] 0.9999787996353537 Centerline is valid? [True, True] Translation: X:130.16, Y:-16.61, Z:-4.25 [[ 9.75678285e-01 2.19124208e-01 6.03871661e-03 1.30158781e+02] [-2.19120462e-01 9.75696970e-01 -1.28329258e-03 -1.66143913e+01] [-6.17315797e-03 -7.11256654e-05 9.99980943e-01 -4.25404324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.284203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.19, Y:-16.62, Z:-4.25 [[ 9.75782054e-01 2.18673163e-01 5.60636975e-03 1.30186262e+02] [-2.18669916e-01 9.75798157e-01 -1.19321055e-03 -1.66241383e+01] [-5.73160839e-03 -6.16309646e-05 9.99983572e-01 -4.25017447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.314203822 meters Centerline goodness [0,1] 0.9999570843078772 Centerline is valid? [True, True] Translation: X:130.21, Y:-16.63, Z:-4.25 [[ 9.75777264e-01 2.18691982e-01 5.70501281e-03 1.30212979e+02] [-2.18688640e-01 9.75793940e-01 -1.21085798e-03 -1.66259774e+01] [-5.83172186e-03 -6.60938107e-05 9.99982993e-01 -4.25332400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.344203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.24, Y:-16.63, Z:-4.25 [[ 9.75730470e-01 2.18914785e-01 5.13486761e-03 1.30241390e+02] [-2.18912071e-01 9.75743979e-01 -1.09170459e-03 -1.66286553e+01] [-5.24930643e-03 -5.88750684e-05 9.99986221e-01 -4.25465569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.374203822 meters Centerline goodness [0,1] 0.999892765993952 Centerline is valid? [True, True] Translation: X:130.27, Y:-16.63, Z:-4.25 [[ 9.75624806e-01 2.19389927e-01 4.92935563e-03 1.30270662e+02] [-2.19387434e-01 9.75637257e-01 -1.04744925e-03 -1.66292775e+01] [-5.03906282e-03 -5.95212165e-05 9.99987302e-01 -4.25449932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.404203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.30, Y:-16.63, Z:-4.25 [[ 9.75640449e-01 2.19309543e-01 5.38867504e-03 1.30298911e+02] [-2.19306571e-01 9.75655329e-01 -1.14363556e-03 -1.66333833e+01] [-5.50829971e-03 -6.59947310e-05 9.99984827e-01 -4.25482994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.434203822 meters Centerline goodness [0,1] 0.9999786821292289 Centerline is valid? [True, True] Translation: X:130.33, Y:-16.64, Z:-4.26 [[ 9.75657039e-01 2.19227504e-01 5.71347454e-03 1.30326941e+02] [-2.19224185e-01 9.75673765e-01 -1.20845631e-03 -1.66370802e+01] [-5.83941408e-03 -7.34928947e-05 9.99982948e-01 -4.25844111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.464203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.35, Y:-16.65, Z:-4.26 [[ 9.75818867e-01 2.18521741e-01 5.07808737e-03 1.30354941e+02] [-2.18519096e-01 9.75832078e-01 -1.07674524e-03 -1.66453162e+01] [-5.19065280e-03 -5.89507452e-05 9.99986527e-01 -4.25806581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.494203822 meters Centerline goodness [0,1] 0.9999783559153284 Centerline is valid? [True, True] Translation: X:130.38, Y:-16.65, Z:-4.26 [[ 9.75993991e-01 2.17744328e-01 4.81021172e-03 1.30382267e+02] [-2.17741943e-01 9.76005843e-01 -1.02033087e-03 -1.66530871e+01] [-4.91696600e-03 -5.15480525e-05 9.99987910e-01 -4.25509130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.524203822 meters Centerline goodness [0,1] 0.9999567950573546 Centerline is valid? [True, True] Translation: X:130.41, Y:-16.66, Z:-4.26 [[ 9.76057886e-01 2.17448581e-01 5.20751136e-03 1.30409256e+02] [-2.17445811e-01 9.76071776e-01 -1.09932539e-03 -1.66573884e+01] [-5.32195160e-03 -5.93463152e-05 9.99985837e-01 -4.25735206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.554203822 meters Centerline goodness [0,1] 0.9999574468085106 Centerline is valid? [True, True] Translation: X:130.44, Y:-16.66, Z:-4.26 [[ 9.76341982e-01 2.16149486e-01 5.97782153e-03 1.30437363e+02] [-2.16145815e-01 9.76360280e-01 -1.26119726e-03 -1.66595384e+01] [-6.10911464e-03 -6.07212705e-05 9.99981337e-01 -4.25887746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.584203822 meters Centerline goodness [0,1] 0.9999363989060612 Centerline is valid? [True, True] Translation: X:130.46, Y:-16.66, Z:-4.26 [[ 9.76357643e-01 2.16077860e-01 6.00934876e-03 1.30464866e+02] [-2.16074148e-01 9.76376134e-01 -1.26797118e-03 -1.66619453e+01] [-6.14136521e-03 -6.04715533e-05 9.99981140e-01 -4.25997927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.614203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.49, Y:-16.66, Z:-4.26 [[ 9.76534009e-01 2.15236327e-01 7.39270933e-03 1.30493207e+02] [-2.15230680e-01 9.76561989e-01 -1.56054779e-03 -1.66646073e+01] [-7.55532550e-03 -6.72098701e-05 9.99971456e-01 -4.25883433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.644203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.52, Y:-16.67, Z:-4.26 [[ 9.76619813e-01 2.14808939e-01 8.41787416e-03 1.30521073e+02] [-2.14801620e-01 9.76656088e-01 -1.77477891e-03 -1.66707048e+01] [-8.60260642e-03 -7.48887602e-05 9.99962994e-01 -4.25832590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.674203822 meters Centerline goodness [0,1] 0.9999786507258753 Centerline is valid? [True, True] Translation: X:130.55, Y:-16.68, Z:-4.26 [[ 9.76801730e-01 2.13969136e-01 8.69417379e-03 1.30549396e+02] [-2.13961310e-01 9.76840419e-01 -1.83144177e-03 -1.66781910e+01] [-8.88469238e-03 -7.12613197e-05 9.99960528e-01 -4.25753793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.704203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.58, Y:-16.69, Z:-4.25 [[ 9.77049103e-01 2.12834302e-01 8.75271555e-03 1.30577294e+02] [-2.12826336e-01 9.77088305e-01 -1.84251891e-03 -1.66870538e+01] [-8.94432723e-03 -6.25769257e-05 9.99959997e-01 -4.25338957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.734203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.60, Y:-16.69, Z:-4.26 [[ 9.77549668e-01 2.10485761e-01 9.61199417e-03 1.30604685e+02] [-2.10476063e-01 9.77596922e-01 -2.02104097e-03 -1.66940926e+01] [-9.82205626e-03 -4.74267654e-05 9.99951761e-01 -4.25739003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.764203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.63, Y:-16.70, Z:-4.26 [[ 9.77835912e-01 2.09168568e-01 9.24335489e-03 1.30631961e+02] [-2.09159552e-01 9.77879598e-01 -1.94236776e-03 -1.67004493e+01] [-9.44517045e-03 -3.40190163e-05 9.99955393e-01 -4.25810884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.79420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.66, Y:-16.71, Z:-4.26 [[ 9.78383117e-01 2.06628041e-01 8.44561221e-03 1.30658764e+02] [-2.06620450e-01 9.78419569e-01 -1.77124026e-03 -1.67077583e+01] [-8.62934016e-03 -1.20846253e-05 9.99962766e-01 -4.26341631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.82420382200002 meters Centerline goodness [0,1] 0.9999142219934809 Centerline is valid? [True, True] Translation: X:130.69, Y:-16.72, Z:-4.26 [[ 9.78751140e-01 2.04882903e-01 8.31872819e-03 1.30685581e+02] [-2.04875461e-01 9.78786492e-01 -1.74626623e-03 -1.67155713e+01] [-8.50003887e-03 4.85679497e-06 9.99963874e-01 -4.26097201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.85420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.71, Y:-16.72, Z:-4.26 [[ 9.79080455e-01 2.03304780e-01 8.28423919e-03 1.30711217e+02] [-2.03297379e-01 9.79115502e-01 -1.73487773e-03 -1.67237753e+01] [-8.46393594e-03 1.44207637e-05 9.99964180e-01 -4.26383208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.88420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.74, Y:-16.74, Z:-4.27 [[ 9.79685135e-01 2.00452410e-01 5.98890807e-03 1.30737683e+02] [-2.00448495e-01 9.79703440e-01 -1.25315563e-03 -1.67357675e+01] [-6.11855191e-03 2.72303311e-05 9.99981281e-01 -4.26894071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.914203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.77, Y:-16.74, Z:-4.27 [[ 9.79917401e-01 1.99335494e-01 5.21995683e-03 1.30765573e+02] [-1.99332486e-01 9.79931304e-01 -1.09550152e-03 -1.67446672e+01] [-5.33357144e-03 3.29940352e-05 9.99985776e-01 -4.27092843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.944203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.79, Y:-16.75, Z:-4.27 [[ 9.79815542e-01 1.99817589e-01 5.86819644e-03 1.30793694e+02] [-1.99813805e-01 9.79833113e-01 -1.23012528e-03 -1.67506092e+01] [-5.99565386e-03 3.27492061e-05 9.99982025e-01 -4.26651157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.974203822 meters Centerline goodness [0,1] 0.9999781959313608 Centerline is valid? [True, True] Translation: X:130.82, Y:-16.75, Z:-4.27 [[ 9.79577486e-01 2.00977438e-01 6.00147461e-03 1.30822036e+02] [-2.00973509e-01 9.79595870e-01 -1.25696345e-03 -1.67549490e+01] [-6.13164103e-03 2.51556834e-05 9.99981201e-01 -4.26513504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.004203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.85, Y:-16.76, Z:-4.27 [[ 9.79320404e-01 2.02215621e-01 6.35520010e-03 1.30849898e+02] [-2.02211269e-01 9.79341024e-01 -1.32677987e-03 -1.67595234e+01] [-6.49220379e-03 1.42495212e-05 9.99978925e-01 -4.26677118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.034203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.88, Y:-16.76, Z:-4.27 [[ 9.79028887e-01 2.03620014e-01 6.42873081e-03 1.30877483e+02] [-2.03615571e-01 9.79049994e-01 -1.34506855e-03 -1.67630510e+01] [-6.56793173e-03 7.87126583e-06 9.99978431e-01 -4.26524408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.064203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.90, Y:-16.76, Z:-4.27 [[ 9.78280537e-01 2.07178253e-01 6.66055228e-03 1.30904696e+02] [-2.07173588e-01 9.78303210e-01 -1.39039384e-03 -1.67628981e+01] [-6.80409904e-03 -1.96952896e-05 9.99976852e-01 -4.27019142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.094203822 meters Centerline goodness [0,1] 0.9999785651512229 Centerline is valid? [True, True] Translation: X:130.93, Y:-16.77, Z:-4.27 [[ 9.77968843e-01 2.08646542e-01 6.60017339e-03 1.30933525e+02] [-2.08641996e-01 9.77991114e-01 -1.37758719e-03 -1.67664914e+01] [-6.74233973e-03 -2.98359954e-05 9.99977270e-01 -4.27121411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.124203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.96, Y:-16.77, Z:-4.27 [[ 9.77721025e-01 2.09788942e-01 7.08497902e-03 1.30961340e+02] [-2.09783763e-01 9.77746694e-01 -1.47465236e-03 -1.67704752e+01] [-7.23668057e-03 -4.45149494e-05 9.99973814e-01 -4.27157899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.154203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.99, Y:-16.77, Z:-4.27 [[ 9.77555958e-01 2.10542495e-01 7.49710239e-03 1.30989559e+02] [-2.10536699e-01 9.77584705e-01 -1.56296874e-03 -1.67747159e+01] [-7.65812396e-03 -5.05257876e-05 9.99970675e-01 -4.27020453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.184203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.02, Y:-16.78, Z:-4.27 [[ 9.77355748e-01 2.11454803e-01 7.91256049e-03 1.31016599e+02] [-2.11448413e-01 9.77387775e-01 -1.64518134e-03 -1.67785942e+01] [-8.08152139e-03 -6.51709192e-05 9.99967342e-01 -4.27187456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.214203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.04, Y:-16.79, Z:-4.27 [[ 9.77410167e-01 2.11217783e-01 7.51091488e-03 1.31044048e+02] [-2.11212021e-01 9.77439023e-01 -1.56128915e-03 -1.67856849e+01] [-7.67123334e-03 -6.03756292e-05 9.99970574e-01 -4.27198192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.244203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.07, Y:-16.80, Z:-4.27 [[ 9.77575496e-01 2.10426250e-01 8.18189631e-03 1.31071258e+02] [-2.10419378e-01 9.77609733e-01 -1.70165459e-03 -1.67973430e+01] [-8.35677426e-03 -5.81336991e-05 9.99965080e-01 -4.26980546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.274203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.10, Y:-16.80, Z:-4.27 [[ 9.77669156e-01 2.09950368e-01 9.15775451e-03 1.31098527e+02] [-2.09941782e-01 9.77712043e-01 -1.89989240e-03 -1.68032437e+01] [-9.35252998e-03 -6.51290998e-05 9.99956262e-01 -4.27377196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.304203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.13, Y:-16.81, Z:-4.27 [[ 9.77798072e-01 2.09325609e-01 9.68087494e-03 1.31126338e+02] [-2.09315968e-01 9.77845993e-01 -2.00998003e-03 -1.68110029e+01] [-9.88714506e-03 -6.10071112e-05 9.99951119e-01 -4.26909361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.334203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.15, Y:-16.82, Z:-4.27 [[ 9.77914774e-01 2.08772744e-01 9.83039924e-03 1.31153006e+02] [-2.08762816e-01 9.77964180e-01 -2.03690208e-03 -1.68178337e+01] [-1.00390280e-02 -6.03051923e-05 9.99949606e-01 -4.27087586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.364203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.18, Y:-16.83, Z:-4.27 [[ 9.78021615e-01 2.08273852e-01 9.78378731e-03 1.31179600e+02] [-2.08263972e-01 9.78070549e-01 -2.02940533e-03 -1.68257915e+01] [-9.99190630e-03 -5.28081236e-05 9.99950078e-01 -4.27069369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.394203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.21, Y:-16.83, Z:-4.27 [[ 9.78088304e-01 2.07973063e-01 9.51177496e-03 1.31206809e+02] [-2.07963726e-01 9.78134552e-01 -1.97140895e-03 -1.68332666e+01] [-9.71379571e-03 -4.98921192e-05 9.99952819e-01 -4.26917877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.424203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.23, Y:-16.84, Z:-4.27 [[ 9.78068159e-01 2.08078700e-01 9.26991536e-03 1.31234433e+02] [-2.08069881e-01 9.78112085e-01 -1.91653299e-03 -1.68376576e+01] [-9.46580593e-03 -5.42902901e-05 9.99955197e-01 -4.27316400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.454203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.26, Y:-16.84, Z:-4.27 [[ 9.77841309e-01 2.09139929e-01 9.32011989e-03 1.31262694e+02] [-2.09131047e-01 9.77885722e-01 -1.92848714e-03 -1.68439535e+01] [-9.51733584e-03 -6.33720391e-05 9.99954707e-01 -4.27457075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.484203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.29, Y:-16.85, Z:-4.28 [[ 9.77725058e-01 2.09700058e-01 8.92167633e-03 1.31289187e+02] [-2.09691970e-01 9.77765760e-01 -1.84304473e-03 -1.68518752e+01] [-9.10979623e-03 -6.88128710e-05 9.99958503e-01 -4.27721619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.514203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.32, Y:-16.86, Z:-4.27 [[ 9.77299722e-01 2.11651291e-01 9.43311683e-03 1.31317391e+02] [-2.11642332e-01 9.77345242e-01 -1.94945628e-03 -1.68597988e+01] [-9.63201680e-03 -9.12437651e-05 9.99953607e-01 -4.27453266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.54420382200001 meters Centerline goodness [0,1] 0.9999787834425986 Centerline is valid? [True, True] Translation: X:131.34, Y:-16.86, Z:-4.28 [[ 9.76904673e-01 2.13417418e-01 1.05007263e-02 1.31344760e+02] [-2.13406464e-01 9.76961100e-01 -2.16590122e-03 -1.68602500e+01] [-1.07210422e-02 -1.25043850e-04 9.99942520e-01 -4.27661994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.57420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.37, Y:-16.86, Z:-4.27 [[ 9.76525584e-01 2.15153890e-01 1.03241073e-02 1.31373625e+02] [-2.15143389e-01 9.76580147e-01 -2.13039241e-03 -1.68647887e+01] [-1.05406805e-02 -1.40780755e-04 9.99944436e-01 -4.27455868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.60420382200002 meters Centerline goodness [0,1] 0.9999786566495208 Centerline is valid? [True, True] Translation: X:131.40, Y:-16.87, Z:-4.28 [[ 9.75577326e-01 2.19515644e-01 7.85898426e-03 1.31403600e+02] [-2.19509730e-01 9.75608969e-01 -1.61791155e-03 -1.68654976e+01] [-8.02245243e-03 -1.46725691e-04 9.99967809e-01 -4.27932094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.63420382200002 meters Centerline goodness [0,1] 0.9999570732544912 Centerline is valid? [True, True] Translation: X:131.43, Y:-16.87, Z:-4.28 [[ 9.75191088e-01 2.21216259e-01 8.10605332e-03 1.31432556e+02] [-2.21209998e-01 9.75224764e-01 -1.67228158e-03 -1.68689425e+01] [-8.27515981e-03 -1.62345950e-04 9.99965747e-01 -4.28011060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.664203822 meters Centerline goodness [0,1] 0.9999573406138685 Centerline is valid? [True, True] Translation: X:131.46, Y:-16.87, Z:-4.28 [[ 9.74701078e-01 2.23361381e-01 8.21599393e-03 1.31459974e+02] [-2.23355057e-01 9.74735686e-01 -1.69119279e-03 -1.68716456e+01] [-8.38616964e-03 -1.86676356e-04 9.99964818e-01 -4.28157745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.694203822 meters Centerline goodness [0,1] 0.9998938541556098 Centerline is valid? [True, True] Translation: X:131.49, Y:-16.87, Z:-4.29 [[ 9.74580734e-01 2.23908685e-01 7.56926715e-03 1.31487599e+02] [-2.23903339e-01 9.74610111e-01 -1.55737433e-03 -1.68731235e+01] [-7.72579394e-03 -1.76997169e-04 9.99970140e-01 -4.28735210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.724203822 meters Centerline goodness [0,1] 0.9999354658291565 Centerline is valid? [True, True] Translation: X:131.51, Y:-16.88, Z:-4.28 [[ 9.74581397e-01 2.23910594e-01 7.42600324e-03 1.31514609e+02] [-2.23905432e-01 9.74609674e-01 -1.53011218e-03 -1.68845924e+01] [-7.58006292e-03 -1.71503591e-04 9.99971256e-01 -4.28330729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.754203822 meters Centerline goodness [0,1] 0.9999784659115379 Centerline is valid? [True, True] Translation: X:131.54, Y:-16.89, Z:-4.29 [[ 9.74607033e-01 2.23789632e-01 7.70275783e-03 1.31542563e+02] [-2.23784106e-01 9.74637455e-01 -1.58295371e-03 -1.68880820e+01] [-7.86164491e-03 -1.80996964e-04 9.99969080e-01 -4.28656744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.784203822 meters Centerline goodness [0,1] 0.9999141299214289 Centerline is valid? [True, True] Translation: X:131.57, Y:-16.89, Z:-4.29 [[ 9.74728398e-01 2.23239674e-01 8.28240355e-03 1.31570854e+02] [-2.23233251e-01 9.74763568e-01 -1.70381232e-03 -1.68940626e+01] [-8.45374374e-03 -1.88153624e-04 9.99964249e-01 -4.28583027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.814203822 meters Centerline goodness [0,1] 0.9999785154151896 Centerline is valid? [True, True] Translation: X:131.60, Y:-16.90, Z:-4.29 [[ 9.74796465e-01 2.22946383e-01 8.17084455e-03 1.31598165e+02] [-2.22940128e-01 9.74830691e-01 -1.68012619e-03 -1.69006042e+01] [-8.33976810e-03 -1.83828058e-04 9.99965207e-01 -4.28562296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.844203822 meters Centerline goodness [0,1] 0.9999354088619041 Centerline is valid? [True, True] Translation: X:131.63, Y:-16.91, Z:-4.29 [[ 9.74929561e-01 2.22365045e-01 8.13255945e-03 1.31625154e+02] [-2.22358861e-01 9.74963463e-01 -1.66823431e-03 -1.69054862e+01] [-8.29990532e-03 -1.81935716e-04 9.99965539e-01 -4.28815014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.874203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.65, Y:-16.91, Z:-4.29 [[ 9.75056117e-01 2.21797058e-01 8.46362787e-03 1.31652718e+02] [-2.21790333e-01 9.75092832e-01 -1.73688110e-03 -1.69125774e+01] [-8.63805799e-03 -1.83594303e-04 9.99962674e-01 -4.28880231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.904203822 meters Centerline goodness [0,1] 0.9999353308902781 Centerline is valid? [True, True] Translation: X:131.68, Y:-16.92, Z:-4.28 [[ 9.75335439e-01 2.20511333e-01 9.77411918e-03 1.31680555e+02] [-2.20502322e-01 9.75384392e-01 -2.00350111e-03 -1.69221949e+01] [-9.97531799e-03 -2.01130345e-04 9.99950225e-01 -4.28376564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.934203822 meters Centerline goodness [0,1] 0.9998920506066756 Centerline is valid? [True, True] Translation: X:131.71, Y:-16.93, Z:-4.28 [[ 9.75543397e-01 2.19560435e-01 1.04065105e-02 1.31707656e+02] [-2.19550215e-01 9.75598879e-01 -2.12861941e-03 -1.69269254e+01] [-1.06199405e-02 -2.08190990e-04 9.99943585e-01 -4.28481743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.964203822 meters Centerline goodness [0,1] 0.999978602760244 Centerline is valid? [True, True] Translation: X:131.74, Y:-16.94, Z:-4.28 [[ 9.76218169e-01 2.16522832e-01 1.07680207e-02 1.31735148e+02] [-2.16511716e-01 9.76277537e-01 -2.20153765e-03 -1.69368849e+01] [-1.09892599e-02 -1.82221587e-04 9.99939600e-01 -4.28470635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.994203822 meters Centerline goodness [0,1] 0.999978602760244 Centerline is valid? [True, True] Translation: X:131.76, Y:-16.94, Z:-4.29 [[ 9.76260021e-01 2.16334074e-01 1.07675600e-02 1.31762097e+02] [-2.16322922e-01 9.76319383e-01 -2.20379417e-03 -1.69421892e+01] [-1.09893333e-02 -1.77793906e-04 9.99939600e-01 -4.28554522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.024203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.79, Y:-16.95, Z:-4.29 [[ 9.76680124e-01 2.14421563e-01 1.09237373e-02 1.31789231e+02] [-2.14410020e-01 9.76741197e-01 -2.23083266e-03 -1.69491161e+01] [-1.11480029e-02 -1.63348825e-04 9.99937846e-01 -4.28743356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.054203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.82, Y:-16.96, Z:-4.29 [[ 9.77115823e-01 2.12421338e-01 1.10382681e-02 1.31817043e+02] [-2.12409409e-01 9.77178159e-01 -2.25560220e-03 -1.69585461e+01] [-1.12654926e-02 -1.40647404e-04 9.99936532e-01 -4.28745342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.084203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.84, Y:-16.98, Z:-4.29 [[ 9.78056221e-01 2.08036967e-01 1.12538625e-02 1.31843365e+02] [-2.08024303e-01 9.78120959e-01 -2.29736213e-03 -1.69756489e+01] [-1.14855750e-02 -9.41275813e-05 9.99934034e-01 -4.28919116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.114203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.87, Y:-16.99, Z:-4.29 [[ 9.78442421e-01 2.06218254e-01 1.11561762e-02 1.31870238e+02] [-2.06205735e-01 9.78506017e-01 -2.27358583e-03 -1.69856823e+01] [-1.13852404e-02 -7.58946727e-05 9.99935183e-01 -4.29033462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.144203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.90, Y:-16.99, Z:-4.29 [[ 9.78735409e-01 2.04827122e-01 1.10837271e-02 1.31896839e+02] [-2.04814679e-01 9.78798164e-01 -2.25850911e-03 -1.69932059e+01] [-1.13113357e-02 -5.96271698e-05 9.99936023e-01 -4.29170552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.174203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.93, Y:-17.00, Z:-4.29 [[ 9.78933856e-01 2.03911007e-01 1.04310145e-02 1.31925107e+02] [-2.03899942e-01 9.78989427e-01 -2.12475407e-03 -1.70008027e+01] [-1.06451137e-02 -4.68895621e-05 9.99943338e-01 -4.29337159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.204203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.95, Y:-17.01, Z:-4.29 [[ 9.78889451e-01 2.04147025e-01 9.97171277e-03 1.31952823e+02] [-2.04136929e-01 9.78940238e-01 -2.03082222e-03 -1.70074754e+01] [-1.01762972e-02 -4.76443728e-05 9.99948219e-01 -4.29148566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.234203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.98, Y:-17.01, Z:-4.30 [[ 9.78767855e-01 2.04735435e-01 9.84312688e-03 1.31980622e+02] [-2.04725624e-01 9.78817347e-01 -2.00505415e-03 -1.70117661e+01] [-1.00451290e-02 -5.26577341e-05 9.99949545e-01 -4.29706263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.264203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.01, Y:-17.02, Z:-4.30 [[ 9.78570644e-01 2.05698667e-01 9.35695360e-03 1.32008778e+02] [-2.05689838e-01 9.78615376e-01 -1.90673714e-03 -1.70165695e+01] [-9.54907196e-03 -5.87532826e-05 9.99954405e-01 -4.29863940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.29420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.04, Y:-17.02, Z:-4.30 [[ 9.77967981e-01 2.08572237e-01 8.73214677e-03 1.32036486e+02] [-2.08564693e-01 9.78006960e-01 -1.77597028e-03 -1.70203352e+01] [-8.91051842e-03 -8.43754413e-05 9.99960297e-01 -4.30110214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.32420382200002 meters Centerline goodness [0,1] 0.9999787573021773 Centerline is valid? [True, True] Translation: X:132.06, Y:-17.02, Z:-4.30 [[ 9.77660237e-01 2.10001021e-01 8.94605541e-03 1.32064751e+02] [-2.09993150e-01 9.77701162e-01 -1.82087263e-03 -1.70239650e+01] [-9.12895388e-03 -9.84155816e-05 9.99958325e-01 -4.30184041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.35420382200002 meters Centerline goodness [0,1] 0.9999786206011887 Centerline is valid? [True, True] Translation: X:132.09, Y:-17.03, Z:-4.30 [[ 9.77214653e-01 2.12012145e-01 1.01178796e-02 1.32092947e+02] [-2.12002198e-01 9.77267022e-01 -2.05802303e-03 -1.70262940e+01] [-1.03241959e-02 -1.33882453e-04 9.99946695e-01 -4.29895119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.38420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.12, Y:-17.03, Z:-4.30 [[ 9.77138413e-01 2.12338436e-01 1.06258969e-02 1.32119912e+02] [-2.12327508e-01 9.77196176e-01 -2.15920455e-03 -1.70337083e+01] [-1.08420679e-02 -1.46328490e-04 9.99941212e-01 -4.29569767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.414203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.15, Y:-17.04, Z:-4.30 [[ 9.77194340e-01 2.12069764e-01 1.08460700e-02 1.32146588e+02] [-2.12058411e-01 9.77254518e-01 -2.19947260e-03 -1.70403141e+01] [-1.10658125e-02 -1.50688188e-04 9.99938761e-01 -4.29682728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.444203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.17, Y:-17.05, Z:-4.29 [[ 9.77515568e-01 2.10540571e-01 1.16611116e-02 1.32174011e+02] [-2.10527338e-01 9.77585110e-01 -2.36480188e-03 -1.70532895e+01] [-1.18976158e-02 -1.43352122e-04 9.99929211e-01 -4.29397492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.474203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.20, Y:-17.06, Z:-4.30 [[ 9.77735958e-01 2.09468981e-01 1.24556076e-02 1.32200968e+02] [-2.09453853e-01 9.77815282e-01 -2.52153825e-03 -1.70593393e+01] [-1.27074675e-02 -1.43476388e-04 9.99919247e-01 -4.29823107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.504203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.23, Y:-17.07, Z:-4.30 [[ 9.77917804e-01 2.08623914e-01 1.23624601e-02 1.32228635e+02] [-2.08608957e-01 9.77995933e-01 -2.50159901e-03 -1.70691804e+01] [-1.26123291e-02 -1.32561704e-04 9.99920453e-01 -4.29833282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.534203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.26, Y:-17.08, Z:-4.31 [[ 9.78149999e-01 2.07677371e-01 9.62754439e-03 1.32255418e+02] [-2.07668253e-01 9.78197373e-01 -1.94827296e-03 -1.70768516e+01] [-9.82225084e-03 -9.36321247e-05 9.99951756e-01 -4.30850866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.564203822 meters Centerline goodness [0,1] 0.9999571963616908 Centerline is valid? [True, True] Translation: X:132.28, Y:-17.09, Z:-4.30 [[ 9.78163236e-01 2.07636569e-01 9.15093145e-03 1.32283566e+02] [-2.07628336e-01 9.78206035e-01 -1.85111247e-03 -1.70850773e+01] [-9.33585501e-03 -8.93025095e-05 9.99956416e-01 -4.30434468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.594203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.31, Y:-17.09, Z:-4.30 [[ 9.78040963e-01 2.08172071e-01 1.00132106e-02 1.32311647e+02] [-2.08162248e-01 9.78092214e-01 -2.02488397e-03 -1.70898105e+01] [-1.02153677e-02 -1.03952975e-04 9.99947816e-01 -4.30418337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.624203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.34, Y:-17.10, Z:-4.31 [[ 9.77657843e-01 2.09939789e-01 1.05084252e-02 1.32338833e+02] [-2.09929071e-01 9.77714308e-01 -2.12527083e-03 -1.70956565e+01] [-1.07204166e-02 -1.28236244e-04 9.99942526e-01 -4.30615361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.654203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.37, Y:-17.10, Z:-4.31 [[ 9.77427587e-01 2.10997159e-01 1.07476531e-02 1.32366488e+02] [-2.10986032e-01 9.77486664e-01 -2.17170043e-03 -1.71035275e+01] [-1.09639102e-02 -1.44924783e-04 9.99939884e-01 -4.30524861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.684203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.40, Y:-17.11, Z:-4.30 [[ 9.77061506e-01 2.12657431e-01 1.12973946e-02 1.32395203e+02] [-2.12645255e-01 9.77126802e-01 -2.28215885e-03 -1.71092748e+01] [-1.15243050e-02 -1.72527784e-04 9.99933578e-01 -4.30345652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.714203822 meters Centerline goodness [0,1] 0.999957625323107 Centerline is valid? [True, True] Translation: X:132.42, Y:-17.11, Z:-4.31 [[ 9.76592157e-01 2.14752372e-01 1.22138600e-02 1.32423186e+02] [-2.14738311e-01 9.76668507e-01 -2.46675703e-03 -1.71102411e+01] [-1.24586343e-02 -2.13768100e-04 9.99922365e-01 -4.30502137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.744203822 meters Centerline goodness [0,1] 0.9999150328185739 Centerline is valid? [True, True] Translation: X:132.45, Y:-17.11, Z:-4.31 [[ 9.75837333e-01 2.18219696e-01 1.10301413e-02 1.32451822e+02] [-2.18208458e-01 9.75899641e-01 -2.22689801e-03 -1.71106522e+01] [-1.12502640e-02 -2.33779920e-04 9.99936686e-01 -4.31011953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.774203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.48, Y:-17.12, Z:-4.31 [[ 9.75612341e-01 2.19242541e-01 1.06427611e-02 1.32479622e+02] [-2.19232117e-01 9.75670361e-01 -2.15074590e-03 -1.71184491e+01] [-1.08553615e-02 -2.34940807e-04 9.99941051e-01 -4.30815458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.804203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.51, Y:-17.12, Z:-4.31 [[ 9.75170524e-01 2.21180160e-01 1.10357152e-02 1.32507806e+02] [-2.21169125e-01 9.75232928e-01 -2.22577247e-03 -1.71174894e+01] [-1.12546896e-02 -2.70251776e-04 9.99936627e-01 -4.31004115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.834203822 meters Centerline goodness [0,1] 0.9998081105283356 Centerline is valid? [True, True] Translation: X:132.54, Y:-17.12, Z:-4.31 [[ 9.74982493e-01 2.22026772e-01 1.06419036e-02 1.32535798e+02] [-2.22016568e-01 9.75040532e-01 -2.14569804e-03 -1.71204391e+01] [-1.08526897e-02 -2.70660887e-04 9.99941071e-01 -4.31317852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.864203822 meters Centerline goodness [0,1] 0.9999354324946732 Centerline is valid? [True, True] Translation: X:132.56, Y:-17.13, Z:-4.31 [[ 9.74764729e-01 2.23015470e-01 9.89057769e-03 1.32563007e+02] [-2.23006712e-01 9.74814870e-01 -1.99376736e-03 -1.71291520e+01] [-1.00861232e-02 -2.62211103e-04 9.99949099e-01 -4.31225996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.894203822 meters Centerline goodness [0,1] 0.9998509750489654 Centerline is valid? [True, True] Translation: X:132.59, Y:-17.13, Z:-4.32 [[ 9.73973724e-01 2.26487784e-01 8.85827225e-03 1.32593146e+02] [-2.26480917e-01 9.74013969e-01 -1.78410958e-03 -1.71258286e+01] [-9.03215994e-03 -2.68553770e-04 9.99959173e-01 -4.31681205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.924203822 meters Centerline goodness [0,1] 0.9997859543226525 Centerline is valid? [True, True] Translation: X:132.62, Y:-17.13, Z:-4.32 [[ 9.73537739e-01 2.28351189e-01 8.94452065e-03 1.32622948e+02] [-2.28344257e-01 9.73578786e-01 -1.80232203e-03 -1.71262607e+01] [-9.11975793e-03 -2.87801407e-04 9.99958373e-01 -4.31757398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.954203822 meters Centerline goodness [0,1] 0.9997867030693428 Centerline is valid? [True, True] Translation: X:132.65, Y:-17.13, Z:-4.32 [[ 9.73107625e-01 2.30144678e-01 9.74565896e-03 1.32651834e+02] [-2.30136521e-01 9.73156369e-01 -1.96565661e-03 -1.71282765e+01] [-9.93643550e-03 -3.30036606e-04 9.99950578e-01 -4.31573795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.984203822 meters Centerline goodness [0,1] 0.9996598856365453 Centerline is valid? [True, True] Translation: X:132.68, Y:-17.12, Z:-4.32 [[ 9.72707058e-01 2.31806172e-01 1.03381530e-02 1.32680493e+02] [-2.31797129e-01 9.72761924e-01 -2.08103575e-03 -1.71248196e+01] [-1.05389585e-02 -3.72116013e-04 9.99944394e-01 -4.31721442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.014203822 meters Centerline goodness [0,1] 0.9998504976293195 Centerline is valid? [True, True] Translation: X:132.71, Y:-17.13, Z:-4.31 [[ 9.72529906e-01 2.32480211e-01 1.17700099e-02 1.32708716e+02] [-2.32468525e-01 9.72601031e-01 -2.37038741e-03 -1.71273812e+01] [-1.19985920e-02 -4.30884206e-04 9.99927921e-01 -4.31402455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.04420382200001 meters Centerline goodness [0,1] 0.9998286167227233 Centerline is valid? [True, True] Translation: X:132.74, Y:-17.13, Z:-4.31 [[ 9.72843093e-01 2.31119332e-01 1.26558483e-02 1.32736750e+02] [-2.31105779e-01 9.72925306e-01 -2.54315499e-03 -1.71325386e+01] [-1.29009673e-02 -4.50748904e-04 9.99916677e-01 -4.31343280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.07420382200002 meters Centerline goodness [0,1] 0.9998505997353481 Centerline is valid? [True, True] Translation: X:132.77, Y:-17.14, Z:-4.31 [[ 9.74080408e-01 2.25775357e-01 1.38869267e-02 1.32766580e+02] [-2.25758518e-01 9.74179302e-01 -2.78895252e-03 -1.71353335e+01] [-1.41580333e-02 -4.18427980e-04 9.99899682e-01 -4.31462434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.10420382200002 meters Centerline goodness [0,1] 0.9999573205864152 Centerline is valid? [True, True] Translation: X:132.79, Y:-17.15, Z:-4.31 [[ 9.74918242e-01 2.22132257e-01 1.38449051e-02 1.32794653e+02] [-2.22115148e-01 9.75016476e-01 -2.78088640e-03 -1.71485273e+01] [-1.41167351e-02 -3.64026258e-04 9.99900288e-01 -4.31369925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.13420382200002 meters Centerline goodness [0,1] 0.9999575533766288 Centerline is valid? [True, True] Translation: X:132.82, Y:-17.15, Z:-4.32 [[ 9.75819212e-01 2.18147367e-01 1.37328745e-02 1.32823026e+02] [-2.18130147e-01 9.75915792e-01 -2.75780152e-03 -1.71548412e+01] [-1.40037363e-02 -3.04438233e-04 9.99901897e-01 -4.31762570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.164203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.85, Y:-17.17, Z:-4.32 [[ 9.76667458e-01 2.14318138e-01 1.37263394e-02 1.32849912e+02] [-2.14300555e-01 9.76763878e-01 -2.75655316e-03 -1.71660573e+01] [-1.39981719e-02 -2.49326393e-04 9.99901990e-01 -4.31606184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.194203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.88, Y:-17.18, Z:-4.32 [[ 9.78215815e-01 2.07163524e-01 1.33076770e-02 1.32878082e+02] [-2.07146349e-01 9.78306319e-01 -2.67142348e-03 -1.71769050e+01] [-1.35724060e-02 -1.43408010e-04 9.99907880e-01 -4.31805496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.224203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.90, Y:-17.19, Z:-4.32 [[ 9.78891508e-01 2.03901325e-01 1.39880674e-02 1.32904692e+02] [-2.03882012e-01 9.78991440e-01 -2.80821415e-03 -1.71857467e+01] [-1.42667968e-02 -1.02978352e-04 9.99898219e-01 -4.31849186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.254203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.93, Y:-17.20, Z:-4.32 [[ 9.79942371e-01 1.98632426e-01 1.60657634e-02 1.32931115e+02] [-1.98606262e-01 9.80074058e-01 -3.22402073e-03 -1.71951113e+01] [-1.63860330e-02 -3.14066913e-05 9.99865739e-01 -4.31660479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.284203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.96, Y:-17.20, Z:-4.32 [[ 9.80488532e-01 1.95912679e-01 1.61387781e-02 1.32958696e+02] [-1.95885929e-01 9.80621345e-01 -3.23745616e-03 -1.72019969e+01] [-1.64602890e-02 1.29291118e-05 9.99864520e-01 -4.31605875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.314203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.99, Y:-17.21, Z:-4.32 [[ 9.81095047e-01 1.92931550e-01 1.51633307e-02 1.32986451e+02] [-1.92907589e-01 9.81212216e-01 -3.04114604e-03 -1.72095695e+01] [-1.54651783e-02 5.85317543e-05 9.99880405e-01 -4.31663595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.344203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.01, Y:-17.22, Z:-4.32 [[ 9.81716091e-01 1.89838159e-01 1.39638616e-02 1.33012768e+02] [-1.89817525e-01 9.81815392e-01 -2.80065266e-03 -1.72187812e+01] [-1.42416050e-02 9.88601208e-05 9.99898578e-01 -4.32103465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.374203822 meters Centerline goodness [0,1] 0.9999787030135235 Centerline is valid? [True, True] Translation: X:133.04, Y:-17.23, Z:-4.32 [[ 9.82847937e-01 1.83996165e-01 1.24637193e-02 1.33040005e+02] [-1.83979279e-01 9.82926948e-01 -2.49795555e-03 -1.72316076e+01] [-1.27105398e-02 1.62044369e-04 9.99919205e-01 -4.32466430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.404203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.07, Y:-17.24, Z:-4.33 [[ 9.83283257e-01 1.81628137e-01 1.28551716e-02 1.33066821e+02] [-1.81609973e-01 9.83367266e-01 -2.57631059e-03 -1.72395296e+01] [-1.31092855e-02 1.98615702e-04 9.99914050e-01 -4.32575240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.434203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.09, Y:-17.25, Z:-4.33 [[ 9.83594429e-01 1.79894655e-01 1.34131360e-02 1.33093475e+02] [-1.79874731e-01 9.83685854e-01 -2.68720273e-03 -1.72472425e+01] [-1.36777255e-02 2.30433418e-04 9.99906429e-01 -4.32569971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.464203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.12, Y:-17.25, Z:-4.32 [[ 9.83931718e-01 1.78094235e-01 1.26814081e-02 1.33121512e+02] [-1.78076288e-01 9.84013407e-01 -2.53975826e-03 -1.72542313e+01] [-1.29309919e-02 2.40690635e-04 9.99916362e-01 -4.32471611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.494203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.15, Y:-17.26, Z:-4.33 [[ 9.83893607e-01 1.78344895e-01 1.21023800e-02 1.33149366e+02] [-1.78328572e-01 9.83968011e-01 -2.42346861e-03 -1.72584862e+01] [-1.23405681e-02 2.26235127e-04 9.99923827e-01 -4.32668363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.524203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.18, Y:-17.26, Z:-4.33 [[ 9.83591732e-01 1.79973710e-01 1.25207322e-02 1.33177407e+02] [-1.79956382e-01 9.83671398e-01 -2.50637285e-03 -1.72598370e+01] [-1.27673674e-02 2.12061944e-04 9.99918471e-01 -4.32799011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.554203822 meters Centerline goodness [0,1] 0.9999787586558477 Centerline is valid? [True, True] Translation: X:133.20, Y:-17.27, Z:-4.33 [[ 9.83417430e-01 1.80934779e-01 1.23597775e-02 1.33204497e+02] [-1.80917979e-01 9.83495077e-01 -2.47338329e-03 -1.72650931e+01] [-1.26033014e-02 1.96262272e-04 9.99920556e-01 -4.33091304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.584203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.23, Y:-17.27, Z:-4.33 [[ 9.83206523e-01 1.82091180e-01 1.21546658e-02 1.33233489e+02] [-1.82075033e-01 9.83281633e-01 -2.43141985e-03 -1.72664816e+01] [-1.23941998e-02 1.77526684e-04 9.99923173e-01 -4.32969670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.614203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.26, Y:-17.27, Z:-4.33 [[ 9.82586668e-01 1.85388606e-01 1.24299886e-02 1.33262466e+02] [-1.85371991e-01 9.82665276e-01 -2.48582633e-03 -1.72650654e+01] [-1.26753621e-02 1.38368068e-04 9.99919655e-01 -4.33304524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.644203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.29, Y:-17.27, Z:-4.33 [[ 9.82337144e-01 1.86730192e-01 1.20652618e-02 1.33291394e+02] [-1.86714646e-01 9.82411228e-01 -2.41231334e-03 -1.72660424e+01] [-1.23035004e-02 1.16943918e-04 9.99924302e-01 -4.33301816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.674203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.32, Y:-17.27, Z:-4.34 [[ 9.82104262e-01 1.87999940e-01 1.12800951e-02 1.33319160e+02] [-1.87986438e-01 9.82169035e-01 -2.25508822e-03 -1.72696854e+01] [-1.15029166e-02 9.42268511e-05 9.99933835e-01 -4.33784603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.704203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.35, Y:-17.27, Z:-4.34 [[ 9.81754807e-01 1.89801849e-01 1.15220105e-02 1.33348268e+02] [-1.89787897e-01 9.81822414e-01 -2.30246401e-03 -1.72693721e+01] [-1.17495801e-02 7.37169708e-05 9.99930969e-01 -4.33668889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.734203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.38, Y:-17.27, Z:-4.34 [[ 9.81598362e-01 1.90567505e-01 1.21935210e-02 1.33377710e+02] [-1.90551947e-01 9.81674091e-01 -2.43597056e-03 -1.72715146e+01] [-1.24342805e-02 6.76455346e-05 9.99922689e-01 -4.33596209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.764203822 meters Centerline goodness [0,1] 0.999978581678768 Centerline is valid? [True, True] Translation: X:133.41, Y:-17.27, Z:-4.34 [[ 9.81495999e-01 1.91054765e-01 1.27937983e-02 1.33405800e+02] [-1.91037685e-01 9.81579377e-01 -2.55538508e-03 -1.72749311e+01] [-1.30463471e-02 6.40026039e-05 9.99914891e-01 -4.33836694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.79420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.43, Y:-17.28, Z:-4.34 [[ 9.81578819e-01 1.90601296e-01 1.31972964e-02 1.33434035e+02] [-1.90583096e-01 9.81667531e-01 -2.63486441e-03 -1.72814556e+01] [-1.34575660e-02 7.11454815e-05 9.99909440e-01 -4.33877970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.82420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.46, Y:-17.29, Z:-4.34 [[ 9.81820909e-01 1.89328056e-01 1.35125762e-02 1.33460038e+02] [-1.89308846e-01 9.81913886e-01 -2.69848338e-03 -1.72883841e+01] [-1.37790848e-02 9.13772018e-05 9.99905060e-01 -4.33953951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.85420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.49, Y:-17.29, Z:-4.34 [[ 9.82331520e-01 1.86650183e-01 1.36562888e-02 1.33487772e+02] [-1.86630349e-01 9.82426431e-01 -2.72395333e-03 -1.72948280e+01] [-1.39247255e-02 1.27147269e-04 9.99903038e-01 -4.33940596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.88420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.52, Y:-17.30, Z:-4.34 [[ 9.82638342e-01 1.85063994e-01 1.31608398e-02 1.33515732e+02] [-1.85045439e-01 9.82726461e-01 -2.62454535e-03 -1.73024809e+01] [-1.34192144e-02 1.43625516e-04 9.99909948e-01 -4.34140332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.91420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.54, Y:-17.31, Z:-4.34 [[ 9.82651291e-01 1.84995218e-01 1.31608845e-02 1.33542711e+02] [-1.84976659e-01 9.82739410e-01 -2.62432133e-03 -1.73077208e+01] [-1.34192068e-02 1.44336303e-04 9.99909948e-01 -4.34224268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.944203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.57, Y:-17.31, Z:-4.34 [[ 9.82978108e-01 1.83274535e-01 1.28251550e-02 1.33570645e+02] [-1.83256781e-01 9.83061757e-01 -2.55613157e-03 -1.73145195e+01] [-1.30763932e-02 1.62324754e-04 9.99914487e-01 -4.34096247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.974203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.60, Y:-17.32, Z:-4.34 [[ 9.83269519e-01 1.81702474e-01 1.28554973e-02 1.33598717e+02] [-1.81684510e-01 9.83353536e-01 -2.56153559e-03 -1.73218582e+01] [-1.31069361e-02 1.83035146e-04 9.99914084e-01 -4.34048856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.004203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.62, Y:-17.33, Z:-4.34 [[ 9.83743516e-01 1.79058039e-01 1.36715942e-02 1.33624235e+02] [-1.79037469e-01 9.83838485e-01 -2.72395161e-03 -1.73332524e+01] [-1.39383860e-02 2.31942117e-04 9.99902829e-01 -4.34159934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.034203822 meters Centerline goodness [0,1] 0.9999785940577104 Centerline is valid? [True, True] Translation: X:133.65, Y:-17.34, Z:-4.34 [[ 9.83867506e-01 1.78336993e-01 1.41650240e-02 1.33651110e+02] [-1.78314863e-01 9.83969438e-01 -2.82043303e-03 -1.73411109e+01] [-1.44409383e-02 2.49098093e-04 9.99895693e-01 -4.34197476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.064203822 meters Centerline goodness [0,1] 0.9999360518406412 Centerline is valid? [True, True] Translation: X:133.68, Y:-17.35, Z:-4.34 [[ 9.83736039e-01 1.78944428e-01 1.55659067e-02 1.33677372e+02] [-1.78917799e-01 9.83859148e-01 -3.09820066e-03 -1.73498122e+01] [-1.58690655e-02 2.62793878e-04 9.99874044e-01 -4.34269528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.094203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.71, Y:-17.35, Z:-4.34 [[ 9.83539155e-01 1.80030380e-01 1.54852750e-02 1.33706470e+02] [-1.80004178e-01 9.83661021e-01 -3.08102499e-03 -1.73505506e+01] [-1.57869395e-02 2.42894520e-04 9.99875349e-01 -4.34022403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.124203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.73, Y:-17.36, Z:-4.35 [[ 9.83275596e-01 1.81515333e-01 1.48757203e-02 1.33733430e+02] [-1.81491325e-01 9.83388092e-01 -2.95957881e-03 -1.73579592e+01] [-1.51658151e-02 2.10267431e-04 9.99884970e-01 -4.34513957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.154203822 meters Centerline goodness [0,1] 0.9999787256674821 Centerline is valid? [True, True] Translation: X:133.76, Y:-17.36, Z:-4.34 [[ 9.82662770e-01 1.84827563e-01 1.45826340e-02 1.33762848e+02] [-1.84804882e-01 9.82770954e-01 -2.89954469e-03 -1.73583942e+01] [-1.48673049e-02 1.54332655e-04 9.99889464e-01 -4.34334837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.184203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.79, Y:-17.36, Z:-4.35 [[ 9.82349626e-01 1.86480184e-01 1.46408290e-02 1.33790930e+02] [-1.86457516e-01 9.82458714e-01 -2.91037286e-03 -1.73621962e+01] [-1.49267369e-02 1.29111090e-04 9.99888582e-01 -4.34546653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.214203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.82, Y:-17.37, Z:-4.34 [[ 9.82064390e-01 1.87983733e-01 1.45482110e-02 1.33819565e+02] [-1.87961526e-01 9.82172136e-01 -2.89125524e-03 -1.73651300e+01] [-1.48323564e-02 1.04894868e-04 9.99889989e-01 -4.34452327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.244203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.85, Y:-17.37, Z:-4.35 [[ 9.81452936e-01 1.91110869e-01 1.50588854e-02 1.33846896e+02] [-1.91087454e-01 9.81568455e-01 -2.99211588e-03 -1.73695419e+01] [-1.53531528e-02 5.90568462e-05 9.99882132e-01 -4.34654992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.274203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.88, Y:-17.37, Z:-4.34 [[ 9.81162992e-01 1.92529643e-01 1.58593990e-02 1.33875110e+02] [-1.92503878e-01 9.81291157e-01 -3.14989115e-03 -1.73747484e+01] [-1.61691355e-02 3.75608070e-05 9.99869270e-01 -4.34452527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.304203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.90, Y:-17.38, Z:-4.34 [[ 9.80575840e-01 1.95426634e-01 1.67168547e-02 1.33903300e+02] [-1.95398444e-01 9.80718324e-01 -3.31927720e-03 -1.73794904e+01] [-1.70432009e-02 -1.16443582e-05 9.99854754e-01 -4.34396483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.334203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.93, Y:-17.38, Z:-4.34 [[ 9.80324995e-01 1.96669409e-01 1.68537403e-02 1.33930539e+02] [-1.96640948e-01 9.80469858e-01 -3.34591888e-03 -1.73845214e+01] [-1.71826242e-02 -3.40475566e-05 9.99852367e-01 -4.34468388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.364203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.96, Y:-17.39, Z:-4.34 [[ 9.80076816e-01 1.97859167e-01 1.73546671e-02 1.33959063e+02] [-1.97829205e-01 9.80230456e-01 -3.44366065e-03 -1.73899775e+01] [-1.76929331e-02 -5.82080313e-05 9.99843466e-01 -4.34484273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.394203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.99, Y:-17.39, Z:-4.34 [[ 9.79878800e-01 1.98791242e-01 1.78768056e-02 1.33985304e+02] [-1.98759615e-01 9.80041854e-01 -3.54676598e-03 -1.73943826e+01] [-1.82250837e-02 -7.77862137e-05 9.99833906e-01 -4.34484410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.424203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.01, Y:-17.40, Z:-4.35 [[ 9.79544126e-01 2.00403105e-01 1.82181172e-02 1.34013023e+02] [-2.00370574e-01 9.79713521e-01 -3.61249647e-03 -1.73976231e+01] [-1.85724913e-02 -1.11774903e-04 9.99827510e-01 -4.34541082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.454203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.04, Y:-17.40, Z:-4.35 [[ 9.79539042e-01 2.00464361e-01 1.78130621e-02 1.34039777e+02] [-2.00433290e-01 9.79700989e-01 -3.53109551e-03 -1.74042015e+01] [-1.81593334e-02 -1.11484724e-04 9.99835099e-01 -4.34753015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.484203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.07, Y:-17.42, Z:-4.35 [[ 9.79864879e-01 1.98979106e-01 1.64964664e-02 1.34066308e+02] [-1.98952265e-01 9.80003729e-01 -3.26908376e-03 -1.74197055e+01] [-1.68170780e-02 -7.87490052e-05 9.99858580e-01 -4.34912780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.514203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.09, Y:-17.43, Z:-4.35 [[ 9.80146735e-01 1.97631575e-01 1.59417025e-02 1.34092589e+02] [-1.97606341e-01 9.80276368e-01 -3.15855478e-03 -1.74302247e+01] [-1.62515044e-02 -5.43343387e-05 9.99867934e-01 -4.35314801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.54420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.12, Y:-17.44, Z:-4.35 [[ 9.80469934e-01 1.96050398e-01 1.55868516e-02 1.34119236e+02] [-1.96026087e-01 9.80593821e-01 -3.08744531e-03 -1.74410721e+01] [-1.58896653e-02 -2.82822367e-05 9.99873751e-01 -4.35439778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.57420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.15, Y:-17.45, Z:-4.35 [[ 9.80728384e-01 1.94717018e-01 1.60349297e-02 1.34145681e+02] [-1.94691135e-01 9.80859461e-01 -3.17476322e-03 -1.74509182e+01] [-1.63461930e-02 -8.27825882e-06 9.99866392e-01 -4.35482795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.60420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.17, Y:-17.47, Z:-4.35 [[ 9.81164773e-01 1.92331229e-01 1.80107317e-02 1.34171991e+02] [-1.92298199e-01 9.81330065e-01 -3.56447822e-03 -1.74652119e+01] [-1.83600330e-02 3.39092022e-05 9.99831440e-01 -4.35083174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.63420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.20, Y:-17.48, Z:-4.35 [[ 9.81419282e-01 1.91004980e-01 1.82562635e-02 1.34198144e+02] [-1.90970826e-01 9.81589066e-01 -3.61240985e-03 -1.74757837e+01] [-1.86101369e-02 5.88749620e-05 9.99826815e-01 -4.35129895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.66420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.22, Y:-17.49, Z:-4.36 [[ 9.81890905e-01 1.88710398e-01 1.66924089e-02 1.34223354e+02] [-1.88681535e-01 9.82032778e-01 -3.30171748e-03 -1.74929829e+01] [-1.70155611e-02 9.23770277e-05 9.99855221e-01 -4.35667080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.694203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.25, Y:-17.50, Z:-4.36 [[ 9.82045081e-01 1.87916715e-01 1.65761084e-02 1.34249727e+02] [-1.87888158e-01 9.82184961e-01 -3.27764607e-03 -1.75041832e+01] [-1.68967289e-02 1.04341740e-04 9.99857235e-01 -4.35886975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.724203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.28, Y:-17.52, Z:-4.36 [[ 9.82115283e-01 1.87550755e-01 1.65615653e-02 1.34277430e+02] [-1.87522215e-01 9.82254907e-01 -3.27361741e-03 -1.75150274e+01] [-1.68816482e-02 1.09408299e-04 9.99857489e-01 -4.35927286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.754203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.30, Y:-17.53, Z:-4.36 [[ 9.82045089e-01 1.87948772e-01 1.62081247e-02 1.34302792e+02] [-1.87921500e-01 9.82178828e-01 -3.20322678e-03 -1.75287524e+01] [-1.65213195e-02 9.98580146e-05 9.99863509e-01 -4.36118373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.784203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.33, Y:-17.54, Z:-4.36 [[ 9.81973170e-01 1.88317032e-01 1.62907733e-02 1.34330653e+02] [-1.88289553e-01 9.82108287e-01 -3.21826807e-03 -1.75366181e+01] [-1.66053581e-02 9.28704833e-05 9.99862117e-01 -4.36048099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.814203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.36, Y:-17.54, Z:-4.36 [[ 9.81818145e-01 1.89061662e-01 1.69946613e-02 1.34359007e+02] [-1.89031884e-01 9.81965214e-01 -3.35643087e-03 -1.75441191e+01] [-1.73227386e-02 8.28718844e-05 9.99849947e-01 -4.35970289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.844203822 meters Centerline goodness [0,1] 0.9999575434648779 Centerline is valid? [True, True] Translation: X:134.39, Y:-17.55, Z:-4.36 [[ 9.81628882e-01 1.89997223e-01 1.74869571e-02 1.34385742e+02] [-1.89965857e-01 9.81784625e-01 -3.45288455e-03 -1.75525891e+01] [-1.78244641e-02 6.75263944e-05 9.99841129e-01 -4.36158981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.874203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.41, Y:-17.56, Z:-4.36 [[ 9.81178842e-01 1.92287033e-01 1.77137734e-02 1.34412097e+02] [-1.92255242e-01 9.81338727e-01 -3.49649783e-03 -1.75617486e+01] [-1.80555430e-02 2.51238943e-05 9.99836985e-01 -4.36221310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.904203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.44, Y:-17.57, Z:-4.36 [[ 9.80935569e-01 1.93525986e-01 1.76947138e-02 1.34440680e+02] [-1.93494486e-01 9.81095150e-01 -3.49157759e-03 -1.75686396e+01] [-1.80359088e-02 1.18310926e-06 9.99837340e-01 -4.36062073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.934203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.47, Y:-17.58, Z:-4.36 [[ 9.80417645e-01 1.96133535e-01 1.76883386e-02 1.34467068e+02] [-1.96102494e-01 9.80577194e-01 -3.48964132e-03 -1.75768785e+01] [-1.80292171e-02 -4.74213918e-05 9.99837459e-01 -4.36326374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.964203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.49, Y:-17.58, Z:-4.36 [[ 9.80161720e-01 1.97392315e-01 1.78683002e-02 1.34494650e+02] [-1.97360875e-01 9.80324573e-01 -3.52368259e-03 -1.75840986e+01] [-1.82122817e-02 -7.27245861e-05 9.99834140e-01 -4.36158274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.994203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.52, Y:-17.59, Z:-4.36 [[ 9.79919992e-01 1.98567438e-01 1.81047664e-02 1.34521754e+02] [-1.98535376e-01 9.80087222e-01 -3.56951787e-03 -1.75897589e+01] [-1.84530402e-02 -9.65946656e-05 9.99829723e-01 -4.36297183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.024203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.55, Y:-17.59, Z:-4.37 [[ 9.79730149e-01 1.99508791e-01 1.80299256e-02 1.34548664e+02] [-1.99477173e-01 9.79896030e-01 -3.55360851e-03 -1.75946023e+01] [-1.83764286e-02 -1.14981197e-04 9.99831133e-01 -4.36644666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.054203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.58, Y:-17.60, Z:-4.37 [[ 9.79482746e-01 2.00810299e-01 1.69933221e-02 1.34576070e+02] [-2.00782428e-01 9.79630137e-01 -3.34822990e-03 -1.76041739e+01] [-1.73195295e-02 -1.32427044e-04 9.99849997e-01 -4.36649806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.084203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.60, Y:-17.61, Z:-4.37 [[ 9.79396276e-01 2.01233804e-01 1.69673169e-02 1.34603145e+02] [-2.01206093e-01 9.79543229e-01 -3.34240536e-03 -1.76102821e+01] [-1.72928253e-02 -1.40388180e-04 9.99850458e-01 -4.36915231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.114203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.63, Y:-17.62, Z:-4.37 [[ 9.79435563e-01 2.01062769e-01 1.67254480e-02 1.34630836e+02] [-2.01035839e-01 9.79578350e-01 -3.29354601e-03 -1.76195145e+01] [-1.70460963e-02 -1.36598384e-04 9.99854695e-01 -4.36968851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.144203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.66, Y:-17.63, Z:-4.37 [[ 9.79578373e-01 2.00390483e-01 1.64276078e-02 1.34657208e+02] [-2.00364418e-01 9.79716101e-01 -3.23427852e-03 -1.76269117e+01] [-1.67425105e-02 -1.23278796e-04 9.99859827e-01 -4.37138070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.174203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.69, Y:-17.64, Z:-4.37 [[ 9.79765142e-01 1.99485956e-01 1.62978289e-02 1.34685590e+02] [-1.99460202e-01 9.79900679e-01 -3.20725023e-03 -1.76363131e+01] [-1.66100550e-02 -1.08416259e-04 9.99862038e-01 -4.37088515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.204203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.71, Y:-17.64, Z:-4.37 [[ 9.79972194e-01 1.98442493e-01 1.65854130e-02 1.34713223e+02] [-1.98415676e-01 9.80112528e-01 -3.26357673e-03 -1.76449136e+01] [-1.69032034e-02 -9.25914956e-05 9.99857126e-01 -4.37323996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.234203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.74, Y:-17.66, Z:-4.37 [[ 9.80392495e-01 1.96278917e-01 1.74683595e-02 1.34741367e+02] [-1.96248844e-01 9.80548104e-01 -3.43626714e-03 -1.76581667e+01] [-1.78030336e-02 -5.92548411e-05 9.99841512e-01 -4.37206276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.264203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.77, Y:-17.67, Z:-4.37 [[ 9.80552455e-01 1.95466303e-01 1.76013388e-02 1.34770398e+02] [-1.95435646e-01 9.80710417e-01 -3.46205766e-03 -1.76665948e+01] [-1.79385319e-02 -4.51998874e-05 9.99839091e-01 -4.37128391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.29420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.80, Y:-17.67, Z:-4.37 [[ 9.80605080e-01 1.95176772e-01 1.78802832e-02 1.34800390e+02] [-1.95145093e-01 9.80768080e-01 -3.51661503e-03 -1.76744895e+01] [-1.82227726e-02 -4.08389659e-05 9.99833951e-01 -4.37193365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.32420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.83, Y:-17.69, Z:-4.37 [[ 9.80665944e-01 1.94899791e-01 1.75606731e-02 1.34830236e+02] [-1.94869199e-01 9.80823159e-01 -3.45327976e-03 -1.76859490e+01] [-1.78969584e-02 -3.55204488e-05 9.99839836e-01 -4.37360906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.35420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.86, Y:-17.69, Z:-4.38 [[ 9.80629710e-01 1.95134481e-01 1.69678078e-02 1.34860295e+02] [-1.95105942e-01 9.80776495e-01 -3.33743837e-03 -1.76936089e+01] [-1.72928763e-02 -3.77288949e-05 9.99850466e-01 -4.37665099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.38420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.89, Y:-17.70, Z:-4.38 [[ 9.80804445e-01 1.94394872e-01 1.52733031e-02 1.34891120e+02] [-1.94371630e-01 9.80923358e-01 -3.00597476e-03 -1.77030700e+01] [-1.55662859e-02 -2.04234263e-05 9.99878838e-01 -4.38003230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.41420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.92, Y:-17.71, Z:-4.38 [[ 9.80989934e-01 1.93473352e-01 1.50602746e-02 1.34920757e+02] [-1.93450603e-01 9.81105531e-01 -2.96681651e-03 -1.77130963e+01] [-1.53497186e-02 -3.00206998e-06 9.99882186e-01 -4.38275235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.444203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.95, Y:-17.73, Z:-4.38 [[ 9.81544695e-01 1.90542561e-01 1.62340113e-02 1.34950658e+02] [-1.90515681e-01 9.81678934e-01 -3.20085370e-03 -1.77293689e+01] [-1.65464858e-02 4.89472501e-05 9.99863096e-01 -4.37946093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.474203822 meters Centerline goodness [0,1] 0.9999350902245878 Centerline is valid? [True, True] Translation: X:134.98, Y:-17.74, Z:-4.38 [[ 9.81900347e-01 1.88653474e-01 1.67802213e-02 1.34982299e+02] [-1.88624431e-01 9.82043715e-01 -3.31132488e-03 -1.77406697e+01] [-1.71036038e-02 8.62313581e-05 9.99853719e-01 -4.37932819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.504203822 meters Centerline goodness [0,1] 0.9998703935715212 Centerline is valid? [True, True] Translation: X:135.01, Y:-17.75, Z:-4.38 [[ 9.82324848e-01 1.86423531e-01 1.68570656e-02 1.35011511e+02] [-1.86393822e-01 9.82469465e-01 -3.33058336e-03 -1.77534612e+01] [-1.71824513e-02 1.29661913e-04 9.99852362e-01 -4.38157270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.534203822 meters Centerline goodness [0,1] 0.9999785628537129 Centerline is valid? [True, True] Translation: X:135.04, Y:-17.77, Z:-4.38 [[ 9.82728047e-01 1.84301233e-01 1.66925392e-02 1.35042125e+02] [-1.84271750e-01 9.82869792e-01 -3.30073392e-03 -1.77665251e+01] [-1.70149218e-02 1.67760400e-04 9.99855222e-01 -4.38203419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.564203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.07, Y:-17.79, Z:-4.38 [[ 9.83340621e-01 1.80968419e-01 1.70778834e-02 1.35071107e+02] [-1.80937000e-01 9.83488880e-01 -3.38012711e-03 -1.77850340e+01] [-1.74076047e-02 2.33795295e-04 9.99848449e-01 -4.38215607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.594203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.10, Y:-17.79, Z:-4.38 [[ 9.83355990e-01 1.80791380e-01 1.80408700e-02 1.35101097e+02] [-1.80756205e-01 9.83521434e-01 -3.57522958e-03 -1.77936923e+01] [-1.83899530e-02 2.54724216e-04 9.99830858e-01 -4.38176144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.624203822 meters Centerline goodness [0,1] 0.9999786470789204 Centerline is valid? [True, True] Translation: X:135.13, Y:-17.80, Z:-4.38 [[ 9.83145682e-01 1.81881697e-01 1.85369190e-02 1.35131084e+02] [-1.81844733e-01 9.83320390e-01 -3.67465603e-03 -1.78009862e+01] [-1.88960831e-02 2.41881118e-04 9.99821424e-01 -4.38232784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.654203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.16, Y:-17.81, Z:-4.39 [[ 9.82364829e-01 1.86201794e-01 1.69774839e-02 1.35161608e+02] [-1.86171386e-01 9.82511511e-01 -3.36824998e-03 -1.78053937e+01] [-1.73077475e-02 1.48128617e-04 9.99850199e-01 -4.38545915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.684203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.19, Y:-17.81, Z:-4.39 [[ 9.81764075e-01 1.89370351e-01 1.66784703e-02 1.35192457e+02] [-1.89341416e-01 9.81905729e-01 -3.31159302e-03 -1.78090763e+01] [-1.70038030e-02 9.32778856e-05 9.99855421e-01 -4.38829527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.714203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.23, Y:-17.81, Z:-4.39 [[ 9.81154682e-01 1.92490972e-01 1.68141572e-02 1.35225335e+02] [-1.92461953e-01 9.81298743e-01 -3.34256719e-03 -1.78113625e+01] [-1.71431254e-02 4.34899084e-05 9.99853045e-01 -4.38731700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.744203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.26, Y:-17.81, Z:-4.39 [[ 9.80026707e-01 1.98214624e-01 1.60815303e-02 1.35257467e+02] [-1.98188841e-01 9.80158640e-01 -3.19738380e-03 -1.78119973e+01] [-1.63962191e-02 -5.36583435e-05 9.99865572e-01 -4.38923930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.774203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.29, Y:-17.81, Z:-4.40 [[ 9.79514278e-01 2.00754877e-01 1.57879295e-02 1.35288169e+02] [-2.00730348e-01 9.79641501e-01 -3.13957844e-03 -1.78142439e+01] [-1.60967966e-02 -9.38546600e-05 9.99870434e-01 -4.39512486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.804203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.32, Y:-17.82, Z:-4.39 [[ 9.78851776e-01 2.03883237e-01 1.67578960e-02 1.35320635e+02] [-2.03856014e-01 9.78995201e-01 -3.33509423e-03 -1.78193140e+01] [-1.70858696e-02 -1.51634988e-04 9.99854014e-01 -4.39108261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.834203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.35, Y:-17.83, Z:-4.39 [[ 9.78811987e-01 2.04074222e-01 1.67572437e-02 1.35352460e+02] [-2.04046971e-01 9.78955407e-01 -3.33836728e-03 -1.78258471e+01] [-1.70858691e-02 -1.51630914e-04 9.99854014e-01 -4.39207533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.864203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.38, Y:-17.83, Z:-4.39 [[ 9.78676760e-01 2.04694516e-01 1.70866859e-02 1.35383686e+02] [-2.04666212e-01 9.78825893e-01 -3.40775925e-03 -1.78310497e+01] [-1.74224402e-02 -1.61972503e-04 9.99848205e-01 -4.39398095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.894203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.41, Y:-17.84, Z:-4.39 [[ 9.78629150e-01 2.04966183e-01 1.65484009e-02 1.35414447e+02] [-2.04939618e-01 9.78769043e-01 -3.30370268e-03 -1.78386742e+01] [-1.68742098e-02 -1.58323205e-04 9.99857608e-01 -4.39473953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.924203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.45, Y:-17.85, Z:-4.40 [[ 9.78662323e-01 2.04854893e-01 1.59540365e-02 1.35446332e+02] [-2.04830157e-01 9.78792343e-01 -3.18689229e-03 -1.78475249e+01] [-1.62685392e-02 -1.48976380e-04 9.99867647e-01 -4.39626066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.954203822 meters Centerline goodness [0,1] 0.9999784264233167 Centerline is valid? [True, True] Translation: X:135.48, Y:-17.86, Z:-4.40 [[ 9.78609609e-01 2.05128833e-01 1.56651180e-02 1.35477097e+02] [-2.05104967e-01 9.78734969e-01 -3.13246999e-03 -1.78553286e+01] [-1.59745587e-02 -1.47528285e-04 9.99872388e-01 -4.39787320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.984203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.51, Y:-17.86, Z:-4.40 [[ 9.78523026e-01 2.05508828e-01 1.60875370e-02 1.35508416e+02] [-2.05483655e-01 9.78655250e-01 -3.22021347e-03 -1.78601285e+01] [-1.64059349e-02 -1.54672882e-04 9.99865402e-01 -4.40094459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.014203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.54, Y:-17.87, Z:-4.40 [[ 9.78477097e-01 2.05738357e-01 1.59467456e-02 1.35540847e+02] [-2.05713608e-01 9.78607023e-01 -3.19483948e-03 -1.78682567e+01] [-1.62628982e-02 -1.54385307e-04 9.99867738e-01 -4.40039493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.04420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.57, Y:-17.88, Z:-4.40 [[ 9.78435049e-01 2.05861639e-01 1.69067869e-02 1.35570962e+02] [-2.05833765e-01 9.78581095e-01 -3.39145249e-03 -1.78750577e+01] [-1.72428320e-02 -1.61671605e-04 9.99851318e-01 -4.40127970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.07420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.60, Y:-17.88, Z:-4.40 [[ 9.78507793e-01 2.05460237e-01 1.75667544e-02 1.35602657e+02] [-2.05430026e-01 9.78665452e-01 -3.52680968e-03 -1.78826855e+01] [-1.79165948e-02 -1.57728048e-04 9.99839472e-01 -4.39997323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.10420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.63, Y:-17.89, Z:-4.40 [[ 9.78576123e-01 2.05032678e-01 1.87182614e-02 1.35634266e+02] [-2.04998231e-01 9.78755116e-01 -3.76150295e-03 -1.78895490e+01] [-1.90918252e-02 -1.56293504e-04 9.99817722e-01 -4.39903900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.13420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.67, Y:-17.90, Z:-4.40 [[ 9.78914748e-01 2.03436537e-01 1.84252728e-02 1.35665498e+02] [-2.03402819e-01 9.79088127e-01 -3.70570401e-03 -1.78990418e+01] [-1.87938414e-02 -1.20184114e-04 9.99823373e-01 -4.40086235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.16420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.70, Y:-17.91, Z:-4.40 [[ 9.79108517e-01 2.02594352e-01 1.73793132e-02 1.35697613e+02] [-2.02564181e-01 9.79262743e-01 -3.49761633e-03 -1.79078420e+01] [-1.77275112e-02 -9.58804015e-05 9.99842851e-01 -4.40276253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.194203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.73, Y:-17.92, Z:-4.41 [[ 9.79488361e-01 2.00794569e-01 1.68550468e-02 1.35729302e+02] [-2.00765869e-01 9.79633369e-01 -3.39531528e-03 -1.79154980e+01] [-1.71935272e-02 -5.82463204e-05 9.99852179e-01 -4.40514897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.224203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.76, Y:-17.92, Z:-4.41 [[ 9.79694939e-01 1.99782235e-01 1.68785157e-02 1.35760521e+02] [-1.99753228e-01 9.79840322e-01 -3.40448604e-03 -1.79239123e+01] [-1.72184061e-02 -3.61802531e-05 9.99851752e-01 -4.40757966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.254203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.79, Y:-17.93, Z:-4.41 [[ 9.79898226e-01 1.98835692e-01 1.62429622e-02 1.35792346e+02] [-1.98808683e-01 9.80032840e-01 -3.27721899e-03 -1.79330685e+01] [-1.65702645e-02 -1.79008513e-05 9.99862704e-01 -4.40896736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.284203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.82, Y:-17.94, Z:-4.41 [[ 9.80052106e-01 1.98097671e-01 1.59743951e-02 1.35824237e+02] [-1.98071401e-01 9.80182285e-01 -3.22607513e-03 -1.79413815e+01] [-1.62968971e-02 -2.34909175e-06 9.99867197e-01 -4.40984427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.314203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.85, Y:-17.95, Z:-4.41 [[ 9.80342209e-01 1.96766390e-01 1.45650911e-02 1.35854405e+02] [-1.96744361e-01 9.80450400e-01 -2.94428904e-03 -1.79480770e+01] [-1.48596865e-02 2.08112826e-05 9.99889589e-01 -4.41472947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.344203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.89, Y:-17.95, Z:-4.42 [[ 9.80463741e-01 1.96224510e-01 1.36672577e-02 1.35886087e+02] [-1.96205033e-01 9.80558994e-01 -2.76483254e-03 -1.79546836e+01] [-1.39440804e-02 2.92333033e-05 9.99902776e-01 -4.41593862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.374203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.92, Y:-17.96, Z:-4.42 [[ 9.80636864e-01 1.95407040e-01 1.29394946e-02 1.35917448e+02] [-1.95389484e-01 9.80722227e-01 -2.61963961e-03 -1.79621587e+01] [-1.32019460e-02 4.06739973e-05 9.99912850e-01 -4.41879144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.404203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.95, Y:-17.97, Z:-4.42 [[ 9.81050654e-01 1.93341336e-01 1.25993295e-02 1.35946652e+02] [-1.93324490e-01 9.81131552e-01 -2.55311367e-03 -1.79729086e+01] [-1.28552221e-02 6.89748844e-05 9.99917366e-01 -4.42165504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.434203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.98, Y:-17.98, Z:-4.42 [[ 9.81178337e-01 1.92657572e-01 1.31198463e-02 1.35978756e+02] [-1.92639222e-01 9.81266046e-01 -2.66031526e-03 -1.79818001e+01] [-1.33865896e-02 8.28467261e-05 9.99910392e-01 -4.42161208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.464203822 meters Centerline goodness [0,1] 0.999870870547724 Centerline is valid? [True, True] Translation: X:136.01, Y:-17.99, Z:-4.42 [[ 9.81487676e-01 1.91073798e-01 1.31432843e-02 1.36009816e+02] [-1.91055199e-01 9.81575668e-01 -2.66812348e-03 -1.79908192e+01] [-1.34109365e-02 1.07637523e-04 9.99910064e-01 -4.42230567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.494203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.04, Y:-18.00, Z:-4.42 [[ 9.81569748e-01 1.90690512e-01 1.25681099e-02 1.36039729e+02] [-1.90673430e-01 9.81650201e-01 -2.55481714e-03 -1.79980955e+01] [-1.28246670e-02 1.11326598e-04 9.99917754e-01 -4.42436080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.524203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.07, Y:-18.01, Z:-4.43 [[ 9.81611908e-01 1.90457483e-01 1.28065816e-02 1.36071746e+02] [-1.90439733e-01 9.81695438e-01 -2.60279404e-03 -1.80050867e+01] [-1.30678844e-02 1.16051644e-04 9.99914605e-01 -4.42506028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.554203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.10, Y:-18.01, Z:-4.42 [[ 9.81606799e-01 1.90417412e-01 1.37586753e-02 1.36102619e+02] [-1.90396869e-01 9.81703210e-01 -2.79996960e-03 -1.80124755e+01] [-1.40400987e-02 1.28860500e-04 9.99901425e-01 -4.42460567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.584203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.13, Y:-18.02, Z:-4.42 [[ 9.81574894e-01 1.90448083e-01 1.55001745e-02 1.36131880e+02] [-1.90421957e-01 9.81697258e-01 -3.15799732e-03 -1.80236771e+01] [-1.58179133e-02 1.48237331e-04 9.99874878e-01 -4.42245964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.614203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.16, Y:-18.03, Z:-4.42 [[ 9.81534950e-01 1.90635195e-01 1.57278279e-02 1.36163955e+02] [-1.90608284e-01 9.81660940e-01 -3.20652755e-03 -1.80319135e+01] [-1.60506714e-02 1.49464564e-04 9.99871169e-01 -4.42234768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.644203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.20, Y:-18.04, Z:-4.42 [[ 9.81452131e-01 1.91051729e-01 1.58414352e-02 1.36195161e+02] [-1.91024428e-01 9.81579959e-01 -3.23308944e-03 -1.80380091e+01] [-1.61673227e-02 1.47021419e-04 9.99869289e-01 -4.42331889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.674203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.23, Y:-18.04, Z:-4.42 [[ 9.81403210e-01 1.91215166e-01 1.68671185e-02 1.36226475e+02] [-1.91184175e-01 9.81548132e-01 -3.44608866e-03 -1.80439823e+01] [-1.72148331e-02 1.57276332e-04 9.99851801e-01 -4.42316720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.704203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.26, Y:-18.05, Z:-4.42 [[ 9.81486742e-01 1.90778547e-01 1.69505636e-02 1.36257295e+02] [-1.90747121e-01 9.81633087e-01 -3.46674556e-03 -1.80537345e+01] [-1.73006148e-02 1.69293581e-04 9.99850319e-01 -4.42463752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.734203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.29, Y:-18.07, Z:-4.43 [[ 9.81895189e-01 1.88718066e-01 1.63502315e-02 1.36287040e+02] [-1.88688521e-01 9.82031289e-01 -3.34518471e-03 -1.80690364e+01] [-1.66877357e-02 1.99519769e-04 9.99860730e-01 -4.42660610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.764203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.32, Y:-18.08, Z:-4.43 [[ 9.82125527e-01 1.87553208e-01 1.59136363e-02 1.36317910e+02] [-1.87525027e-01 9.82254421e-01 -3.25834061e-03 -1.80790734e+01] [-1.62423518e-02 2.15894418e-04 9.99868061e-01 -4.42692442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.79420382200001 meters Centerline goodness [0,1] 0.9999574295991996 Centerline is valid? [True, True] Translation: X:136.35, Y:-18.09, Z:-4.43 [[ 9.82295920e-01 1.86714035e-01 1.52510314e-02 1.36346992e+02] [-1.86687993e-01 9.82414281e-01 -3.12640288e-03 -1.80920695e+01] [-1.55665743e-02 2.23868359e-04 9.99878808e-01 -4.43046318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.82420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.38, Y:-18.10, Z:-4.43 [[ 9.82304249e-01 1.86747911e-01 1.42681343e-02 1.36377993e+02] [-1.86725123e-01 9.82407845e-01 -2.92476046e-03 -1.81024804e+01] [-1.45633200e-02 2.08785495e-04 9.99893927e-01 -4.43051235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.85420382200002 meters Centerline goodness [0,1] 0.9999566536627655 Centerline is valid? [True, True] Translation: X:136.41, Y:-18.11, Z:-4.43 [[ 9.82065380e-01 1.88024970e-01 1.39356060e-02 1.36409456e+02] [-1.88003327e-01 9.82164230e-01 -2.85895807e-03 -1.81074070e+01] [-1.42246092e-02 1.87743460e-04 9.99898808e-01 -4.43171522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.88420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.44, Y:-18.11, Z:-4.44 [[ 9.81637021e-01 1.90256620e-01 1.38267291e-02 1.36439570e+02] [-1.90235482e-01 9.81734380e-01 -2.84041044e-03 -1.81144792e+01] [-1.41145822e-02 1.57917581e-04 9.99900372e-01 -4.43626292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.91420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.47, Y:-18.12, Z:-4.43 [[ 9.80793310e-01 1.94601341e-01 1.32212657e-02 1.36471320e+02] [-1.94582409e-01 9.80882414e-01 -2.71595105e-03 -1.81202645e+01] [-1.34970348e-02 9.11608800e-05 9.99908907e-01 -4.43371783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.944203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.50, Y:-18.13, Z:-4.44 [[ 9.80266332e-01 1.97147254e-01 1.45216735e-02 1.36501501e+02] [-1.97124643e-01 9.80373886e-01 -2.98653190e-03 -1.81276188e+01] [-1.48254560e-02 6.50169802e-05 9.99890095e-01 -4.43517188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.974203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.53, Y:-18.13, Z:-4.43 [[ 9.79779450e-01 1.99486315e-01 1.54090956e-02 1.36533751e+02] [-1.99461073e-01 9.79900612e-01 -3.17353421e-03 -1.81332413e+01] [-1.57324589e-02 3.58488463e-05 9.99876237e-01 -4.43360752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.004203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.56, Y:-18.14, Z:-4.44 [[ 9.79232184e-01 2.02133018e-01 1.57026417e-02 1.36563983e+02] [-2.02107152e-01 9.79358077e-01 -3.23360585e-03 -1.81386186e+01] [-1.60321275e-02 -7.16527312e-06 9.99871477e-01 -4.43562067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.034203822 meters Centerline goodness [0,1] 0.9999787811916483 Centerline is valid? [True, True] Translation: X:136.60, Y:-18.14, Z:-4.44 [[ 9.78078938e-01 2.07707375e-01 1.48066588e-02 1.36596143e+02] [-2.07684984e-01 9.78191003e-01 -3.05109093e-03 -1.81418406e+01] [-1.51174746e-02 -9.09129353e-05 9.99885720e-01 -4.43609910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.064203822 meters Centerline goodness [0,1] 0.9999574205360755 Centerline is valid? [True, True] Translation: X:136.63, Y:-18.14, Z:-4.44 [[ 9.77324421e-01 2.11187509e-01 1.53887283e-02 1.36627697e+02] [-2.11163706e-01 9.77445556e-01 -3.17407900e-03 -1.81446543e+01] [-1.57119700e-02 -1.47435987e-04 9.99876549e-01 -4.43711250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.094203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.66, Y:-18.15, Z:-4.44 [[ 9.76472597e-01 2.15028014e-01 1.62548754e-02 1.36659559e+02] [-2.15001945e-01 9.76607857e-01 -3.35536446e-03 -1.81479797e+01] [-1.65961364e-02 -2.18408362e-04 9.99862251e-01 -4.43596464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.124203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.69, Y:-18.15, Z:-4.44 [[ 9.75629809e-01 2.18796911e-01 1.65646702e-02 1.36691259e+02] [-2.18770328e-01 9.75770378e-01 -3.42242886e-03 -1.81507689e+01] [-1.69121313e-02 -2.84834712e-04 9.99856939e-01 -4.43589553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.154203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.72, Y:-18.15, Z:-4.44 [[ 9.74179418e-01 2.25227111e-01 1.57228912e-02 1.36722515e+02] [-2.25203927e-01 9.74306220e-01 -3.25286643e-03 -1.81529410e+01] [-1.60515444e-02 -3.71981320e-04 9.99871096e-01 -4.43549050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.184203822 meters Centerline goodness [0,1] 0.9999144366724422 Centerline is valid? [True, True] Translation: X:136.75, Y:-18.15, Z:-4.44 [[ 9.73561153e-01 2.27934184e-01 1.49896389e-02 1.36753994e+02] [-2.27913465e-01 9.73676460e-01 -3.09904571e-03 -1.81528968e+01] [-1.53014370e-02 -3.99230035e-04 9.99882846e-01 -4.43969951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.214203822 meters Centerline goodness [0,1] 0.9996402573218216 Centerline is valid? [True, True] Translation: X:136.79, Y:-18.15, Z:-4.44 [[ 9.72718890e-01 2.31547525e-01 1.42724998e-02 1.36785135e+02] [-2.31529073e-01 9.72823498e-01 -2.95470615e-03 -1.81504516e+01] [-1.45687781e-02 -4.30400150e-04 9.99893777e-01 -4.44377793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.244203822 meters Centerline goodness [0,1] 0.999872267047027 Centerline is valid? [True, True] Translation: X:136.82, Y:-18.16, Z:-4.44 [[ 9.72450214e-01 2.32708469e-01 1.36875867e-02 1.36816253e+02] [-2.32691630e-01 9.72546443e-01 -2.83236210e-03 -1.81584043e+01] [-1.39709284e-02 -4.30655732e-04 9.99902309e-01 -4.44410016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.274203822 meters Centerline goodness [0,1] 0.9997221153435082 Centerline is valid? [True, True] Translation: X:136.85, Y:-18.16, Z:-4.45 [[ 9.72286924e-01 2.33424884e-01 1.30752279e-02 1.36846666e+02] [-2.33409553e-01 9.72374747e-01 -2.70787113e-03 -1.81645057e+01] [-1.33461059e-02 -4.19055408e-04 9.99910849e-01 -4.44593763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.304203822 meters Centerline goodness [0,1] 0.9997432496041765 Centerline is valid? [True, True] Translation: X:136.88, Y:-18.17, Z:-4.45 [[ 9.72486991e-01 2.32611018e-01 1.26951167e-02 1.36877618e+02] [-2.32596475e-01 9.72569771e-01 -2.63082625e-03 -1.81730223e+01] [-1.29588459e-02 -3.94395083e-04 9.99915953e-01 -4.44732640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.334203822 meters Centerline goodness [0,1] 0.9997440436832113 Centerline is valid? [True, True] Translation: X:136.91, Y:-18.18, Z:-4.45 [[ 9.72664859e-01 2.31877434e-01 1.24871111e-02 1.36908847e+02] [-2.31863278e-01 9.72744938e-01 -2.58972389e-03 -1.81810314e+01] [-1.27472726e-02 -3.76369088e-04 9.99918679e-01 -4.44791244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.364203822 meters Centerline goodness [0,1] 0.9999357078565 Centerline is valid? [True, True] Translation: X:136.94, Y:-18.19, Z:-4.45 [[ 9.73168096e-01 2.29730301e-01 1.29555084e-02 1.36938605e+02] [-2.29714808e-01 9.73254264e-01 -2.69174817e-03 -1.81907047e+01] [-1.32273799e-02 -3.56548680e-04 9.99912451e-01 -4.44689442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.394203822 meters Centerline goodness [0,1] 0.9998707397992158 Centerline is valid? [True, True] Translation: X:136.97, Y:-18.20, Z:-4.45 [[ 9.73451126e-01 2.28514296e-01 1.31955289e-02 1.36968651e+02] [-2.28498138e-01 9.73540495e-01 -2.73966658e-03 -1.81974876e+01] [-1.34724347e-02 -3.48222270e-04 9.99909182e-01 -4.44788229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.424203822 meters Centerline goodness [0,1] 0.9999567015219415 Centerline is valid? [True, True] Translation: X:137.00, Y:-18.21, Z:-4.45 [[ 9.73760825e-01 2.27182858e-01 1.33343108e-02 1.36999099e+02] [-2.27166206e-01 9.73852062e-01 -2.77049018e-03 -1.82073119e+01] [-1.36150540e-02 -3.31309994e-04 9.99907256e-01 -4.44760925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.454203822 meters Centerline goodness [0,1] 0.9999143523970623 Centerline is valid? [True, True] Translation: X:137.03, Y:-18.21, Z:-4.45 [[ 9.74147345e-01 2.25494652e-01 1.37517958e-02 1.37029576e+02] [-2.25476734e-01 9.74244355e-01 -2.86003176e-03 -1.82146979e+01] [-1.40425313e-02 -3.14617649e-04 9.99901349e-01 -4.44941407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.484203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.06, Y:-18.23, Z:-4.45 [[ 9.75127381e-01 2.21209855e-01 1.38849410e-02 1.37058017e+02] [-2.21191086e-01 9.75226198e-01 -2.89243839e-03 -1.82263784e+01] [-1.41807941e-02 -2.50729304e-04 9.99899416e-01 -4.45072403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.514203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.09, Y:-18.24, Z:-4.45 [[ 9.75624262e-01 2.18959093e-01 1.46361153e-02 1.37088637e+02] [-2.18938018e-01 9.75734012e-01 -3.04669480e-03 -1.82382862e+01] [-1.49480570e-02 -2.31972715e-04 9.99888245e-01 -4.44957454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.54420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.12, Y:-18.25, Z:-4.45 [[ 9.76613666e-01 2.14409321e-01 1.59495922e-02 1.37117685e+02] [-2.14383602e-01 9.76743883e-01 -3.32533380e-03 -1.82514041e+01] [-1.62916491e-02 -1.71764577e-04 9.99867268e-01 -4.44693176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.57420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.15, Y:-18.26, Z:-4.45 [[ 9.77061505e-01 2.12350852e-01 1.60602331e-02 1.37148656e+02] [-2.12324525e-01 9.77193479e-01 -3.34666328e-03 -1.82617493e+01] [-1.64046218e-02 -1.40085493e-04 9.99865425e-01 -4.44655848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.60420382200002 meters Centerline goodness [0,1] 0.9999786128280258 Centerline is valid? [True, True] Translation: X:137.18, Y:-18.27, Z:-4.45 [[ 9.77480431e-01 2.10444796e-01 1.56523345e-02 1.37178983e+02] [-2.10419499e-01 9.77605737e-01 -3.26454707e-03 -1.82709562e+01] [-1.59888190e-02 -1.02525518e-04 9.99872165e-01 -4.44882031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.63420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.21, Y:-18.28, Z:-4.45 [[ 9.77740419e-01 2.09294575e-01 1.48139941e-02 1.37210492e+02] [-2.09271757e-01 9.77852635e-01 -3.09137965e-03 -1.82806494e+01] [-1.51329121e-02 -7.75837384e-05 9.99885488e-01 -4.45119271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.66420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.24, Y:-18.29, Z:-4.46 [[ 9.77729792e-01 2.09483697e-01 1.26899288e-02 1.37240454e+02] [-2.09466940e-01 9.77812138e-01 -2.65047135e-03 -1.82890235e+01] [-1.29635969e-02 -6.66757452e-05 9.99915967e-01 -4.45619552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.694203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.27, Y:-18.30, Z:-4.46 [[ 9.77689975e-01 2.09669466e-01 1.26896372e-02 1.37272203e+02] [-2.09652706e-01 9.77772320e-01 -2.65186640e-03 -1.82958576e+01] [-1.29635914e-02 -6.77135897e-05 9.99915967e-01 -4.45718810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.724203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.30, Y:-18.30, Z:-4.46 [[ 9.77487669e-01 2.10637465e-01 1.22358278e-02 1.37302521e+02] [-2.10621922e-01 9.77564245e-01 -2.55991814e-03 -1.83009036e+01] [-1.25005225e-02 -7.48451654e-05 9.99921863e-01 -4.45960334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.754203822 meters Centerline goodness [0,1] 0.9999786794021704 Centerline is valid? [True, True] Translation: X:137.34, Y:-18.30, Z:-4.46 [[ 9.76754850e-01 2.13987556e-01 1.26209637e-02 1.37335433e+02] [-2.13971274e-01 9.76836379e-01 -2.64240829e-03 -1.83029071e+01] [-1.28940589e-02 -1.19538562e-04 9.99916861e-01 -4.45870341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.784203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.37, Y:-18.31, Z:-4.46 [[ 9.76204779e-01 2.16450312e-01 1.31716217e-02 1.37367248e+02] [-2.16432765e-01 9.76293623e-01 -2.76044906e-03 -1.83050199e+01] [-1.34568704e-02 -1.56006946e-04 9.99909440e-01 -4.45956850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.814203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.40, Y:-18.31, Z:-4.46 [[ 9.75585625e-01 2.19165115e-01 1.41187839e-02 1.37399162e+02] [-2.19145200e-01 9.75687763e-01 -2.96161995e-03 -1.83074036e+01] [-1.44246085e-02 -2.04749873e-04 9.99895939e-01 -4.45784943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.844203822 meters Centerline goodness [0,1] 0.999978555958227 Centerline is valid? [True, True] Translation: X:137.43, Y:-18.31, Z:-4.46 [[ 9.74933707e-01 2.22014161e-01 1.46280590e-02 1.37430435e+02] [-2.21993065e-01 9.75043408e-01 -3.07098237e-03 -1.83083750e+01] [-1.49447941e-02 -2.53323435e-04 9.99888288e-01 -4.45789474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.874203822 meters Centerline goodness [0,1] 0.999914942479852 Centerline is valid? [True, True] Translation: X:137.46, Y:-18.30, Z:-4.46 [[ 9.73770308e-01 2.27085664e-01 1.42649706e-02 1.37462768e+02] [-2.27066080e-01 9.73874735e-01 -2.99920920e-03 -1.83027441e+01] [-1.45733719e-02 -3.18550091e-04 9.99893752e-01 -4.45984753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.904203822 meters Centerline goodness [0,1] 0.9999361294443262 Centerline is valid? [True, True] Translation: X:137.49, Y:-18.31, Z:-4.46 [[ 9.73171620e-01 2.29637048e-01 1.42766769e-02 1.37494614e+02] [-2.29617738e-01 9.73276270e-01 -2.99953183e-03 -1.83058156e+01] [-1.45839545e-02 -3.59118993e-04 9.99893584e-01 -4.45961593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.934203822 meters Centerline goodness [0,1] 0.9998491736872724 Centerline is valid? [True, True] Translation: X:137.53, Y:-18.30, Z:-4.46 [[ 9.72015130e-01 2.34447636e-01 1.48624701e-02 1.37526842e+02] [-2.34427194e-01 9.72128648e-01 -3.12759453e-03 -1.82990616e+01] [-1.51814901e-02 -4.44097952e-04 9.99884656e-01 -4.45979482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.964203822 meters Centerline goodness [0,1] 0.9997008930478999 Centerline is valid? [True, True] Translation: X:137.56, Y:-18.30, Z:-4.46 [[ 9.71616134e-01 2.36068163e-01 1.52941468e-02 1.37557832e+02] [-2.36046717e-01 9.71736378e-01 -3.21843473e-03 -1.82960281e+01] [-1.56216488e-02 -4.83050036e-04 9.99877858e-01 -4.46182544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.994203822 meters Centerline goodness [0,1] 0.9997652932767193 Centerline is valid? [True, True] Translation: X:137.59, Y:-18.30, Z:-4.46 [[ 9.71325425e-01 2.37248034e-01 1.55012732e-02 1.37588168e+02] [-2.37226154e-01 9.71448975e-01 -3.26202153e-03 -1.83011080e+01] [-1.58326042e-02 -5.08822979e-04 9.99874527e-01 -4.46104515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.024203822 meters Centerline goodness [0,1] 0.9997880098363436 Centerline is valid? [True, True] Translation: X:137.62, Y:-18.30, Z:-4.46 [[ 9.71471612e-01 2.36663275e-01 1.52774755e-02 1.37618222e+02] [-2.36641949e-01 9.71591608e-01 -3.21492649e-03 -1.83042418e+01] [-1.56043220e-02 -4.92081753e-04 9.99878124e-01 -4.46298833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.054203822 meters Centerline goodness [0,1] 0.9998060846332845 Centerline is valid? [True, True] Translation: X:137.65, Y:-18.31, Z:-4.47 [[ 9.71910566e-01 2.34905950e-01 1.44584016e-02 1.37648475e+02] [-2.34886661e-01 9.72018005e-01 -3.04218762e-03 -1.83118429e+01] [-1.47684547e-02 -4.39351390e-04 9.99890844e-01 -4.46513593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.084203822 meters Centerline goodness [0,1] 0.9998083924123395 Centerline is valid? [True, True] Translation: X:137.68, Y:-18.32, Z:-4.47 [[ 9.72564233e-01 2.32240543e-01 1.35330274e-02 1.37678501e+02] [-2.32223382e-01 9.72658312e-01 -2.84776255e-03 -1.83189694e+01] [-1.38243775e-02 -3.73053398e-04 9.99904369e-01 -4.46853236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.114203822 meters Centerline goodness [0,1] 0.9999139044339217 Centerline is valid? [True, True] Translation: X:137.71, Y:-18.33, Z:-4.47 [[ 9.73299119e-01 2.29212458e-01 1.22667841e-02 1.37708277e+02] [-2.29198115e-01 9.73376371e-01 -2.58154185e-03 -1.83271421e+01] [-1.25319193e-02 -2.98911388e-04 9.99921428e-01 -4.47171611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.144203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.74, Y:-18.34, Z:-4.47 [[ 9.74461006e-01 2.24218852e-01 1.23148214e-02 1.37737620e+02] [-2.24203988e-01 9.74538789e-01 -2.59238068e-03 -1.83356589e+01] [-1.25825318e-02 -2.34858195e-04 9.99920809e-01 -4.47124604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.174203822 meters Centerline goodness [0,1] 0.9999787129872065 Centerline is valid? [True, True] Translation: X:137.77, Y:-18.34, Z:-4.48 [[ 9.75003230e-01 2.21822537e-01 1.27852776e-02 1.37768215e+02] [-2.21806315e-01 9.75087031e-01 -2.69099340e-03 -1.83387207e+01] [-1.30636814e-02 -2.12128053e-04 9.99914644e-01 -4.47581277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.204203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.80, Y:-18.35, Z:-4.47 [[ 9.76162859e-01 2.16677280e-01 1.25310821e-02 1.37796827e+02] [-2.16661269e-01 9.76243277e-01 -2.63777527e-03 -1.83549250e+01] [-1.28049307e-02 -1.40101913e-04 9.99918004e-01 -4.47162054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.234203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.83, Y:-18.36, Z:-4.47 [[ 9.76781903e-01 2.13840056e-01 1.30209314e-02 1.37827014e+02] [-2.13822546e-01 9.76868680e-01 -2.73869664e-03 -1.83648867e+01] [-1.33053831e-02 -1.09059386e-04 9.99911474e-01 -4.47385360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.264203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.86, Y:-18.38, Z:-4.48 [[ 9.77428471e-01 2.10837576e-01 1.34573889e-02 1.37856231e+02] [-2.10818547e-01 9.77521106e-01 -2.83336642e-03 -1.83759610e+01] [-1.37522618e-02 -6.76541824e-05 9.99905431e-01 -4.47514902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.29420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.89, Y:-18.39, Z:-4.47 [[ 9.78955813e-01 2.03583287e-01 1.41195590e-02 1.37885604e+02] [-2.03561553e-01 9.79057631e-01 -2.97495720e-03 -1.83934032e+01] [-1.44295136e-02 3.81522894e-05 9.99895888e-01 -4.47334514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.32420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.91, Y:-18.40, Z:-4.48 [[ 9.79653014e-01 2.00198711e-01 1.41579593e-02 1.37914792e+02] [-2.00176466e-01 9.79755310e-01 -2.98576343e-03 -1.84048948e+01] [-1.44690818e-02 9.09218900e-05 9.99895313e-01 -4.47568457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.35420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.95, Y:-18.41, Z:-4.48 [[ 9.80205629e-01 1.97510611e-01 1.36558745e-02 1.37945388e+02] [-1.97489630e-01 9.80300741e-01 -2.88161448e-03 -1.84144780e+01] [-1.39560133e-02 1.27681129e-04 9.99902602e-01 -4.47610363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.38420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.97, Y:-18.43, Z:-4.48 [[ 9.80706047e-01 1.95043410e-01 1.31801974e-02 1.37974887e+02] [-1.95023610e-01 9.80794598e-01 -2.78367178e-03 -1.84263370e+01] [-1.34700033e-02 1.59514076e-04 9.99909263e-01 -4.47971704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.41420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.01, Y:-18.43, Z:-4.48 [[ 9.80559118e-01 1.95822550e-01 1.25437463e-02 1.38007184e+02] [-1.95804663e-01 9.80639337e-01 -2.65055136e-03 -1.84340932e+01] [-1.28199288e-02 1.42898277e-04 9.99917811e-01 -4.48087310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.444203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.04, Y:-18.44, Z:-4.48 [[ 9.80198764e-01 1.97638294e-01 1.22264844e-02 1.38037437e+02] [-1.97621405e-01 9.80275008e-01 -2.58651436e-03 -1.84401760e+01] [-1.24965114e-02 1.19083158e-04 9.99921908e-01 -4.48345527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.474203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.07, Y:-18.44, Z:-4.49 [[ 9.78998472e-01 2.03569458e-01 1.10212280e-02 1.38070318e+02] [-2.03556097e-01 9.79060506e-01 -2.33266099e-03 -1.84383597e+01] [-1.12653076e-02 4.02333820e-05 9.99936544e-01 -4.48501700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.504203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.10, Y:-18.44, Z:-4.49 [[ 9.78294594e-01 2.06954718e-01 1.04609754e-02 1.38103538e+02] [-2.06942864e-01 9.78350522e-01 -2.21502370e-03 -1.84401076e+01] [-1.06929104e-02 2.12150181e-06 9.99942829e-01 -4.48516884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.534203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.14, Y:-18.44, Z:-4.49 [[ 9.77518531e-01 2.10578744e-01 1.06824589e-02 1.38135705e+02] [-2.10566570e-01 9.77576898e-01 -2.26453640e-03 -1.84408935e+01] [-1.09197883e-02 -3.57424396e-05 9.99940377e-01 -4.48891648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.564203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.17, Y:-18.44, Z:-4.49 [[ 9.76332702e-01 2.15933082e-01 1.21391890e-02 1.38168653e+02] [-2.15917700e-01 9.76408159e-01 -2.57942104e-03 -1.84381485e+01] [-1.24097856e-02 -1.02692662e-04 9.99922990e-01 -4.48716883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.594203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.20, Y:-18.44, Z:-4.49 [[ 9.75950120e-01 2.17666742e-01 1.19395318e-02 1.38200701e+02] [-2.17652021e-01 9.76023142e-01 -2.53454176e-03 -1.84438876e+01] [-1.22049448e-02 -1.25076894e-04 9.99925509e-01 -4.48637637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.624203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.23, Y:-18.45, Z:-4.49 [[ 9.75764887e-01 2.18503097e-01 1.18017540e-02 1.38231262e+02] [-2.18488748e-01 9.75836246e-01 -2.50756754e-03 -1.84490628e+01] [-1.20644906e-02 -1.31754104e-04 9.99927213e-01 -4.48872217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.654203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.26, Y:-18.45, Z:-4.49 [[ 9.75633941e-01 2.19048515e-01 1.24964714e-02 1.38263120e+02] [-2.19032444e-01 9.75713958e-01 -2.65731454e-03 -1.84542870e+01] [-1.27750623e-02 -1.44566394e-04 9.99918385e-01 -4.48861681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.684203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.30, Y:-18.46, Z:-4.49 [[ 9.75583805e-01 2.19261663e-01 1.26712979e-02 1.38295901e+02] [-2.19245134e-01 9.75666081e-01 -2.69633850e-03 -1.84609776e+01] [-1.29541592e-02 -1.47616220e-04 9.99916080e-01 -4.48929361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.714203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.33, Y:-18.47, Z:-4.49 [[ 9.75526376e-01 2.19543432e-01 1.22053721e-02 1.38326998e+02] [-2.19528066e-01 9.75602717e-01 -2.60128535e-03 -1.84663725e+01] [-1.24786893e-02 -1.41799263e-04 9.99922128e-01 -4.49189587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.744203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.36, Y:-18.47, Z:-4.50 [[ 9.75326754e-01 2.20471706e-01 1.13995699e-02 1.38357832e+02] [-2.20458369e-01 9.75393360e-01 -2.42927457e-03 -1.84718502e+01] [-1.16546511e-02 -1.43794108e-04 9.99932072e-01 -4.49559836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.774203822 meters Centerline goodness [0,1] 0.9999787043741215 Centerline is valid? [True, True] Translation: X:138.39, Y:-18.48, Z:-4.50 [[ 9.75215951e-01 2.20948274e-01 1.16494190e-02 1.38388109e+02] [-2.20934327e-01 9.75285516e-01 -2.48696309e-03 -1.84781386e+01] [-1.19109998e-02 -1.48430470e-04 9.99929051e-01 -4.49658067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.804203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.42, Y:-18.49, Z:-4.50 [[ 9.75120256e-01 2.21388994e-01 1.12871063e-02 1.38418895e+02] [-2.21375957e-01 9.75185567e-01 -2.40732344e-03 -1.84856488e+01] [-1.15399781e-02 -1.51264105e-04 9.99933401e-01 -4.49704466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.834203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.45, Y:-18.49, Z:-4.50 [[ 9.75056977e-01 2.21715311e-01 1.03059123e-02 1.38449927e+02] [-2.21704447e-01 9.75111430e-01 -2.19930486e-03 -1.84909182e+01] [-1.05370325e-02 -1.40419047e-04 9.99944474e-01 -4.50091678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.864203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.48, Y:-18.50, Z:-4.50 [[ 9.75080325e-01 2.21629065e-01 9.94569826e-03 1.38481212e+02] [-2.21618900e-01 9.75131038e-01 -2.12658973e-03 -1.84966800e+01] [-1.01696732e-02 -1.30558908e-04 9.99948279e-01 -4.50187072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.894203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.51, Y:-18.50, Z:-4.50 [[ 9.75122126e-01 2.21447674e-01 9.88775713e-03 1.38510854e+02] [-2.21437613e-01 9.75172247e-01 -2.11468794e-03 -1.85015849e+01] [-1.01105591e-02 -1.27442345e-04 9.99948879e-01 -4.50459617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.924203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.54, Y:-18.52, Z:-4.50 [[ 9.75479329e-01 2.19865891e-01 9.95336626e-03 1.38541198e+02] [-2.19855646e-01 9.75530100e-01 -2.12557179e-03 -1.85151139e+01] [-1.01771491e-02 -1.14852431e-04 9.99948205e-01 -4.50166709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.954203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.57, Y:-18.52, Z:-4.50 [[ 9.75679372e-01 2.18909156e-01 1.13377669e-02 1.38571532e+02] [-2.18895763e-01 9.75745237e-01 -2.42420740e-03 -1.85235867e+01] [-1.15934532e-02 -1.16539982e-04 9.99932787e-01 -4.50188137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.984203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.60, Y:-18.53, Z:-4.50 [[ 9.75985897e-01 2.17497804e-01 1.20927451e-02 1.38602804e+02] [-2.17482435e-01 9.76060805e-01 -2.58769187e-03 -1.85319925e+01] [-1.23660718e-02 -1.04408878e-04 9.99923532e-01 -4.49958609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.014203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.63, Y:-18.54, Z:-4.50 [[ 9.76084874e-01 2.17083259e-01 1.15402165e-02 1.38634975e+02] [-2.17069219e-01 9.76153087e-01 -2.47071880e-03 -1.85395986e+01] [-1.18013696e-02 -9.33945233e-05 9.99930357e-01 -4.50094575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.04420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.67, Y:-18.55, Z:-4.50 [[ 9.76148530e-01 2.16819889e-01 1.10987536e-02 1.38665912e+02] [-2.16806859e-01 9.76211621e-01 -2.37851075e-03 -1.85465365e+01] [-1.13504407e-02 -8.45061421e-05 9.99935578e-01 -4.50445483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.07420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.70, Y:-18.56, Z:-4.51 [[ 9.76277349e-01 2.16207734e-01 1.16941759e-02 1.38695680e+02] [-2.16193187e-01 9.76347382e-01 -2.50920314e-03 -1.85580165e+01] [-1.19600872e-02 -7.85229825e-05 9.99928473e-01 -4.50530934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.10420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.73, Y:-18.57, Z:-4.50 [[ 9.76255737e-01 2.16301778e-01 1.17590897e-02 1.38727108e+02] [-2.16287063e-01 9.76326551e-01 -2.52425495e-03 -1.85679422e+01] [-1.20267124e-02 -7.90205944e-05 9.99927673e-01 -4.50336030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.13420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.76, Y:-18.57, Z:-4.51 [[ 9.76123638e-01 2.16924553e-01 1.12419157e-02 1.38757191e+02] [-2.16911113e-01 9.76188369e-01 -2.41603040e-03 -1.85740863e+01] [-1.14983236e-02 -8.01520627e-05 9.99933889e-01 -4.50532130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.16420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.79, Y:-18.58, Z:-4.51 [[ 9.75850916e-01 2.18189472e-01 1.04088741e-02 1.38788414e+02] [-2.18177993e-01 9.75906423e-01 -2.23976148e-03 -1.85772039e+01] [-1.06467795e-02 -8.53139620e-05 9.99943318e-01 -4.50936112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.194203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.82, Y:-18.58, Z:-4.51 [[ 9.75013829e-01 2.21890425e-01 1.06147150e-02 1.38821106e+02] [-2.21878680e-01 9.75071599e-01 -2.28646532e-03 -1.85756810e+01] [-1.08574519e-02 -1.25843646e-04 9.99941048e-01 -4.50939890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.224203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.85, Y:-18.58, Z:-4.51 [[ 9.74546946e-01 2.23900262e-01 1.12660049e-02 1.38852726e+02] [-2.23887162e-01 9.74612050e-01 -2.42708255e-03 -1.85788060e+01] [-1.15234085e-02 -1.57007968e-04 9.99933591e-01 -4.50933779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.254203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.88, Y:-18.58, Z:-4.51 [[ 9.73864448e-01 2.26834429e-01 1.15835875e-02 1.38883840e+02] [-2.26820778e-01 9.73933316e-01 -2.49625988e-03 -1.85803667e+01] [-1.18478794e-02 -1.96379572e-04 9.99929792e-01 -4.51020178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.284203822 meters Centerline goodness [0,1] 0.999915266803652 Centerline is valid? [True, True] Translation: X:138.91, Y:-18.58, Z:-4.51 [[ 9.73623598e-01 2.27853246e-01 1.18316443e-02 1.38913037e+02] [-2.27839077e-01 9.73695462e-01 -2.54993631e-03 -1.85847925e+01] [-1.21014296e-02 -2.13032761e-04 9.99926752e-01 -4.51190674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.314203822 meters Centerline goodness [0,1] 0.9999786798567286 Centerline is valid? [True, True] Translation: X:138.94, Y:-18.59, Z:-4.51 [[ 9.73533134e-01 2.28228323e-01 1.20444865e-02 1.38942856e+02] [-2.28213673e-01 9.73607613e-01 -2.59543615e-03 -1.85920987e+01] [-1.23189558e-02 -2.21973416e-04 9.99924094e-01 -4.51146221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.344203822 meters Centerline goodness [0,1] 0.9999366246276696 Centerline is valid? [True, True] Translation: X:138.97, Y:-18.60, Z:-4.51 [[ 9.73482235e-01 2.28365711e-01 1.34699890e-02 1.38972035e+02] [-2.28347405e-01 9.73575390e-01 -2.90230359e-03 -1.85959033e+01] [-1.37768364e-02 -2.50496050e-04 9.99905064e-01 -4.51020703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.374203822 meters Centerline goodness [0,1] 0.999915094139373 Centerline is valid? [True, True] Translation: X:139.00, Y:-18.60, Z:-4.51 [[ 9.73531536e-01 2.28117332e-01 1.41007521e-02 1.39002943e+02] [-2.28097239e-01 9.73633615e-01 -3.03861003e-03 -1.85999074e+01] [-1.44221259e-02 -2.58159942e-04 9.99895962e-01 -4.50897675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.404203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.03, Y:-18.60, Z:-4.51 [[ 9.73580799e-01 2.27863801e-01 1.47822988e-02 1.39034371e+02] [-2.27841690e-01 9.73692979e-01 -3.18548090e-03 -1.86047371e+01] [-1.51192763e-02 -2.66700903e-04 9.99885662e-01 -4.50830398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.434203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.06, Y:-18.61, Z:-4.51 [[ 9.73673328e-01 2.27474186e-01 1.46882552e-02 1.39064620e+02] [-2.27452305e-01 9.73784077e-01 -3.16558203e-03 -1.86115948e+01] [-1.50232772e-02 -2.58634706e-04 9.99887111e-01 -4.50896264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.464203822 meters Centerline goodness [0,1] 0.999957163357536 Centerline is valid? [True, True] Translation: X:139.09, Y:-18.62, Z:-4.51 [[ 9.73722564e-01 2.27301375e-01 1.40873831e-02 1.39094493e+02] [-2.27281222e-01 9.73824432e-01 -3.03661110e-03 -1.86154889e+01] [-1.44088637e-02 -2.44980891e-04 9.99896157e-01 -4.51407798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.494203822 meters Centerline goodness [0,1] 0.9999787496281185 Centerline is valid? [True, True] Translation: X:139.12, Y:-18.62, Z:-4.52 [[ 9.73807526e-01 2.26958672e-01 1.37354950e-02 1.39122988e+02] [-2.26939469e-01 9.73904362e-01 -2.96150588e-03 -1.86216707e+01] [-1.40491980e-02 -2.33189247e-04 9.99901278e-01 -4.51537979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.524203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.15, Y:-18.63, Z:-4.51 [[ 9.73859688e-01 2.26718726e-01 1.39974349e-02 1.39153702e+02] [-2.26698775e-01 9.73960248e-01 -3.01686566e-03 -1.86282188e+01] [-1.43169251e-02 -2.35197484e-04 9.99897480e-01 -4.51279366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.554203822 meters Centerline goodness [0,1] 0.9999788788915642 Centerline is valid? [True, True] Translation: X:139.18, Y:-18.63, Z:-4.52 [[ 9.73947189e-01 2.26339133e-01 1.40524107e-02 1.39183294e+02] [-2.26318972e-01 9.74048533e-01 -3.02967140e-03 -1.86285461e+01] [-1.43734632e-02 -2.29587205e-04 9.99896670e-01 -4.51761854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.584203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.21, Y:-18.64, Z:-4.52 [[ 9.74437319e-01 2.24277679e-01 1.30932639e-02 1.39212968e+02] [-2.24259995e-01 9.74525263e-01 -2.82253106e-03 -1.86366782e+01] [-1.33927472e-02 -1.85915698e-04 9.99910296e-01 -4.51830665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.614203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.24, Y:-18.65, Z:-4.52 [[ 9.74847142e-01 2.22521048e-01 1.25472091e-02 1.39242420e+02] [-2.22504662e-01 9.74927874e-01 -2.70481735e-03 -1.86455791e+01] [-1.28345027e-02 -1.55029061e-04 9.99917622e-01 -4.52003761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.644203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.27, Y:-18.65, Z:-4.52 [[ 9.74847142e-01 2.22521048e-01 1.25472091e-02 1.39271740e+02] [-2.22504662e-01 9.74927874e-01 -2.70481735e-03 -1.86518995e+01] [-1.28345027e-02 -1.55029061e-04 9.99917622e-01 -4.52095354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.674203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.30, Y:-18.66, Z:-4.52 [[ 9.75356422e-01 2.20278111e-01 1.25460614e-02 1.39301703e+02] [-2.20261548e-01 9.75437101e-01 -2.70413709e-03 -1.86621647e+01] [-1.28335560e-02 -1.25917428e-04 9.99917639e-01 -4.52210299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.704203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.33, Y:-18.67, Z:-4.52 [[ 9.75870934e-01 2.17987167e-01 1.25505378e-02 1.39331134e+02] [-2.17970399e-01 9.75951631e-01 -2.70541751e-03 -1.86716435e+01] [-1.28384641e-02 -9.55074177e-05 9.99917579e-01 -4.52313141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.734203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.36, Y:-18.68, Z:-4.53 [[ 9.76775549e-01 2.13892260e-01 1.26344109e-02 1.39360247e+02] [-2.13874950e-01 9.76857256e-01 -2.72149856e-03 -1.86826807e+01] [-1.29241234e-02 -4.38907498e-05 9.99916479e-01 -4.52677376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.764203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.39, Y:-18.69, Z:-4.52 [[ 9.77175771e-01 2.12053047e-01 1.26892971e-02 1.39391848e+02] [-2.12035415e-01 9.77258157e-01 -2.73459611e-03 -1.86924977e+01] [-1.29805985e-02 -1.83993077e-05 9.99915748e-01 -4.52367787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.79420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.42, Y:-18.70, Z:-4.52 [[ 9.77804944e-01 2.09074973e-01 1.36069014e-02 1.39422251e+02] [-2.09054359e-01 9.77899614e-01 -2.93596024e-03 -1.87026037e+01] [-1.39200194e-02 2.62143868e-05 9.99903111e-01 -4.52280331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.82420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.45, Y:-18.71, Z:-4.52 [[ 9.78042342e-01 2.07902654e-01 1.44797671e-02 1.39451744e+02] [-2.07879135e-01 9.78149520e-01 -3.12748150e-03 -1.87115576e+01] [-1.48135889e-02 4.87678752e-05 9.99890272e-01 -4.52345176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.85420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.48, Y:-18.72, Z:-4.52 [[ 9.78152761e-01 2.07331380e-01 1.51945663e-02 1.39482778e+02] [-2.07305373e-01 9.78270768e-01 -3.28446231e-03 -1.87197047e+01] [-1.55453722e-02 6.27906391e-05 9.99879161e-01 -4.52228928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.88420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.52, Y:-18.73, Z:-4.52 [[ 9.77970498e-01 2.08207863e-01 1.49395987e-02 1.39515689e+02] [-2.08182789e-01 9.78084599e-01 -3.23156987e-03 -1.87258242e+01] [-1.52850297e-02 5.02126773e-05 9.99883176e-01 -4.52360201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.91420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.55, Y:-18.73, Z:-4.53 [[ 9.77579625e-01 2.10076770e-01 1.43466612e-02 1.39548388e+02] [-2.10053808e-01 9.77684893e-01 -3.10604367e-03 -1.87301989e+01] [-1.46790215e-02 2.28341907e-05 9.99892257e-01 -4.52545365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.944203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.58, Y:-18.73, Z:-4.53 [[ 9.77036147e-01 2.12615281e-01 1.39681841e-02 1.39580770e+02] [-2.12593731e-01 9.77135990e-01 -3.02706849e-03 -1.87333758e+01] [-1.42924165e-02 -1.19930566e-05 9.99897858e-01 -4.52900926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.974203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.61, Y:-18.73, Z:-4.53 [[ 9.75768400e-01 2.18391350e-01 1.34628102e-02 1.39613022e+02] [-2.18371810e-01 9.75861266e-01 -2.92267479e-03 -1.87312584e+01] [-1.37761219e-02 -8.80445168e-05 9.99905101e-01 -4.52983592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.004203822 meters Centerline goodness [0,1] 0.9998917842611029 Centerline is valid? [True, True] Translation: X:139.65, Y:-18.73, Z:-4.53 [[ 9.74342728e-01 2.24684630e-01 1.31554105e-02 1.39645129e+02] [-2.24666535e-01 9.74431520e-01 -2.85668871e-03 -1.87258428e+01] [-1.34609007e-02 -1.72186608e-04 9.99909383e-01 -4.53225738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.034203822 meters Centerline goodness [0,1] 0.9999785706632379 Centerline is valid? [True, True] Translation: X:139.67, Y:-18.72, Z:-4.53 [[ 9.73677885e-01 2.27528989e-01 1.34883533e-02 1.39674987e+02] [-2.27510231e-01 9.73771283e-01 -2.92960734e-03 -1.87241103e+01] [-1.38011417e-02 -2.16244500e-04 9.99904736e-01 -4.53385419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.064203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.70, Y:-18.73, Z:-4.53 [[ 9.73061032e-01 2.30097999e-01 1.43922984e-02 1.39704018e+02] [-2.30076929e-01 9.73167426e-01 -3.12550324e-03 -1.87256585e+01] [-1.47252880e-02 -2.70030414e-04 9.99891541e-01 -4.53195969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.094203822 meters Centerline goodness [0,1] 0.9999361376021798 Centerline is valid? [True, True] Translation: X:139.73, Y:-18.72, Z:-4.53 [[ 9.72101036e-01 2.34104360e-01 1.46534768e-02 1.39734152e+02] [-2.34082987e-01 9.72211415e-01 -3.18126877e-03 -1.87225429e+01] [-1.49910263e-02 -3.37614944e-04 9.99887571e-01 -4.53291172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.124203822 meters Centerline goodness [0,1] 0.999978950470457 Centerline is valid? [True, True] Translation: X:139.76, Y:-18.72, Z:-4.54 [[ 9.71815041e-01 2.35313642e-01 1.42483763e-02 1.39761797e+02] [-2.35293564e-01 9.71919426e-01 -3.09337767e-03 -1.87241597e+01] [-1.45761877e-02 -3.46360291e-04 9.99893702e-01 -4.53527266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.154203822 meters Centerline goodness [0,1] 0.9999786397812713 Centerline is valid? [True, True] Translation: X:139.79, Y:-18.73, Z:-4.54 [[ 9.71612431e-01 2.36144706e-01 1.43164533e-02 1.39790553e+02] [-2.36124546e-01 9.71717833e-01 -3.10673282e-03 -1.87291436e+01] [-1.46451915e-02 -3.61925802e-04 9.99892688e-01 -4.53546230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.184203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.82, Y:-18.73, Z:-4.53 [[ 9.71516038e-01 2.36514689e-01 1.47441714e-02 1.39818812e+02] [-2.36493361e-01 9.71627839e-01 -3.19880938e-03 -1.87349440e+01] [-1.50824128e-02 -3.79204041e-04 9.99886182e-01 -4.53423573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.214203822 meters Centerline goodness [0,1] 0.9999573269608262 Centerline is valid? [True, True] Translation: X:139.85, Y:-18.73, Z:-4.54 [[ 9.71507759e-01 2.36543924e-01 1.48204711e-02 1.39847115e+02] [-2.36522387e-01 9.71620721e-01 -3.21478743e-03 -1.87344822e+01] [-1.51603153e-02 -3.82182276e-04 9.99885003e-01 -4.53718112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.244203822 meters Centerline goodness [0,1] 0.9999360777294809 Centerline is valid? [True, True] Translation: X:139.88, Y:-18.74, Z:-4.54 [[ 9.71694906e-01 2.35828731e-01 1.39218931e-02 1.39875692e+02] [-2.35809666e-01 9.71794571e-01 -3.01890949e-03 -1.87395928e+01] [-1.42411657e-02 -3.49457992e-04 9.99898528e-01 -4.53791289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.274203822 meters Centerline goodness [0,1] 0.9997686305029132 Centerline is valid? [True, True] Translation: X:139.90, Y:-18.74, Z:-4.54 [[ 9.71981405e-01 2.34679302e-01 1.33331676e-02 1.39904202e+02] [-2.34661713e-01 9.72072797e-01 -2.89083604e-03 -1.87406012e+01] [-1.36392289e-02 -3.18945077e-04 9.99906931e-01 -4.54314723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.304203822 meters Centerline goodness [0,1] 0.999914690325883 Centerline is valid? [True, True] Translation: X:139.93, Y:-18.75, Z:-4.54 [[ 9.72398742e-01 2.32962895e-01 1.29991003e-02 1.39931965e+02] [-2.32946039e-01 9.72485582e-01 -2.81719866e-03 -1.87508055e+01] [-1.32977404e-02 -2.88648492e-04 9.99911539e-01 -4.54209839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.334203822 meters Centerline goodness [0,1] 0.9998281528580327 Centerline is valid? [True, True] Translation: X:139.96, Y:-18.76, Z:-4.54 [[ 9.73466819e-01 2.28401220e-01 1.39726552e-02 1.39961058e+02] [-2.28381289e-01 9.73567061e-01 -3.02718307e-03 -1.87597949e+01] [-1.42947292e-02 -2.44230748e-04 9.99897795e-01 -4.54315472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.364203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.99, Y:-18.77, Z:-4.54 [[ 9.74162125e-01 2.25388116e-01 1.44344123e-02 1.39987931e+02] [-2.25366506e-01 9.74269036e-01 -3.12780724e-03 -1.87666813e+01] [-1.47679715e-02 -2.06041712e-04 9.99890926e-01 -4.54364040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.394203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.02, Y:-18.78, Z:-4.54 [[ 9.75553464e-01 2.19217419e-01 1.54648624e-02 1.40016211e+02] [-2.19191867e-01 9.75676026e-01 -3.34924840e-03 -1.87788164e+01] [-1.58229091e-02 -1.22401178e-04 9.99874802e-01 -4.54272545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.424203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.04, Y:-18.79, Z:-4.54 [[ 9.76163572e-01 2.16455733e-01 1.58618086e-02 1.40043790e+02] [-2.16428481e-01 9.76292430e-01 -3.43553393e-03 -1.87874877e+01] [-1.62294047e-02 -7.93040643e-05 9.99868291e-01 -4.54319487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.454203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.07, Y:-18.80, Z:-4.54 [[ 9.76742996e-01 2.13807696e-01 1.61055687e-02 1.40071303e+02] [-2.13779257e-01 9.76875769e-01 -3.48733542e-03 -1.87968707e+01] [-1.64787589e-02 -3.68060517e-05 9.99864215e-01 -4.54391869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.484203822 meters Centerline goodness [0,1] 0.9998915189516392 Centerline is valid? [True, True] Translation: X:140.10, Y:-18.81, Z:-4.54 [[ 9.77703233e-01 2.09408762e-01 1.56320056e-02 1.40100331e+02] [-2.09381431e-01 9.77828190e-01 -3.38333852e-03 -1.88092935e+01] [-1.59939164e-02 3.48493126e-05 9.99872089e-01 -4.54354947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.514203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.13, Y:-18.82, Z:-4.55 [[ 9.78028488e-01 2.07891707e-01 1.55343243e-02 1.40130054e+02] [-2.07864552e-01 9.78151847e-01 -3.36050463e-03 -1.88189297e+01] [-1.58935491e-02 5.76338941e-05 9.99873688e-01 -4.54587193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.54420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.16, Y:-18.83, Z:-4.55 [[ 9.78310436e-01 2.06559263e-01 1.55551124e-02 1.40160493e+02] [-2.06531791e-01 9.78434088e-01 -3.36983269e-03 -1.88276693e+01] [-1.59157224e-02 8.41172716e-05 9.99873333e-01 -4.54633206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.57420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.19, Y:-18.84, Z:-4.55 [[ 9.78585110e-01 2.05310761e-01 1.47876595e-02 1.40189046e+02] [-2.05285793e-01 9.78696828e-01 -3.20334238e-03 -1.88363690e+01] [-1.51303161e-02 9.90467491e-05 9.99885525e-01 -4.54874205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.60420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.22, Y:-18.84, Z:-4.55 [[ 9.78628941e-01 2.05158012e-01 1.39852388e-02 1.40218934e+02] [-2.05135639e-01 9.78728860e-01 -3.03131485e-03 -1.88415770e+01] [-1.43096554e-02 9.76615279e-05 9.99897607e-01 -4.55100583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.63420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.25, Y:-18.85, Z:-4.55 [[ 9.78554554e-01 2.05542005e-01 1.35450548e-02 1.40249170e+02] [-2.05521058e-01 9.78648290e-01 -2.93569880e-03 -1.88467343e+01] [-1.38592541e-02 8.89474405e-05 9.99903952e-01 -4.55411468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.66420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.28, Y:-18.85, Z:-4.55 [[ 9.78459224e-01 2.05996725e-01 1.35239214e-02 1.40279689e+02] [-2.05975882e-01 9.78552677e-01 -2.93149468e-03 -1.88515874e+01] [-1.38377478e-02 8.27463678e-05 9.99904250e-01 -4.55363937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.694203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.31, Y:-18.86, Z:-4.56 [[ 9.78172438e-01 2.07306877e-01 1.42316907e-02 1.40308687e+02] [-2.07283930e-01 9.78275960e-01 -3.08511684e-03 -1.88573292e+01] [-1.45620868e-02 6.77754811e-05 9.99893965e-01 -4.55727890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.724203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.34, Y:-18.86, Z:-4.56 [[ 9.78114533e-01 2.07584649e-01 1.41624445e-02 1.40338137e+02] [-2.07561954e-01 9.78217057e-01 -3.07010197e-03 -1.88628542e+01] [-1.44912508e-02 6.33266983e-05 9.99894994e-01 -4.55711060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.754203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.37, Y:-18.87, Z:-4.56 [[ 9.78281319e-01 2.06818623e-01 1.38462172e-02 1.40368516e+02] [-2.06796864e-01 9.78379299e-01 -3.00083705e-03 -1.88689736e+01] [-1.41674813e-02 7.23085290e-05 9.99899634e-01 -4.55676663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.784203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.40, Y:-18.88, Z:-4.56 [[ 9.78399046e-01 2.06268427e-01 1.37347673e-02 1.40397216e+02] [-2.06246960e-01 9.78495442e-01 -2.97688944e-03 -1.88764001e+01] [-1.40534455e-02 7.98318038e-05 9.99901242e-01 -4.56065811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.814203822 meters Centerline goodness [0,1] 0.9998716659893483 Centerline is valid? [True, True] Translation: X:140.43, Y:-18.88, Z:-4.56 [[ 9.78529564e-01 2.05667585e-01 1.34438229e-02 1.40427189e+02] [-2.05646966e-01 9.78621907e-01 -2.91345519e-03 -1.88826775e+01] [-1.37556229e-02 8.62206292e-05 9.99905383e-01 -4.56151804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.844203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.46, Y:-18.89, Z:-4.56 [[ 9.78749187e-01 2.04686471e-01 1.23885763e-02 1.40457109e+02] [-2.04668886e-01 9.78827585e-01 -2.68454581e-03 -1.88900950e+01] [-1.26757705e-02 9.19409050e-05 9.99919655e-01 -4.56298945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.874203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.49, Y:-18.90, Z:-4.56 [[ 9.78716408e-01 2.04860205e-01 1.21032817e-02 1.40487213e+02] [-2.04843430e-01 9.78791238e-01 -2.62309714e-03 -1.88963269e+01] [-1.23839543e-02 8.79904657e-05 9.99923312e-01 -4.56460987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.904203822 meters Centerline goodness [0,1] 0.9999783230729212 Centerline is valid? [True, True] Translation: X:140.52, Y:-18.90, Z:-4.57 [[ 9.78478285e-01 2.05993852e-01 1.21152648e-02 1.40515462e+02] [-2.05977125e-01 9.78553283e-01 -2.62614550e-03 -1.89035224e+01] [-1.23964020e-02 7.41589318e-05 9.99923159e-01 -4.56580799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.934203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.54, Y:-18.91, Z:-4.57 [[ 9.78223564e-01 2.07201050e-01 1.20988939e-02 1.40543485e+02] [-2.07184462e-01 9.78298381e-01 -2.62250718e-03 -1.89092245e+01] [-1.23797145e-02 5.86955127e-05 9.99923367e-01 -4.56744923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.964203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.57, Y:-18.91, Z:-4.57 [[ 9.77919798e-01 2.08621080e-01 1.22520941e-02 1.40572783e+02] [-2.08604188e-01 9.77996546e-01 -2.65502991e-03 -1.89137945e+01] [-1.25364010e-02 4.05681607e-05 9.99921415e-01 -4.56552334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.994203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.60, Y:-18.92, Z:-4.57 [[ 9.77293877e-01 2.11464338e-01 1.33981733e-02 1.40602161e+02] [-2.11444411e-01 9.77385714e-01 -2.90296403e-03 -1.89179318e+01] [-1.37090566e-02 4.08010672e-06 9.99906026e-01 -4.56554332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.024203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.63, Y:-18.92, Z:-4.57 [[ 9.76983612e-01 2.12860111e-01 1.39138375e-02 1.40630271e+02] [-2.12838765e-01 9.77082685e-01 -3.01450602e-03 -1.89229058e+01] [-1.42366378e-02 -1.62810106e-05 9.99898654e-01 -4.56755353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.054203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.66, Y:-18.93, Z:-4.57 [[ 9.76695272e-01 2.14178656e-01 1.39229279e-02 1.40659056e+02] [-2.14157421e-01 9.76794503e-01 -3.01612308e-03 -1.89279469e+01] [-1.42458286e-02 -3.58651781e-05 9.99898522e-01 -4.56782786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.084203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.69, Y:-18.93, Z:-4.57 [[ 9.76446164e-01 2.15351896e-01 1.32834509e-02 1.40688381e+02] [-2.15332689e-01 9.76536511e-01 -2.87659238e-03 -1.89334501e+01] [-1.35912544e-02 -5.15236091e-05 9.99907633e-01 -4.56799166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.114203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.72, Y:-18.94, Z:-4.57 [[ 9.75810509e-01 2.18298083e-01 1.18235987e-02 1.40716952e+02] [-2.18283084e-01 9.75882134e-01 -2.56035785e-03 -1.89360663e+01] [-1.20973600e-02 -8.24674966e-05 9.99926821e-01 -4.57224501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.144203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.74, Y:-18.94, Z:-4.58 [[ 9.75364458e-01 2.20294497e-01 1.15977734e-02 1.40744790e+02] [-2.20280202e-01 9.75433403e-01 -2.51179420e-03 -1.89376386e+01] [-1.18661900e-02 -1.04845069e-04 9.99929589e-01 -4.57810459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.174203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.77, Y:-18.94, Z:-4.58 [[ 9.74928080e-01 2.22238515e-01 1.11929129e-02 1.40772981e+02] [-2.22225341e-01 9.74992322e-01 -2.42297914e-03 -1.89425886e+01] [-1.14514834e-02 -1.25118488e-04 9.99934422e-01 -4.57632171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.204203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.80, Y:-18.94, Z:-4.58 [[ 9.73908017e-01 2.26635956e-01 1.18033005e-02 1.40802280e+02] [-2.26621635e-01 9.73979522e-01 -2.55466153e-03 -1.89396271e+01] [-1.20751511e-02 -1.86877909e-04 9.99927075e-01 -4.57841126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.234203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.83, Y:-18.94, Z:-4.58 [[ 9.73370282e-01 2.28941941e-01 1.16568200e-02 1.40830855e+02] [-2.28928149e-01 9.73440056e-01 -2.52205582e-03 -1.89441461e+01] [-1.19246198e-02 -2.13680030e-04 9.99928876e-01 -4.57629450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.264203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.86, Y:-18.94, Z:-4.58 [[ 9.72351130e-01 2.33277730e-01 1.07135722e-02 1.40860776e+02] [-2.33266347e-01 9.72410120e-01 -2.31753994e-03 -1.89400946e+01] [-1.09586165e-02 -2.45653264e-04 9.99939922e-01 -4.57971623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.29420382200001 meters Centerline goodness [0,1] 0.9999357670484958 Centerline is valid? [True, True] Translation: X:140.89, Y:-18.94, Z:-4.58 [[ 9.71970275e-01 2.34873362e-01 1.04061381e-02 1.40890120e+02] [-2.34862720e-01 9.72025945e-01 -2.25054820e-03 -1.89416798e+01] [-1.06436301e-02 -2.56547955e-04 9.99943322e-01 -4.58048894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.32420382200002 meters Centerline goodness [0,1] 0.9998474712919182 Centerline is valid? [True, True] Translation: X:140.92, Y:-18.94, Z:-4.58 [[ 9.71634252e-01 2.36286520e-01 9.77552062e-03 1.40919601e+02] [-2.36277204e-01 9.71683392e-01 -2.11376375e-03 -1.89414253e+01] [-9.99816492e-03 -2.55927412e-04 9.99949984e-01 -4.58343924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.35420382200002 meters Centerline goodness [0,1] 0.9998925793838354 Centerline is valid? [True, True] Translation: X:140.95, Y:-18.94, Z:-4.59 [[ 9.71867592e-01 2.35339442e-01 9.41973089e-03 1.40947752e+02] [-2.35330751e-01 9.71913211e-01 -2.03640010e-03 -1.89449006e+01] [-9.63440616e-03 -2.37641084e-04 9.99953560e-01 -4.58741074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.38420382200002 meters Centerline goodness [0,1] 0.9999785931412425 Centerline is valid? [True, True] Translation: X:140.98, Y:-18.96, Z:-4.59 [[ 9.72362454e-01 2.33296151e-01 9.17410877e-03 1.40975055e+02] [-2.33287821e-01 9.72405708e-01 -1.98285353e-03 -1.89550735e+01] [-9.38354783e-03 -2.12155521e-04 9.99955951e-01 -4.58759414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.41420382200002 meters Centerline goodness [0,1] 0.9999783914603051 Centerline is valid? [True, True] Translation: X:141.00, Y:-18.97, Z:-4.59 [[ 9.73113901e-01 2.30113094e-01 9.86406697e-03 1.41003359e+02] [-2.30103314e-01 9.73163874e-01 -2.13064185e-03 -1.89668150e+01] [-1.00896422e-02 -1.96397291e-04 9.99949079e-01 -4.58540803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.444203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.03, Y:-18.98, Z:-4.58 [[ 9.75192717e-01 2.20979052e-01 1.29392047e-02 1.41030919e+02] [-2.20961422e-01 9.75278545e-01 -2.79457669e-03 -1.89848727e+01] [-1.32368716e-02 -1.33814227e-04 9.99912380e-01 -4.58029760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.474203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.06, Y:-19.00, Z:-4.58 [[ 9.76303387e-01 2.15994820e-01 1.33391926e-02 1.41057365e+02] [-2.15975617e-01 9.76394507e-01 -2.88096860e-03 -1.89970063e+01] [-1.36465886e-02 -6.82409353e-05 9.99906879e-01 -4.58443122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.504203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.09, Y:-19.00, Z:-4.59 [[ 9.76313528e-01 2.15948979e-01 1.33391647e-02 1.41085070e+02] [-2.15929770e-01 9.76404647e-01 -2.88109769e-03 -1.90028943e+01] [-1.36465925e-02 -6.74681115e-05 9.99906879e-01 -4.58529612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.534203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.11, Y:-19.02, Z:-4.59 [[ 9.77403452e-01 2.10979566e-01 1.30428148e-02 1.41111698e+02] [-2.10960766e-01 9.77490472e-01 -2.81648238e-03 -1.90178472e+01] [-1.33434474e-02 1.31740021e-06 9.99910972e-01 -4.58616956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.564203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.14, Y:-19.03, Z:-4.59 [[ 9.78333791e-01 2.06609934e-01 1.32411525e-02 1.41139226e+02] [-2.06590171e-01 9.78423391e-01 -2.85823185e-03 -1.90314918e+01] [-1.35459924e-02 6.08128278e-05 9.99908247e-01 -4.58651100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.594203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.17, Y:-19.05, Z:-4.58 [[ 9.79557629e-01 2.00684198e-01 1.38818099e-02 1.41168071e+02] [-2.00661931e-01 9.79655976e-01 -2.99300616e-03 -1.90480950e+01] [-1.42000470e-02 1.46271243e-04 9.99899164e-01 -4.58373761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.624203822 meters Centerline goodness [0,1] 0.9999784157133607 Centerline is valid? [True, True] Translation: X:141.20, Y:-19.06, Z:-4.59 [[ 9.79847866e-01 1.99274419e-01 1.37063784e-02 1.41196847e+02] [-1.99252535e-01 9.79943712e-01 -2.95790446e-03 -1.90597739e+01] [-1.40209140e-02 1.67265725e-04 9.99901688e-01 -4.58557401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.654203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.23, Y:-19.07, Z:-4.59 [[ 9.79841029e-01 1.99435156e-01 1.17122434e-02 1.41227013e+02] [-1.99419181e-01 9.79911016e-01 -2.52820269e-03 -1.90694818e+01] [-1.19811688e-02 1.41590751e-04 9.99928213e-01 -4.58897923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.684203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.26, Y:-19.07, Z:-4.59 [[ 9.79499811e-01 2.01123200e-01 1.13832474e-02 1.41258466e+02] [-2.01108173e-01 9.79565946e-01 -2.46160475e-03 -1.90741326e+01] [-1.16457274e-02 1.21877303e-04 9.99932179e-01 -4.59109284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.714203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.29, Y:-19.08, Z:-4.59 [[ 9.79003383e-01 2.03514134e-01 1.15919996e-02 1.41287734e+02] [-2.03498705e-01 9.79072004e-01 -2.50776509e-03 -1.90779604e+01] [-1.18597679e-02 9.61536063e-05 9.99929666e-01 -4.59401796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.744203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.32, Y:-19.08, Z:-4.59 [[ 9.77701223e-01 2.09706951e-01 1.11046238e-02 1.41318315e+02] [-2.09693190e-01 9.77764284e-01 -2.40243933e-03 -1.90767446e+01] [-1.13615128e-02 2.03038858e-05 9.99935456e-01 -4.59454026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.774203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.35, Y:-19.08, Z:-4.59 [[ 9.76891457e-01 2.13445201e-01 1.11457552e-02 1.41347098e+02] [-2.13431579e-01 9.76955038e-01 -2.41152812e-03 -1.90777312e+01] [-1.14036308e-02 -2.30549093e-05 9.99934976e-01 -4.59487797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.804203822 meters Centerline goodness [0,1] 0.9999572082673628 Centerline is valid? [True, True] Translation: X:141.38, Y:-19.08, Z:-4.60 [[ 9.76000198e-01 2.17465926e-01 1.14971336e-02 1.41377153e+02] [-2.17451718e-01 9.76067910e-01 -2.48691218e-03 -1.90771881e+01] [-1.17628019e-02 -7.28446761e-05 9.99930813e-01 -4.59565902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.834203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.41, Y:-19.07, Z:-4.60 [[ 9.74515830e-01 2.24039394e-01 1.11913865e-02 1.41408241e+02] [-2.24026375e-01 9.74580078e-01 -2.41978245e-03 -1.90740340e+01] [-1.14490289e-02 -1.49049447e-04 9.99934447e-01 -4.59544242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.864203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.44, Y:-19.07, Z:-4.60 [[ 9.73838077e-01 2.26980993e-01 1.09100340e-02 1.41436809e+02] [-2.26968797e-01 9.73899172e-01 -2.35972476e-03 -1.90747351e+01] [-1.11608858e-02 -1.78247472e-04 9.99937699e-01 -4.59838683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.894203822 meters Centerline goodness [0,1] 0.9999572704354143 Centerline is valid? [True, True] Translation: X:141.47, Y:-19.08, Z:-4.60 [[ 9.73183191e-01 2.29764869e-01 1.10717076e-02 1.41465269e+02] [-2.29752503e-01 9.73246145e-01 -2.39340561e-03 -1.90759186e+01] [-1.13254172e-02 -2.14530416e-04 9.99935842e-01 -4.59903412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.924203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.50, Y:-19.08, Z:-4.60 [[ 9.71969904e-01 2.34786017e-01 1.22487684e-02 1.41495230e+02] [-2.34771297e-01 9.72047033e-01 -2.64649947e-03 -1.90752933e+01] [-1.25277400e-02 -3.03341400e-04 9.99921479e-01 -4.59595462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.954203822 meters Centerline goodness [0,1] 0.9999784955485785 Centerline is valid? [True, True] Translation: X:141.52, Y:-19.08, Z:-4.60 [[ 9.71432839e-01 2.36979548e-01 1.26068686e-02 1.41524293e+02] [-2.36964142e-01 9.71514579e-01 -2.72357930e-03 -1.90783820e+01] [-1.28931892e-02 -3.41601426e-04 9.99916821e-01 -4.59534120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.984203822 meters Centerline goodness [0,1] 0.9998288843258042 Centerline is valid? [True, True] Translation: X:141.55, Y:-19.07, Z:-4.60 [[ 9.70657162e-01 2.40136169e-01 1.26212033e-02 1.41554560e+02] [-2.40121003e-01 9.70739137e-01 -2.72608456e-03 -1.90728087e+01] [-1.29065275e-02 -3.84522503e-04 9.99916633e-01 -4.59791021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.014203822 meters Centerline goodness [0,1] 0.9995907994486561 Centerline is valid? [True, True] Translation: X:141.58, Y:-19.08, Z:-4.60 [[ 9.70388048e-01 2.41253926e-01 1.19824913e-02 1.41583307e+02] [-2.41240349e-01 9.70461951e-01 -2.58747165e-03 -1.90752139e+01] [-1.22527895e-02 -3.79808804e-04 9.99924860e-01 -4.60052504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.04420382200001 meters Centerline goodness [0,1] 0.9970741635924183 Centerline is valid? [True, True] Translation: X:141.61, Y:-19.07, Z:-4.61 [[ 9.70378066e-01 2.41319712e-01 1.14545317e-02 1.41612594e+02] [-2.41307313e-01 9.70445601e-01 -2.47318406e-03 -1.90712543e+01] [-1.17128280e-02 -3.64138710e-04 9.99931336e-01 -4.60643543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.07420382200002 meters Centerline goodness [0,1] 0.9998707592891761 Centerline is valid? [True, True] Translation: X:141.64, Y:-19.08, Z:-4.60 [[ 9.70541140e-01 2.40676791e-01 1.11614418e-02 1.41638916e+02] [-2.40664986e-01 9.70605255e-01 -2.40903717e-03 -1.90846385e+01] [-1.14131534e-02 -3.48098538e-04 9.99934807e-01 -4.60367784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.10420382200002 meters Centerline goodness [0,1] 0.9999360736431631 Centerline is valid? [True, True] Translation: X:141.67, Y:-19.10, Z:-4.60 [[ 9.71344525e-01 2.37366477e-01 1.21231152e-02 1.41666726e+02] [-2.37352307e-01 9.71420116e-01 -2.61544164e-03 -1.90967666e+01] [-1.23974561e-02 -3.36954435e-04 9.99923092e-01 -4.60223429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.13420382200002 meters Centerline goodness [0,1] 0.9998944435061645 Centerline is valid? [True, True] Translation: X:141.69, Y:-19.10, Z:-4.61 [[ 9.71868099e-01 2.35197874e-01 1.24241445e-02 1.41694697e+02] [-2.35182812e-01 9.71947457e-01 -2.68048766e-03 -1.91006326e+01] [-1.27060606e-02 -3.16864789e-04 9.99919225e-01 -4.60536468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.16420382200002 meters Centerline goodness [0,1] 0.9999785917663934 Centerline is valid? [True, True] Translation: X:141.72, Y:-19.11, Z:-4.60 [[ 9.72456977e-01 2.32738909e-01 1.26502251e-02 1.41721525e+02] [-2.32723095e-01 9.72539210e-01 -2.72859428e-03 -1.91118995e+01] [-1.29378900e-02 -2.90559006e-04 9.99916260e-01 -4.60373452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.194203822 meters Centerline goodness [0,1] 0.9999784978605372 Centerline is valid? [True, True] Translation: X:141.75, Y:-19.12, Z:-4.60 [[ 9.73737885e-01 2.27314922e-01 1.27458951e-02 1.41749844e+02] [-2.27298420e-01 9.73821276e-01 -2.74792810e-03 -1.91236046e+01] [-1.30368689e-02 -2.21360133e-04 9.99914992e-01 -4.60455599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.224203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.78, Y:-19.13, Z:-4.60 [[ 9.74371268e-01 2.24590517e-01 1.26384991e-02 1.41777830e+02] [-2.24574056e-01 9.74453214e-01 -2.72530625e-03 -1.91322022e+01] [-1.29277040e-02 -1.82818891e-04 9.99916417e-01 -4.60405685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.254203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.80, Y:-19.14, Z:-4.61 [[ 9.75529216e-01 2.19508046e-01 1.26081483e-02 1.41804262e+02] [-2.19491245e-01 9.75610683e-01 -2.71832347e-03 -1.91406128e+01] [-1.28973381e-02 -1.15574196e-04 9.99916819e-01 -4.60961641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.284203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.83, Y:-19.15, Z:-4.61 [[ 9.76124443e-01 2.16920126e-01 1.12574685e-02 1.41831488e+02] [-2.16906568e-01 9.76189353e-01 -2.42631588e-03 -1.91525952e+01] [-1.15157376e-02 -7.34326211e-05 9.99933689e-01 -4.61018937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.314203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.86, Y:-19.16, Z:-4.61 [[ 9.76628722e-01 2.14686674e-01 1.02942121e-02 1.41858231e+02] [-2.14675214e-01 9.76682973e-01 -2.21855339e-03 -1.91620422e+01] [-1.05304755e-02 -4.32092333e-05 9.99944552e-01 -4.61482127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.344203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.89, Y:-19.17, Z:-4.61 [[ 9.77456818e-01 2.10838017e-01 1.12026361e-02 1.41885131e+02] [-2.10824206e-01 9.77521013e-01 -2.41319456e-03 -1.91723183e+01] [-1.14596053e-02 -2.99338285e-06 9.99934337e-01 -4.61318251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.374203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.91, Y:-19.18, Z:-4.61 [[ 9.77778550e-01 2.09312340e-01 1.17239555e-02 1.41913008e+02] [-2.09297111e-01 9.77848835e-01 -2.52488413e-03 -1.91793099e+01] [-1.19927457e-02 1.49875164e-05 9.99928084e-01 -4.61070709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.404203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.94, Y:-19.19, Z:-4.61 [[ 9.77985455e-01 2.08322258e-01 1.20949171e-02 1.41939968e+02] [-2.08305980e-01 9.78060242e-01 -2.60432800e-03 -1.91856794e+01] [-1.23720970e-02 2.75513452e-05 9.99923462e-01 -4.61214977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.434203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.97, Y:-19.19, Z:-4.61 [[ 9.78319629e-01 2.06655218e-01 1.35765834e-02 1.41968361e+02] [-2.06634566e-01 9.78413828e-01 -2.92203706e-03 -1.91924079e+01] [-1.38873712e-02 5.32947915e-05 9.99903564e-01 -4.61034947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.464203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.00, Y:-19.20, Z:-4.61 [[ 9.78504048e-01 2.05725247e-01 1.43857951e-02 1.41996739e+02] [-2.05701970e-01 9.78609788e-01 -3.09542404e-03 -1.91994621e+01] [-1.47148868e-02 6.96985603e-05 9.99891728e-01 -4.60856013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.494203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.02, Y:-19.21, Z:-4.61 [[ 9.78727693e-01 2.04637310e-01 1.46858337e-02 1.42023831e+02] [-2.04612945e-01 9.78837864e-01 -3.15899714e-03 -1.92085213e+01] [-1.50214988e-02 8.68863030e-05 9.99887167e-01 -4.61079797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.524203822 meters Centerline goodness [0,1] 0.9999785158767671 Centerline is valid? [True, True] Translation: X:142.05, Y:-19.22, Z:-4.61 [[ 9.78959398e-01 2.03570210e-01 1.40593909e-02 1.42052713e+02] [-2.03547779e-01 9.79060345e-01 -3.02355043e-03 -1.92169099e+01] [-1.43804969e-02 9.81753230e-05 9.99896590e-01 -4.61202684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.554203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.08, Y:-19.23, Z:-4.61 [[ 9.79302255e-01 2.01906000e-01 1.41795867e-02 1.42080785e+02] [-2.01883017e-01 9.79404897e-01 -3.04883264e-03 -1.92282443e+01] [-1.45031343e-02 1.23110926e-04 9.99894816e-01 -4.61300637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.584203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.11, Y:-19.23, Z:-4.61 [[ 9.79323856e-01 2.01785701e-01 1.43984862e-02 1.42110907e+02] [-2.01761996e-01 9.79429689e-01 -3.09551757e-03 -1.92348293e+01] [-1.47269360e-02 1.26446887e-04 9.99891545e-01 -4.61240547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.614203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.14, Y:-19.24, Z:-4.61 [[ 9.78955108e-01 2.03495671e-01 1.53755707e-02 1.42140499e+02] [-2.03468847e-01 9.79075840e-01 -3.30576544e-03 -1.92387900e+01] [-1.57265588e-02 1.07746317e-04 9.99876324e-01 -4.61211262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.644203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.17, Y:-19.24, Z:-4.61 [[ 9.78575608e-01 2.05317157e-01 1.53181306e-02 1.42170148e+02] [-2.05290756e-01 9.78695488e-01 -3.29340787e-03 -1.92426063e+01] [-1.56679785e-02 7.81779907e-05 9.99877247e-01 -4.61301793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.674203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.20, Y:-19.25, Z:-4.62 [[ 9.78038305e-01 2.07895593e-01 1.48491352e-02 1.42199270e+02] [-2.07871084e-01 9.78151022e-01 -3.19240455e-03 -1.92451561e+01] [-1.51883836e-02 3.55880987e-05 9.99884649e-01 -4.61582667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.704203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.23, Y:-19.24, Z:-4.62 [[ 9.76871999e-01 2.13416972e-01 1.32020015e-02 1.42229201e+02] [-2.13398099e-01 9.76961204e-01 -2.83848800e-03 -1.92402013e+01] [-1.35036248e-02 -4.44425699e-05 9.99908821e-01 -4.61857928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.734203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.26, Y:-19.24, Z:-4.62 [[ 9.76344623e-01 2.15862806e-01 1.24268187e-02 1.42258681e+02] [-2.15846298e-01 9.76423701e-01 -2.67066523e-03 -1.92417043e+01] [-1.27103376e-02 -7.47931723e-05 9.99919218e-01 -4.62073029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.764203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.29, Y:-19.24, Z:-4.63 [[ 9.75932283e-01 2.17715078e-01 1.25029742e-02 1.42286507e+02] [-2.17698524e-01 9.76012364e-01 -2.68659732e-03 -1.92427711e+01] [-1.27879702e-02 -9.99419869e-05 9.99918226e-01 -4.62591248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.79420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.31, Y:-19.25, Z:-4.62 [[ 9.75670690e-01 2.18863139e-01 1.28698143e-02 1.42314812e+02] [-2.18845713e-01 9.75755560e-01 -2.76430156e-03 -1.92483910e+01] [-1.31627966e-02 -1.19455682e-04 9.99913360e-01 -4.62262057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.82420382200002 meters Centerline goodness [0,1] 0.9999786132854271 Centerline is valid? [True, True] Translation: X:142.34, Y:-19.25, Z:-4.62 [[ 9.75523686e-01 2.19493026e-01 1.32797046e-02 1.42342649e+02] [-2.19474535e-01 9.75614060e-01 -2.85205835e-03 -1.92515645e+01] [-1.35818734e-02 -1.32306513e-04 9.99907753e-01 -4.62192344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.85420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.37, Y:-19.26, Z:-4.62 [[ 9.75703452e-01 2.18670308e-01 1.36407350e-02 1.42370295e+02] [-2.18650739e-01 9.75798791e-01 -2.92809069e-03 -1.92582171e+01] [-1.39508992e-02 -1.25608588e-04 9.99902674e-01 -4.62192139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.88420382200002 meters Centerline goodness [0,1] 0.9999786160294244 Centerline is valid? [True, True] Translation: X:142.40, Y:-19.27, Z:-4.62 [[ 9.76402336e-01 2.15505209e-01 1.39993717e-02 1.42397266e+02] [-2.15484283e-01 9.76502687e-01 -3.00432191e-03 -1.92695809e+01] [-1.43178711e-02 -8.32176294e-05 9.99897491e-01 -4.62224101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.91420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.43, Y:-19.28, Z:-4.62 [[ 9.76782740e-01 2.13742510e-01 1.44781998e-02 1.42425239e+02] [-2.13719945e-01 9.76890033e-01 -3.10629845e-03 -1.92786102e+01] [-1.48075571e-02 -6.01013623e-05 9.99890360e-01 -4.62245274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.944203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.45, Y:-19.29, Z:-4.62 [[ 9.77090699e-01 2.12306374e-01 1.48246129e-02 1.42452317e+02] [-2.12282561e-01 9.77203153e-01 -3.18001514e-03 -1.92866610e+01] [-1.51617959e-02 -3.98435655e-05 9.99885053e-01 -4.62455129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.974203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.48, Y:-19.30, Z:-4.62 [[ 9.77770504e-01 2.09070185e-01 1.59530184e-02 1.42479408e+02] [-2.09042200e-01 9.77900638e-01 -3.42070491e-03 -1.92995735e+01] [-1.63156343e-02 9.81029874e-06 9.99866891e-01 -4.62344255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.004203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.51, Y:-19.31, Z:-4.62 [[ 9.78070752e-01 2.07570579e-01 1.70897029e-02 1.42506818e+02] [-2.07538250e-01 9.78220043e-01 -3.66349555e-03 -1.93085912e+01] [-1.74779238e-02 3.63908064e-05 9.99847249e-01 -4.62232414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.034203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.53, Y:-19.32, Z:-4.62 [[ 9.78469207e-01 2.05649667e-01 1.74993015e-02 1.42533224e+02] [-2.05615481e-01 9.78625674e-01 -3.75024308e-03 -1.93199532e+01] [-1.78965020e-02 7.13700750e-05 9.99839842e-01 -4.62266735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.064203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.56, Y:-19.33, Z:-4.62 [[ 9.78495327e-01 2.05559160e-01 1.70975476e-02 1.42561694e+02] [-2.05526526e-01 9.78644689e-01 -3.66337568e-03 -1.93282183e+01] [-1.74854646e-02 7.05964354e-05 9.99847115e-01 -4.62442517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.094203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.59, Y:-19.34, Z:-4.63 [[ 9.78430121e-01 2.05947698e-01 1.61258564e-02 1.42590942e+02] [-2.05918732e-01 9.78562999e-01 -3.45449530e-03 -1.93353099e+01] [-1.64916118e-02 5.93663403e-05 9.99864002e-01 -4.62555996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.124203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.62, Y:-19.34, Z:-4.63 [[ 9.78239761e-01 2.06886825e-01 1.56464542e-02 1.42620206e+02] [-2.06859679e-01 9.78364881e-01 -3.35161892e-03 -1.93414855e+01] [-1.60013471e-02 4.20664104e-05 9.99871969e-01 -4.62782104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.154203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.65, Y:-19.34, Z:-4.63 [[ 9.77512997e-01 2.10337551e-01 1.50484137e-02 1.42648711e+02] [-2.10312835e-01 9.77628822e-01 -3.22443235e-03 -1.93428181e+01] [-1.53899822e-02 -1.29500321e-05 9.99881567e-01 -4.63062867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.184203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.68, Y:-19.35, Z:-4.63 [[ 9.77084106e-01 2.12355682e-01 1.45504120e-02 1.42677764e+02] [-2.12332804e-01 9.77192439e-01 -3.11738808e-03 -1.93454080e+01] [-1.48805477e-02 -4.35794288e-05 9.99889278e-01 -4.63190274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.214203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.71, Y:-19.35, Z:-4.63 [[ 9.76276955e-01 2.16137007e-01 1.29653511e-02 1.42705847e+02] [-2.16119179e-01 9.76363040e-01 -2.77755247e-03 -1.93490703e+01] [-1.32592215e-02 -9.04005525e-05 9.99912089e-01 -4.63477111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.244203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.73, Y:-19.36, Z:-4.64 [[ 9.76060713e-01 2.17119120e-01 1.28363345e-02 1.42733893e+02] [-2.17101742e-01 9.76145111e-01 -2.74891079e-03 -1.93555059e+01] [-1.31269663e-02 -1.03686753e-04 9.99913832e-01 -4.63556768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.274203822 meters Centerline goodness [0,1] 0.9999785729590743 Centerline is valid? [True, True] Translation: X:142.76, Y:-19.36, Z:-4.63 [[ 9.75980893e-01 2.17446027e-01 1.33612008e-02 1.42762038e+02] [-2.17427240e-01 9.76072340e-01 -2.86057755e-03 -1.93621996e+01] [-1.36635197e-02 -1.13219964e-04 9.99906643e-01 -4.63497232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.304203822 meters Centerline goodness [0,1] 0.9999570058901931 Centerline is valid? [True, True] Translation: X:142.79, Y:-19.37, Z:-4.64 [[ 9.76122004e-01 2.16772969e-01 1.39754548e-02 1.42789401e+02] [-2.16752354e-01 9.76222038e-01 -2.99153665e-03 -1.93686549e+01] [-1.42916312e-02 -1.09107974e-04 9.99897863e-01 -4.63654276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.334203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.82, Y:-19.38, Z:-4.64 [[ 9.76658138e-01 2.14328557e-01 1.42179859e-02 1.42817109e+02] [-2.14306984e-01 9.76761621e-01 -3.04182299e-03 -1.93810204e+01] [-1.45395325e-02 -7.61924990e-05 9.99894293e-01 -4.63552709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.364203822 meters Centerline goodness [0,1] 0.999892387491122 Centerline is valid? [True, True] Translation: X:142.85, Y:-19.39, Z:-4.64 [[ 9.77032962e-01 2.12657207e-01 1.35463425e-02 1.42845610e+02] [-2.12637468e-01 9.77126865e-01 -2.89782492e-03 -1.93903255e+01] [-1.38527385e-02 -4.91894991e-05 9.99904045e-01 -4.63770898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.394203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.87, Y:-19.40, Z:-4.64 [[ 9.77780174e-01 2.09118655e-01 1.46737432e-02 1.42873152e+02] [-2.09095107e-01 9.77890274e-01 -3.13816354e-03 -1.94043592e+01] [-1.50055593e-02 2.26196224e-07 9.99887410e-01 -4.64010588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.424203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.90, Y:-19.41, Z:-4.64 [[ 9.78047639e-01 2.07836520e-01 1.50598059e-02 1.42902965e+02] [-2.07811567e-01 9.78163576e-01 -3.22053627e-03 -1.94138258e+01] [-1.54002986e-02 2.02360335e-05 9.99881408e-01 -4.63655239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.454203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.93, Y:-19.42, Z:-4.64 [[ 9.78042489e-01 2.07860753e-01 1.50598052e-02 1.42933097e+02] [-2.07835804e-01 9.78158426e-01 -3.22053965e-03 -1.94203156e+01] [-1.54002991e-02 1.98579026e-05 9.99881408e-01 -4.63749369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.484203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.96, Y:-19.43, Z:-4.64 [[ 9.78165190e-01 2.07253943e-01 1.54487640e-02 1.42962355e+02] [-2.07227603e-01 9.78287178e-01 -3.30432647e-03 -1.94297363e+01] [-1.57981625e-02 3.07667921e-05 9.99875201e-01 -4.63948864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.514203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.99, Y:-19.44, Z:-4.64 [[ 9.78192630e-01 2.07159309e-01 1.49732957e-02 1.42992170e+02] [-2.07134589e-01 9.78307222e-01 -3.20031082e-03 -1.94420404e+01] [-1.53114575e-02 2.90330027e-05 9.99882772e-01 -4.64009043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.54420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.02, Y:-19.45, Z:-4.64 [[ 9.78074373e-01 2.07720413e-01 1.49248376e-02 1.43023104e+02] [-2.07695877e-01 9.78188238e-01 -3.19262691e-03 -1.94505060e+01] [-1.52624744e-02 2.27993249e-05 9.99883521e-01 -4.64092205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.57420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.05, Y:-19.46, Z:-4.64 [[ 9.77464553e-01 2.10554853e-01 1.51559232e-02 1.43053564e+02] [-2.10529813e-01 9.77582044e-01 -3.24718460e-03 -1.94553278e+01] [-1.54998688e-02 -1.67658246e-05 9.99879870e-01 -4.64252475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.60420382200002 meters Centerline goodness [0,1] 0.9999569790703177 Centerline is valid? [True, True] Translation: X:143.08, Y:-19.46, Z:-4.65 [[ 9.77050587e-01 2.12524889e-01 1.43290459e-02 1.43084917e+02] [-2.12502714e-01 9.77155653e-01 -3.07036057e-03 -1.94603804e+01] [-1.46542362e-02 -4.50635446e-05 9.99892620e-01 -4.64547338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.63420382200002 meters Centerline goodness [0,1] 0.999935347614327 Centerline is valid? [True, True] Translation: X:143.11, Y:-19.47, Z:-4.65 [[ 9.76566848e-01 2.14784646e-01 1.35921767e-02 1.43114797e+02] [-2.14764902e-01 9.76661431e-01 -2.91318212e-03 -1.94651086e+01] [-1.39006615e-02 -7.42054131e-05 9.99903378e-01 -4.64627961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.66420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.14, Y:-19.47, Z:-4.65 [[ 9.76041714e-01 2.17166649e-01 1.34617461e-02 1.43144112e+02] [-2.17147505e-01 9.76134537e-01 -2.88543840e-03 -1.94681076e+01] [-1.37670963e-02 -1.06876348e-04 9.99905223e-01 -4.64886382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.694203822 meters Centerline goodness [0,1] 0.9999787982869016 Centerline is valid? [True, True] Translation: X:143.17, Y:-19.47, Z:-4.65 [[ 9.74974328e-01 2.21967797e-01 1.24642626e-02 1.43173648e+02] [-2.21951774e-01 9.75053984e-01 -2.67191439e-03 -1.94668618e+01] [-1.27464078e-02 -1.61417251e-04 9.99918748e-01 -4.65216664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.724203822 meters Centerline goodness [0,1] 0.9999151859547941 Centerline is valid? [True, True] Translation: X:143.20, Y:-19.47, Z:-4.65 [[ 9.74538610e-01 2.23869426e-01 1.25291072e-02 1.43202214e+02] [-2.23853396e-01 9.74619128e-01 -2.68556545e-03 -1.94700478e+01] [-1.28123235e-02 -1.87495971e-04 9.99917901e-01 -4.65258679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.754203822 meters Centerline goodness [0,1] 0.9999572603910675 Centerline is valid? [True, True] Translation: X:143.23, Y:-19.47, Z:-4.66 [[ 9.73962274e-01 2.26417979e-01 1.15060114e-02 1.43231352e+02] [-2.26404646e-01 9.74030214e-01 -2.46560716e-03 -1.94729311e+01] [-1.17654605e-02 -2.03606066e-04 9.99930764e-01 -4.65512029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.784203822 meters Centerline goodness [0,1] 0.9999787780395153 Centerline is valid? [True, True] Translation: X:143.26, Y:-19.48, Z:-4.66 [[ 9.73847173e-01 2.26917429e-01 1.14089464e-02 1.43258431e+02] [-2.26904353e-01 9.73913978e-01 -2.44484382e-03 -1.94777783e+01] [-1.16661101e-02 -2.07835367e-04 9.99931927e-01 -4.65767723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.814203822 meters Centerline goodness [0,1] 0.9999785587169536 Centerline is valid? [True, True] Translation: X:143.29, Y:-19.49, Z:-4.66 [[ 9.73873486e-01 2.26777537e-01 1.19323772e-02 1.43286121e+02] [-2.26763236e-01 9.73946560e-01 -2.55597830e-03 -1.94860391e+01] [-1.22011362e-02 -2.16624984e-04 9.99925540e-01 -4.65601415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.844203822 meters Centerline goodness [0,1] 0.9999357766740881 Centerline is valid? [True, True] Translation: X:143.31, Y:-19.49, Z:-4.65 [[ 9.73891872e-01 2.26598647e-01 1.36994627e-02 1.43313750e+02] [-2.26579789e-01 9.73988189e-01 -2.93379005e-03 -1.94917360e+01] [-1.40079077e-02 -2.46827084e-04 9.99901854e-01 -4.65360537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.874203822 meters Centerline goodness [0,1] 0.9999784677662461 Centerline is valid? [True, True] Translation: X:143.34, Y:-19.50, Z:-4.65 [[ 9.73933344e-01 2.26431616e-01 1.35116337e-02 1.43342247e+02] [-2.26413269e-01 9.74027035e-01 -2.89257039e-03 -1.94989074e+01] [-1.38156659e-02 -2.42042411e-04 9.99904530e-01 -4.65266452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.904203822 meters Centerline goodness [0,1] 0.9999571459181487 Centerline is valid? [True, True] Translation: X:143.37, Y:-19.50, Z:-4.66 [[ 9.73916789e-01 2.26512851e-01 1.33423036e-02 1.43370411e+02] [-2.26494974e-01 9.74008147e-01 -2.85595380e-03 -1.95016680e+01] [-1.36424227e-02 -2.40503357e-04 9.99906909e-01 -4.65571537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.934203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.40, Y:-19.50, Z:-4.66 [[ 9.73752923e-01 2.27201295e-01 1.35947007e-02 1.43398534e+02] [-2.27182815e-01 9.73847784e-01 -2.90898096e-03 -1.95036272e+01] [-1.39000934e-02 -2.55853663e-04 9.99903356e-01 -4.65590413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.964203822 meters Centerline goodness [0,1] 0.9998706311045947 Centerline is valid? [True, True] Translation: X:143.43, Y:-19.51, Z:-4.66 [[ 9.73644031e-01 2.27667930e-01 1.35872691e-02 1.43426628e+02] [-2.27649533e-01 9.73738797e-01 -2.90619393e-03 -1.95090231e+01] [-1.38920982e-02 -2.63537102e-04 9.99903465e-01 -4.65591412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.994203822 meters Centerline goodness [0,1] 0.9999572448586943 Centerline is valid? [True, True] Translation: X:143.45, Y:-19.51, Z:-4.66 [[ 9.73514496e-01 2.28150579e-01 1.47254547e-02 1.43454753e+02] [-2.28129035e-01 9.73625815e-01 -3.14901666e-03 -1.95098431e+01] [-1.50555328e-02 -2.93690402e-04 9.99886616e-01 -4.65565561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.024203822 meters Centerline goodness [0,1] 0.9999573915081276 Centerline is valid? [True, True] Translation: X:143.48, Y:-19.51, Z:-4.66 [[ 9.73530227e-01 2.28096942e-01 1.45148908e-02 1.43483191e+02] [-2.28076022e-01 9.73638383e-01 -3.10279958e-03 -1.95146081e+01] [-1.48399939e-02 -2.89829371e-04 9.99889839e-01 -4.65642370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.054203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.51, Y:-19.52, Z:-4.66 [[ 9.73643656e-01 2.27615796e-01 1.44596422e-02 1.43510792e+02] [-2.27594989e-01 9.73750979e-01 -3.09046564e-03 -1.95183603e+01] [-1.47835295e-02 -2.81929843e-04 9.99890678e-01 -4.65813523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.084203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.54, Y:-19.53, Z:-4.66 [[ 9.74045073e-01 2.25918412e-01 1.40380696e-02 1.43538993e+02] [-2.25898639e-01 9.74146195e-01 -2.99936477e-03 -1.95257450e+01] [-1.43527438e-02 -2.49664340e-04 9.99896963e-01 -4.65793175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.114203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.57, Y:-19.53, Z:-4.66 [[ 9.74389703e-01 2.24447780e-01 1.37076807e-02 1.43567488e+02] [-2.24428790e-01 9.74486092e-01 -2.92813926e-03 -1.95321530e+01] [-1.40151586e-02 -2.23249441e-04 9.99901758e-01 -4.65901053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.144203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.60, Y:-19.54, Z:-4.66 [[ 9.74808794e-01 2.22627258e-01 1.35984868e-02 1.43595520e+02] [-2.22608401e-01 9.74903619e-01 -2.90414968e-03 -1.95384042e+01] [-1.39037569e-02 -1.96146768e-04 9.99903319e-01 -4.65985578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.174203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.62, Y:-19.55, Z:-4.66 [[ 9.75335997e-01 2.20300379e-01 1.36907463e-02 1.43623329e+02] [-2.20281046e-01 9.75432066e-01 -2.92315164e-03 -1.95454441e+01] [-1.39983644e-02 -1.64756903e-04 9.99902005e-01 -4.66014724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.204203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.65, Y:-19.56, Z:-4.66 [[ 9.76548289e-01 2.14817717e-01 1.43801107e-02 1.43651004e+02] [-2.14795814e-01 9.76654156e-01 -3.06893939e-03 -1.95572500e+01] [-1.47036574e-02 -9.18200689e-05 9.99891891e-01 -4.66017613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.234203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.68, Y:-19.57, Z:-4.66 [[ 9.77947174e-01 2.08329768e-01 1.47659039e-02 1.43678548e+02] [-2.08305936e-01 9.78058642e-01 -3.15107637e-03 -1.95709037e+01] [-1.50983830e-02 5.76079404e-06 9.99886013e-01 -4.66010984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.264203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.71, Y:-19.58, Z:-4.66 [[ 9.78593560e-01 2.05246609e-01 1.51153215e-02 1.43706829e+02] [-2.05221277e-01 9.78710287e-01 -3.22506905e-03 -1.95815440e+01] [-1.54554551e-02 5.40462333e-05 9.99880556e-01 -4.66114667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.29420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.74, Y:-19.59, Z:-4.66 [[ 9.79234167e-01 2.02164325e-01 1.51668211e-02 1.43736010e+02] [-2.02138447e-01 9.79351609e-01 -3.23625004e-03 -1.95924708e+01] [-1.55079049e-02 1.03248963e-04 9.99879740e-01 -4.66123620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.32420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.77, Y:-19.60, Z:-4.66 [[ 9.79785576e-01 1.99494622e-01 1.49036916e-02 1.43765087e+02] [-1.99469357e-01 9.79898911e-01 -3.17803758e-03 -1.96039721e+01] [-1.52381126e-02 1.40965604e-04 9.99883883e-01 -4.66352542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.35420382200002 meters Centerline goodness [0,1] 0.999935266701191 Centerline is valid? [True, True] Translation: X:143.80, Y:-19.62, Z:-4.67 [[ 9.80717430e-01 1.94964400e-01 1.34983158e-02 1.43795527e+02] [-1.94943196e-01 9.80810300e-01 -2.88193590e-03 -1.96153051e+01] [-1.38011621e-02 1.94959932e-04 9.99904740e-01 -4.66699486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.38420382200002 meters Centerline goodness [0,1] 0.999914346895075 Centerline is valid? [True, True] Translation: X:143.83, Y:-19.62, Z:-4.67 [[ 9.80912981e-01 1.93981930e-01 1.34437177e-02 1.43827132e+02] [-1.93960826e-01 9.81005081e-01 -2.86882048e-03 -1.96225177e+01] [-1.37448547e-02 2.06508663e-04 9.99905514e-01 -4.66774846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.41420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.86, Y:-19.63, Z:-4.67 [[ 9.80858903e-01 1.94350498e-01 1.19873517e-02 1.43858774e+02] [-1.94333726e-01 9.80932134e-01 -2.55964331e-03 -1.96300676e+01] [-1.22562464e-02 1.81102196e-04 9.99924873e-01 -4.66979900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.444203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.89, Y:-19.64, Z:-4.67 [[ 9.80673499e-01 1.95325659e-01 1.12860443e-02 1.43889795e+02] [-1.95310834e-01 9.80738426e-01 -2.41186409e-03 -1.96359063e+01] [-1.15397563e-02 1.60964470e-04 9.99933402e-01 -4.67223959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.474203822 meters Centerline goodness [0,1] 0.999957153262779 Centerline is valid? [True, True] Translation: X:143.92, Y:-19.64, Z:-4.68 [[ 9.80455633e-01 1.96429881e-01 1.10477800e-02 1.43919974e+02] [-1.96415694e-01 9.80517863e-01 -2.36556621e-03 -1.96399831e+01] [-1.12972136e-02 1.49375337e-04 9.99936173e-01 -4.67583707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.504203822 meters Centerline goodness [0,1] 0.9999142440614013 Centerline is valid? [True, True] Translation: X:143.95, Y:-19.64, Z:-4.68 [[ 9.79811287e-01 1.99634714e-01 1.07621109e-02 1.43949817e+02] [-1.99621444e-01 9.79870384e-01 -2.30435781e-03 -1.96397503e+01] [-1.10055035e-02 1.09487672e-04 9.99939432e-01 -4.67921151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.534203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.98, Y:-19.64, Z:-4.68 [[ 9.79420701e-01 2.01549936e-01 1.06166695e-02 1.43979836e+02] [-2.01537123e-01 9.79478236e-01 -2.27431657e-03 -1.96427958e+01] [-1.08571850e-02 8.78597137e-05 9.99941055e-01 -4.67895306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.564203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.01, Y:-19.64, Z:-4.68 [[ 9.78882697e-01 2.04127817e-01 1.09772124e-02 1.44009472e+02] [-2.04114284e-01 9.78944243e-01 -2.35127593e-03 -1.96441821e+01] [-1.12260397e-02 6.10174744e-05 9.99936984e-01 -4.67815809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.594203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.04, Y:-19.65, Z:-4.68 [[ 9.78745596e-01 2.04804518e-01 1.05909476e-02 1.44038844e+02] [-2.04791963e-01 9.78802895e-01 -2.26831304e-03 -1.96490093e+01] [-1.08310109e-02 5.11604608e-05 9.99941342e-01 -4.67838491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.624203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.07, Y:-19.66, Z:-4.68 [[ 9.78699198e-01 2.05062237e-01 9.86706544e-03 1.44066415e+02] [-2.05051352e-01 9.78748935e-01 -2.11332859e-03 -1.96552913e+01] [-1.00907437e-02 4.50578881e-05 9.99949086e-01 -4.68141432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.654203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.09, Y:-19.66, Z:-4.68 [[ 9.78740538e-01 2.04905123e-01 8.99163775e-03 1.44094826e+02] [-2.04896082e-01 9.78781839e-01 -1.92530002e-03 -1.96628328e+01] [-9.19535557e-03 4.20178345e-05 9.99957721e-01 -4.68374531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.684203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.12, Y:-19.67, Z:-4.69 [[ 9.79031164e-01 2.03530798e-01 8.55534045e-03 1.44121873e+02] [-2.03522560e-01 9.79068543e-01 -1.83196493e-03 -1.96739238e+01] [-8.74912599e-03 5.23459668e-05 9.99961724e-01 -4.68573644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.714203822 meters Centerline goodness [0,1] 0.9999784724016189 Centerline is valid? [True, True] Translation: X:144.15, Y:-19.68, Z:-4.68 [[ 9.79257516e-01 2.02414243e-01 9.12097220e-03 1.44150537e+02] [-2.02404837e-01 9.79299990e-01 -1.95240581e-03 -1.96823748e+01] [-9.32736272e-03 6.57791699e-05 9.99956497e-01 -4.68451681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.744203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.18, Y:-19.69, Z:-4.68 [[ 9.79481764e-01 2.01249650e-01 1.06795304e-02 1.44180076e+02] [-2.01236696e-01 9.79539979e-01 -2.28514726e-03 -1.96919272e+01] [-1.09209121e-02 8.91466519e-05 9.99940361e-01 -4.68109751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.774203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.21, Y:-19.70, Z:-4.68 [[ 9.79438331e-01 2.01417482e-01 1.14696621e-02 1.44208947e+02] [-2.01402566e-01 9.79505482e-01 -2.45296306e-03 -1.97000609e+01] [-1.17286666e-02 9.25066601e-05 9.99931213e-01 -4.68095369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.804203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.24, Y:-19.71, Z:-4.68 [[ 9.79269038e-01 2.02205963e-01 1.20374332e-02 1.44237836e+02] [-2.02189570e-01 9.79343015e-01 -2.57629878e-03 -1.97085620e+01] [-1.23097190e-02 8.90461996e-05 9.99924229e-01 -4.68295148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.834203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.27, Y:-19.72, Z:-4.68 [[ 9.78985356e-01 2.03549111e-01 1.24672024e-02 1.44266312e+02] [-2.03531634e-01 9.79064734e-01 -2.66837037e-03 -1.97157573e+01] [-1.27493427e-02 7.48254294e-05 9.99918721e-01 -4.68299743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.864203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.30, Y:-19.72, Z:-4.68 [[ 9.78044978e-01 2.08058289e-01 1.18224283e-02 1.44296710e+02] [-2.08042896e-01 9.78116429e-01 -2.53085835e-03 -1.97186038e+01] [-1.20902775e-02 1.57210685e-05 9.99926910e-01 -4.68109688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.894203822 meters Centerline goodness [0,1] 0.9999782764538483 Centerline is valid? [True, True] Translation: X:144.33, Y:-19.72, Z:-4.68 [[ 9.77436472e-01 2.10935335e-01 1.11457178e-02 1.44327105e+02] [-2.10921841e-01 9.77500017e-01 -2.38599314e-03 -1.97210148e+01] [-1.13982296e-02 -1.87185998e-05 9.99935038e-01 -4.68296558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.924203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.36, Y:-19.72, Z:-4.69 [[ 9.76663473e-01 2.14448684e-01 1.18415761e-02 1.44356387e+02] [-2.14433702e-01 9.76735255e-01 -2.53565174e-03 -1.97220628e+01] [-1.21098520e-02 -6.27545680e-05 9.99926671e-01 -4.68519054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.954203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.39, Y:-19.72, Z:-4.69 [[ 9.74956498e-01 2.22050470e-01 1.23861310e-02 1.44388052e+02] [-2.22034700e-01 9.75035159e-01 -2.65147695e-03 -1.97175791e+01] [-1.26656749e-02 -1.65076203e-04 9.99919773e-01 -4.68531111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.984203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.42, Y:-19.72, Z:-4.68 [[ 9.74116225e-01 2.25742446e-01 1.17442591e-02 1.44417485e+02] [-2.25728539e-01 9.74186998e-01 -2.51385353e-03 -1.97209322e+01] [-1.20085879e-02 -2.02228926e-04 9.99927874e-01 -4.68318612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.014203822 meters Centerline goodness [0,1] 0.9999573869689351 Centerline is valid? [True, True] Translation: X:144.45, Y:-19.71, Z:-4.69 [[ 9.72510419e-01 2.32546427e-01 1.20683217e-02 1.44448407e+02] [-2.32532269e-01 9.72585252e-01 -2.58288370e-03 -1.97143905e+01] [-1.23381121e-02 -2.94392924e-04 9.99923839e-01 -4.68639233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.04420382200001 meters Centerline goodness [0,1] 0.9999359261869674 Centerline is valid? [True, True] Translation: X:144.48, Y:-19.72, Z:-4.69 [[ 9.71869930e-01 2.35202029e-01 1.22002305e-02 1.44478139e+02] [-2.35187773e-01 9.71946447e-01 -2.61079092e-03 -1.97190152e+01] [-1.24720340e-02 -3.31995843e-04 9.99922166e-01 -4.68544132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.07420382200002 meters Centerline goodness [0,1] 0.9995735880434088 Centerline is valid? [True, True] Translation: X:144.51, Y:-19.72, Z:-4.69 [[ 9.70977653e-01 2.38928648e-01 1.07470255e-02 1.44508370e+02] [-2.38917816e-01 9.71037069e-01 -2.29962417e-03 -1.97157600e+01] [-1.09852062e-02 -3.34772172e-04 9.99939605e-01 -4.69026197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.10420382200002 meters Centerline goodness [0,1] 0.9987854768601381 Centerline is valid? [True, True] Translation: X:144.54, Y:-19.72, Z:-4.69 [[ 9.70773379e-01 2.39775029e-01 1.03432163e-02 1.44536082e+02] [-2.39765032e-01 9.70828423e-01 -2.21431726e-03 -1.97168518e+01] [-1.05724264e-02 -3.30341341e-04 9.99944056e-01 -4.69260975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.13420382200002 meters Centerline goodness [0,1] 0.9982399592858051 Centerline is valid? [True, True] Translation: X:144.56, Y:-19.72, Z:-4.69 [[ 9.70693804e-01 2.40078750e-01 1.07579125e-02 1.44563444e+02] [-2.40067964e-01 9.70753353e-01 -2.30214745e-03 -1.97195786e+01] [-1.09959763e-02 -3.47949887e-04 9.99939482e-01 -4.69301685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.16420382200002 meters Centerline goodness [0,1] 0.9997640497640498 Centerline is valid? [True, True] Translation: X:144.59, Y:-19.73, Z:-4.69 [[ 9.70782096e-01 2.39714256e-01 1.09177693e-02 1.44591400e+02] [-2.39703149e-01 9.70843423e-01 -2.33420710e-03 -1.97290570e+01] [-1.11589872e-02 -3.51017217e-04 9.99937675e-01 -4.69062004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.194203822 meters Centerline goodness [0,1] 0.9990495300454113 Centerline is valid? [True, True] Translation: X:144.62, Y:-19.73, Z:-4.69 [[ 9.71316520e-01 2.37475793e-01 1.22256386e-02 1.44620490e+02] [-2.37461700e-01 9.71393388e-01 -2.61281271e-03 -1.97304637e+01] [-1.24963843e-02 -3.65252776e-04 9.99921850e-01 -4.69317203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.224203822 meters Centerline goodness [0,1] 0.9999146101955426 Centerline is valid? [True, True] Translation: X:144.65, Y:-19.75, Z:-4.69 [[ 9.72279886e-01 2.33491966e-01 1.23824868e-02 1.44648113e+02] [-2.33477197e-01 9.72358679e-01 -2.64541974e-03 -1.97462871e+01] [-1.26579028e-02 -3.18939922e-04 9.99919835e-01 -4.68906570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.254203822 meters Centerline goodness [0,1] 0.9999146101955426 Centerline is valid? [True, True] Translation: X:144.68, Y:-19.75, Z:-4.69 [[ 9.72296792e-01 2.33421563e-01 1.23822933e-02 1.44675031e+02] [-2.33406777e-01 9.72375582e-01 -2.64632611e-03 -1.97519028e+01] [-1.26579492e-02 -3.17096781e-04 9.99919835e-01 -4.68990540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.284203822 meters Centerline goodness [0,1] 0.999957796113022 Centerline is valid? [True, True] Translation: X:144.70, Y:-19.76, Z:-4.69 [[ 9.73458133e-01 2.28511986e-01 1.27096771e-02 1.44702907e+02] [-2.28496014e-01 9.73541064e-01 -2.71440344e-03 -1.97592133e+01] [-1.29936663e-02 -2.61752461e-04 9.99915544e-01 -4.69330664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.314203822 meters Centerline goodness [0,1] 0.999957796113022 Centerline is valid? [True, True] Translation: X:144.73, Y:-19.76, Z:-4.69 [[ 9.73473881e-01 2.28444893e-01 1.27095779e-02 1.44729823e+02] [-2.28428909e-01 9.73556810e-01 -2.71486827e-03 -1.97648207e+01] [-1.29936939e-02 -2.60381671e-04 9.99915544e-01 -4.69414623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.344203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.76, Y:-19.77, Z:-4.69 [[ 9.74030000e-01 2.26039745e-01 1.30993619e-02 1.44757126e+02] [-2.26022567e-01 9.74118051e-01 -2.79672994e-03 -1.97741036e+01] [-1.33924970e-02 -2.36652533e-04 9.99910288e-01 -4.69357556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.374203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.78, Y:-19.79, Z:-4.69 [[ 9.75039126e-01 2.21620849e-01 1.35241663e-02 1.44784182e+02] [-2.21602123e-01 9.75132897e-01 -2.88670959e-03 -1.97851896e+01] [-1.38276145e-02 -1.82329168e-04 9.99904377e-01 -4.69390335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.404203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.81, Y:-19.79, Z:-4.69 [[ 9.75466008e-01 2.19773985e-01 1.28632471e-02 1.44811570e+02] [-2.19756891e-01 9.75550805e-01 -2.74513437e-03 -1.97940714e+01] [-1.31520602e-02 -1.49001926e-04 9.99913497e-01 -4.69338219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.434203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.84, Y:-19.80, Z:-4.70 [[ 9.75786144e-01 2.18350351e-01 1.28267319e-02 1.44839282e+02] [-2.18333236e-01 9.75870436e-01 -2.73690152e-03 -1.97993630e+01] [-1.31148318e-02 -1.29871286e-04 9.99913988e-01 -4.69576401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.464203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.87, Y:-19.80, Z:-4.70 [[ 9.76045603e-01 2.17192033e-01 1.27515575e-02 1.44866879e+02] [-2.17175030e-01 9.76128889e-01 -2.72008876e-03 -1.98038384e+01] [-1.30379452e-02 -1.14389197e-04 9.99914996e-01 -4.69929680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.494203822 meters Centerline goodness [0,1] 0.9998932308349349 Centerline is valid? [True, True] Translation: X:144.90, Y:-19.81, Z:-4.70 [[ 9.76484895e-01 2.15265359e-01 1.17505127e-02 1.44895221e+02] [-2.15250791e-01 9.76555589e-01 -2.50567004e-03 -1.98113081e+01] [-1.20144128e-02 -8.25582220e-05 9.99927821e-01 -4.69999377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.524203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.92, Y:-19.82, Z:-4.70 [[ 9.76699402e-01 2.14280056e-01 1.19304544e-02 1.44923557e+02] [-2.14264972e-01 9.76772262e-01 -2.54342163e-03 -1.98178119e+01] [-1.21983415e-02 -7.21200989e-05 9.99925595e-01 -4.69872893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.554203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.95, Y:-19.82, Z:-4.70 [[ 9.77259776e-01 2.11760307e-01 1.09955199e-02 1.44950034e+02] [-2.11747336e-01 9.77321631e-01 -2.34413543e-03 -1.98242422e+01] [-1.12425543e-02 -3.74427878e-05 9.99936800e-01 -4.70252703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.584203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.98, Y:-19.83, Z:-4.70 [[ 9.77566559e-01 2.10378913e-01 1.02144747e-02 1.44978051e+02] [-2.10367655e-01 9.77619922e-01 -2.17651165e-03 -1.98313329e+01] [-1.04437661e-02 -2.11100800e-05 9.99945462e-01 -4.70456725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.614203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.01, Y:-19.84, Z:-4.71 [[ 9.77932851e-01 2.08703709e-01 9.49218517e-03 1.45006405e+02] [-2.08693912e-01 9.77978917e-01 -2.02223484e-03 -1.98379309e+01] [-9.70520488e-03 -3.35137102e-06 9.99952903e-01 -4.70598554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.644203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.03, Y:-19.84, Z:-4.71 [[ 9.78000717e-01 2.08384930e-01 9.50364119e-03 1.45033457e+02] [-2.08375096e-01 9.78046891e-01 -2.02444037e-03 -1.98432968e+01] [-9.71686958e-03 -4.18015752e-07 9.99952790e-01 -4.70881929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.674203822 meters Centerline goodness [0,1] 0.9999138747739212 Centerline is valid? [True, True] Translation: X:145.06, Y:-19.85, Z:-4.71 [[ 9.78080748e-01 2.08066394e-01 8.15023200e-03 1.45061425e+02] [-2.08059155e-01 9.78114705e-01 -1.73561432e-03 -1.98490393e+01] [-8.33298478e-03 1.84056793e-06 9.99965280e-01 -4.71121623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.704203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.09, Y:-19.86, Z:-4.71 [[ 9.78152627e-01 2.07677587e-01 9.35190567e-03 1.45088891e+02] [-2.07668044e-01 9.78197332e-01 -1.99080738e-03 -1.98558540e+01] [-9.56145525e-03 5.22150129e-06 9.99954288e-01 -4.71255216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.734203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.12, Y:-19.86, Z:-4.71 [[ 9.78193735e-01 2.07453079e-01 1.00118398e-02 1.45117275e+02] [-2.07442137e-01 9.78244969e-01 -2.13068961e-03 -1.98615745e+01] [-1.02360500e-02 7.34979018e-06 9.99947610e-01 -4.70914826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.764203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.14, Y:-19.87, Z:-4.71 [[ 9.78189779e-01 2.07445383e-01 1.05436345e-02 1.45144638e+02] [-2.07433252e-01 9.78246601e-01 -2.24347928e-03 -1.98681293e+01] [-1.07796740e-02 7.44811270e-06 9.99941898e-01 -4.71060307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.79420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.17, Y:-19.88, Z:-4.71 [[ 9.78262209e-01 2.07109634e-01 1.04235043e-02 1.45172543e+02] [-2.07097767e-01 9.78317740e-01 -2.21702477e-03 -1.98768356e+01] [-1.06566664e-02 1.01470674e-05 9.99943216e-01 -4.71114347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.82420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.20, Y:-19.88, Z:-4.71 [[ 9.78058749e-01 2.08094820e-01 9.88075930e-03 1.45200559e+02] [-2.08084211e-01 9.78108658e-01 -2.10116546e-03 -1.98841171e+01] [-1.01016979e-02 -9.66746543e-07 9.99948977e-01 -4.71201576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.85420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.23, Y:-19.89, Z:-4.71 [[ 9.77716509e-01 2.09695461e-01 9.91173423e-03 1.45228452e+02] [-2.09684870e-01 9.77766748e-01 -2.10759096e-03 -1.98857960e+01] [-1.01333164e-02 -1.77142258e-05 9.99948656e-01 -4.71341051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.88420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.26, Y:-19.89, Z:-4.72 [[ 9.77178137e-01 2.12184697e-01 1.00270921e-02 1.45256923e+02] [-2.12173998e-01 9.77229580e-01 -2.13128555e-03 -1.98854368e+01] [-1.02509972e-02 -4.48425833e-05 9.99947456e-01 -4.71665765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.91420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.29, Y:-19.88, Z:-4.72 [[ 9.75940256e-01 2.17820078e-01 9.74835167e-03 1.45286717e+02] [-2.17810254e-01 9.75988936e-01 -2.07122984e-03 -1.98835300e+01] [-9.96543882e-03 -1.01894379e-04 9.99950339e-01 -4.71537814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.944203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.31, Y:-19.88, Z:-4.72 [[ 9.75288589e-01 2.20695155e-01 1.02867571e-02 1.45314749e+02] [-2.20684377e-01 9.75342826e-01 -2.18550728e-03 -1.98827367e+01] [-1.05154456e-02 -1.38626271e-04 9.99944702e-01 -4.71971873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.974203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.35, Y:-19.88, Z:-4.72 [[ 9.74063572e-01 2.26014091e-01 1.08530612e-02 1.45345235e+02] [-2.26002444e-01 9.74124010e-01 -2.30391267e-03 -1.98823902e+01] [-1.10929442e-02 -2.08660948e-04 9.99938450e-01 -4.71532321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.004203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.37, Y:-19.88, Z:-4.72 [[ 9.73558503e-01 2.28150553e-01 1.14528047e-02 1.45374455e+02] [-2.28137730e-01 9.73625834e-01 -2.43135892e-03 -1.98840857e+01] [-1.17054624e-02 -2.45746727e-04 9.99931459e-01 -4.71507080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.034203822 meters Centerline goodness [0,1] 0.9999359330286592 Centerline is valid? [True, True] Translation: X:145.40, Y:-19.88, Z:-4.72 [[ 9.73218571e-01 2.29546656e-01 1.24074643e-02 1.45402307e+02] [-2.29531725e-01 9.73297617e-01 -2.63349773e-03 -1.98849889e+01] [-1.26806660e-02 -2.84937778e-04 9.99919557e-01 -4.71547969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.064203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.43, Y:-19.89, Z:-4.71 [[ 9.73011688e-01 2.30406031e-01 1.27010186e-02 1.45431228e+02] [-2.30390473e-01 9.73094532e-01 -2.69476781e-03 -1.98883135e+01] [-1.29801825e-02 -3.04153099e-04 9.99915708e-01 -4.71429382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.094203822 meters Centerline goodness [0,1] 0.9999143890589217 Centerline is valid? [True, True] Translation: X:145.46, Y:-19.89, Z:-4.72 [[ 9.73088856e-01 2.30088752e-01 1.25397090e-02 1.45459723e+02] [-2.30073565e-01 9.73169604e-01 -2.66014457e-03 -1.98863236e+01] [-1.28153330e-02 -2.96498516e-04 9.99917836e-01 -4.71692762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.124203822 meters Centerline goodness [0,1] 0.9999577399315387 Centerline is valid? [True, True] Translation: X:145.49, Y:-19.89, Z:-4.72 [[ 9.73383763e-01 2.28863560e-01 1.20632436e-02 1.45487551e+02] [-2.28849422e-01 9.73458473e-01 -2.55815868e-03 -1.98911954e+01] [-1.23285360e-02 -2.70596209e-04 9.99923964e-01 -4.71984976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.154203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.52, Y:-19.90, Z:-4.72 [[ 9.74327456e-01 2.24890450e-01 1.05021228e-02 1.45515060e+02] [-2.24879510e-01 9.74384035e-01 -2.22655594e-03 -1.99016350e+01] [-1.07338319e-02 -1.92317633e-04 9.99942372e-01 -4.72338204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.184203822 meters Centerline goodness [0,1] 0.9999784436300927 Centerline is valid? [True, True] Translation: X:145.54, Y:-19.91, Z:-4.73 [[ 9.74851658e-01 2.22653381e-01 9.47186000e-03 1.45542815e+02] [-2.22644376e-01 9.74897661e-01 -2.00814510e-03 -1.99089425e+01] [-9.68121445e-03 -1.51212785e-04 9.99953125e-01 -4.72573447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.214203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.57, Y:-19.92, Z:-4.73 [[ 9.75971142e-01 2.17714426e-01 8.98653243e-03 1.45570891e+02] [-2.17706117e-01 9.76012510e-01 -1.90462396e-03 -1.99172954e+01] [-9.18563219e-03 -9.75650548e-05 9.99957806e-01 -4.72906055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.244203822 meters Centerline goodness [0,1] 0.9999787396887491 Centerline is valid? [True, True] Translation: X:145.60, Y:-19.92, Z:-4.73 [[ 9.76520236e-01 2.15223145e-01 9.33947183e-03 1.45597698e+02] [-2.15214055e-01 9.76564894e-01 -1.97954153e-03 -1.99244329e+01] [-9.54664347e-03 -7.69232403e-05 9.99954427e-01 -4.73128459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.274203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.63, Y:-19.93, Z:-4.73 [[ 9.77146896e-01 2.12356665e-01 9.41225044e-03 1.45625508e+02] [-2.12347308e-01 9.77192225e-01 -1.99416530e-03 -1.99347104e+01] [-9.62105224e-03 -5.00736039e-05 9.99953715e-01 -4.72721203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.304203822 meters Centerline goodness [0,1] 0.9999784858329209 Centerline is valid? [True, True] Translation: X:145.65, Y:-19.94, Z:-4.73 [[ 9.77677777e-01 2.09887941e-01 9.65482000e-03 1.45653515e+02] [-2.09877980e-01 9.77725448e-01 -2.04501982e-03 -1.99423835e+01] [-9.86898821e-03 -2.69636861e-05 9.99951300e-01 -4.72787319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.334203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.68, Y:-19.95, Z:-4.73 [[ 9.78633858e-01 2.05385059e-01 9.63069139e-03 1.45679555e+02] [-2.05374926e-01 9.78681244e-01 -2.04019103e-03 -1.99498970e+01] [-9.84440179e-03 1.86974792e-05 9.99951543e-01 -4.73047004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.364203822 meters Centerline goodness [0,1] 0.9999786980231765 Centerline is valid? [True, True] Translation: X:145.71, Y:-19.96, Z:-4.73 [[ 9.79127446e-01 2.03034501e-01 9.29705049e-03 1.45706271e+02] [-2.03024962e-01 9.79171583e-01 -1.96846151e-03 -1.99576081e+01] [-9.50307325e-03 3.98413605e-05 9.99954844e-01 -4.73230501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.394203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.73, Y:-19.97, Z:-4.73 [[ 9.80113765e-01 1.98203234e-01 9.61691357e-03 1.45732814e+02] [-1.98192808e-01 9.80160941e-01 -2.03491873e-03 -1.99703917e+01] [-9.82945053e-03 8.84487548e-05 9.99951686e-01 -4.73149849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.424203822 meters Centerline goodness [0,1] 0.99991452260877 Centerline is valid? [True, True] Translation: X:145.76, Y:-19.98, Z:-4.73 [[ 9.80557418e-01 1.96005860e-01 9.42616929e-03 1.45758974e+02] [-1.95995745e-01 9.80602718e-01 -1.99425855e-03 -1.99785447e+01] [-9.63421359e-03 1.07995948e-04 9.99953584e-01 -4.73487623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.454203822 meters Centerline goodness [0,1] 0.999957115594914 Centerline is valid? [True, True] Translation: X:145.79, Y:-19.99, Z:-4.73 [[ 9.80847932e-01 1.94523523e-01 9.89610282e-03 1.45786765e+02] [-1.94512306e-01 9.80897845e-01 -2.09289502e-03 -1.99853750e+01] [-1.01141832e-02 1.27897977e-04 9.99948842e-01 -4.73188651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.484203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.81, Y:-19.99, Z:-4.73 [[ 9.81040514e-01 1.93586996e-01 9.14247718e-03 1.45814557e+02] [-1.93577385e-01 9.81083105e-01 -1.93318021e-03 -1.99921901e+01] [-9.34376845e-03 1.26751278e-04 9.99956338e-01 -4.73316749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.514203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.84, Y:-20.00, Z:-4.74 [[ 9.80889299e-01 1.94337940e-01 9.43120918e-03 1.45842020e+02] [-1.94327749e-01 9.80934631e-01 -1.99395823e-03 -1.99978595e+01] [-9.63890143e-03 1.23106638e-04 9.99953537e-01 -4.73587342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.54420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.87, Y:-20.00, Z:-4.73 [[ 9.80591982e-01 1.95815719e-01 9.77589918e-03 1.45871974e+02] [-1.95804853e-01 9.80640705e-01 -2.06588831e-03 -1.99980184e+01] [-9.99117807e-03 1.11625007e-04 9.99950081e-01 -4.73326449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.57420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.90, Y:-19.99, Z:-4.73 [[ 9.79638933e-01 2.00511904e-01 1.01260825e-02 1.45902526e+02] [-2.00500502e-01 9.79691264e-01 -2.13934671e-03 -1.99940593e+01] [-1.03493991e-02 6.55026956e-05 9.99946441e-01 -4.73240534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.60420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.93, Y:-20.00, Z:-4.74 [[ 9.79164722e-01 2.02842350e-01 9.56178382e-03 1.45929677e+02] [-2.02832295e-01 9.79211407e-01 -2.02007470e-03 -1.99977400e+01] [-9.77276448e-03 3.85473246e-05 9.99952245e-01 -4.73538808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.63420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.96, Y:-20.00, Z:-4.74 [[ 9.78101521e-01 2.07927602e-01 9.13927931e-03 1.45959826e+02] [-2.07918646e-01 9.78144218e-01 -1.92985957e-03 -1.99953819e+01] [-9.34080430e-03 -1.26279995e-05 9.99956374e-01 -4.73697827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.66420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.99, Y:-19.99, Z:-4.74 [[ 9.77531341e-01 2.10574974e-01 9.52145896e-03 1.45987231e+02] [-2.10565377e-01 9.77577710e-01 -2.01078845e-03 -1.99945607e+01] [-9.73138777e-03 -3.92808680e-05 9.99952648e-01 -4.73974859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.694203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.02, Y:-20.00, Z:-4.74 [[ 9.77007154e-01 2.12996341e-01 9.46470669e-03 1.46016878e+02] [-2.12986987e-01 9.77052995e-01 -1.99716150e-03 -1.99954469e+01] [-9.67290811e-03 -6.46182873e-05 9.99953214e-01 -4.73965964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.724203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.05, Y:-20.00, Z:-4.74 [[ 9.76563688e-01 2.15021288e-01 9.44501512e-03 1.46045547e+02] [-2.15012070e-01 9.76609358e-01 -1.99278779e-03 -1.99968595e+01] [-9.65258195e-03 -8.47080585e-05 9.99953409e-01 -4.74116326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.754203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.08, Y:-20.00, Z:-4.74 [[ 9.75937514e-01 2.17867951e-01 8.91765355e-03 1.46075029e+02] [-2.17859859e-01 9.75978250e-01 -1.88079660e-03 -1.99954785e+01] [-9.11320121e-03 -1.07258786e-04 9.99958468e-01 -4.74291363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.784203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.10, Y:-20.00, Z:-4.75 [[ 9.75772368e-01 2.18597788e-01 9.12645933e-03 1.46102888e+02] [-2.18589347e-01 9.75815041e-01 -1.92459008e-03 -1.99977981e+01] [-9.32644741e-03 -1.16984962e-04 9.99956501e-01 -4.74622002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.814203822 meters Centerline goodness [0,1] 0.9999786238002608 Centerline is valid? [True, True] Translation: X:146.13, Y:-20.00, Z:-4.75 [[ 9.75803243e-01 2.18469844e-01 8.88582268e-03 1.46131245e+02] [-2.18461844e-01 9.75843694e-01 -1.87305485e-03 -2.00041907e+01] [-9.08038003e-03 -1.13480217e-04 9.99958766e-01 -4.74712625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.844203822 meters Centerline goodness [0,1] 0.999978627911947 Centerline is valid? [True, True] Translation: X:146.16, Y:-20.01, Z:-4.75 [[ 9.75997876e-01 2.17599436e-01 8.86742383e-03 1.46159554e+02] [-2.17591437e-01 9.76038152e-01 -1.86874276e-03 -2.00106943e+01] [-9.06158134e-03 -1.05586534e-04 9.99958937e-01 -4.74750325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.874203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.19, Y:-20.02, Z:-4.75 [[ 9.76639921e-01 2.14684399e-01 9.22358319e-03 1.46186187e+02] [-2.14675617e-01 9.76683471e-01 -1.94352796e-03 -2.00176477e+01] [-9.42576637e-03 -8.19514174e-05 9.99955573e-01 -4.74948037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.904203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.21, Y:-20.03, Z:-4.75 [[ 9.77019862e-01 2.12958199e-01 8.99971702e-03 1.46212749e+02] [-2.12949770e-01 9.77061309e-01 -1.89581146e-03 -2.00253206e+01] [-9.19700388e-03 -6.42422207e-05 9.99957705e-01 -4.75126331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.934203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.24, Y:-20.03, Z:-4.75 [[ 9.77423656e-01 2.11116118e-01 8.54296684e-03 1.46239666e+02] [-2.11108454e-01 9.77460988e-01 -1.79941882e-03 -2.00335019e+01] [-8.73030313e-03 -4.46980020e-05 9.99961889e-01 -4.75296342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.964203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.27, Y:-20.04, Z:-4.75 [[ 9.78035041e-01 2.08284005e-01 8.07657984e-03 1.46266109e+02] [-2.08277063e-01 9.78068389e-01 -1.70071821e-03 -2.00441082e+01] [-8.25367983e-03 -1.88043151e-05 9.99965938e-01 -4.75468128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.994203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.29, Y:-20.05, Z:-4.76 [[ 9.78318691e-01 2.06960049e-01 7.75093994e-03 1.46293110e+02] [-2.06953620e-01 9.78349395e-01 -1.63138640e-03 -2.00514854e+01] [-7.92075921e-03 -8.06927243e-06 9.99968630e-01 -4.75688874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.024203822 meters Centerline goodness [0,1] 0.999956576490512 Centerline is valid? [True, True] Translation: X:146.32, Y:-20.06, Z:-4.76 [[ 9.78561705e-01 2.05842431e-01 6.77376140e-03 1.46320690e+02] [-2.05837496e-01 9.78585149e-01 -1.42529556e-03 -2.00587757e+01] [-6.92208861e-03 4.45561988e-07 9.99976042e-01 -4.75681412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.054203822 meters Centerline goodness [0,1] 0.9999786429746065 Centerline is valid? [True, True] Translation: X:146.35, Y:-20.07, Z:-4.76 [[ 9.78819785e-01 2.04600936e-01 7.09124677e-03 1.46347698e+02] [-2.04595497e-01 9.78845471e-01 -1.49195080e-03 -2.00669814e+01] [-7.24648932e-03 9.51380454e-06 9.99973744e-01 -4.75955097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.084203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.37, Y:-20.07, Z:-4.76 [[ 9.79030786e-01 2.03585945e-01 7.17516984e-03 1.46374719e+02] [-2.03580350e-01 9.79057078e-01 -1.50940718e-03 -2.00749082e+01] [-7.33219490e-03 1.70325068e-05 9.99973119e-01 -4.75735102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.114203822 meters Centerline goodness [0,1] 0.9999132038624281 Centerline is valid? [True, True] Translation: X:146.40, Y:-20.08, Z:-4.76 [[ 9.79400698e-01 2.01784507e-01 7.56876774e-03 1.46402622e+02] [-2.01778237e-01 9.79429942e-01 -1.59093813e-03 -2.00841596e+01] [-7.73410442e-03 3.09533047e-05 9.99970091e-01 -4.75825098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.144203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.43, Y:-20.09, Z:-4.76 [[ 9.79492614e-01 2.01301767e-01 8.47448356e-03 1.46429279e+02] [-2.01293892e-01 9.79529273e-01 -1.78097388e-03 -2.00912914e+01] [-8.65951791e-03 3.85889817e-05 9.99962505e-01 -4.75732316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.174203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.46, Y:-20.10, Z:-4.76 [[ 9.79403186e-01 2.01759170e-01 7.91431672e-03 1.46455837e+02] [-2.01752316e-01 9.79435162e-01 -1.66333883e-03 -2.00983179e+01] [-8.08715394e-03 3.23476181e-05 9.99967298e-01 -4.75915928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.204203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.48, Y:-20.10, Z:-4.76 [[ 9.79160671e-01 2.02928409e-01 8.02756900e-03 1.46484528e+02] [-2.02921409e-01 9.79193577e-01 -1.68567096e-03 -2.01029670e+01] [-8.20261453e-03 2.15771016e-05 9.99966358e-01 -4.76006079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.234203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.51, Y:-20.10, Z:-4.76 [[ 9.78715945e-01 2.05044949e-01 8.46571095e-03 1.46513624e+02] [-2.05037247e-01 9.78752558e-01 -1.77717334e-03 -2.01048551e+01] [-8.65023666e-03 3.56181524e-06 9.99962586e-01 -4.75967660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.264203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.54, Y:-20.11, Z:-4.76 [[ 9.78730469e-01 2.04975609e-01 8.46568904e-03 1.46540555e+02] [-2.04967904e-01 9.78767081e-01 -1.77727807e-03 -2.01103642e+01] [-8.65023641e-03 4.28166435e-06 9.99962586e-01 -4.76051605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.29420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.57, Y:-20.11, Z:-4.76 [[ 9.77443381e-01 2.10967204e-01 9.86287627e-03 1.46569664e+02] [-2.10957063e-01 9.77493138e-01 -2.06925488e-03 -2.01059715e+01] [-1.00774388e-02 -5.80639327e-05 9.99949220e-01 -4.76247496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.32420382200002 meters Centerline goodness [0,1] 0.9999787007454739 Centerline is valid? [True, True] Translation: X:146.60, Y:-20.11, Z:-4.76 [[ 9.76813727e-01 2.13873807e-01 9.64040102e-03 1.46598833e+02] [-2.13864269e-01 9.76861294e-01 -2.02177316e-03 -2.01082424e+01] [-9.84973894e-03 -8.68415367e-05 9.99951486e-01 -4.76164385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.35420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.63, Y:-20.10, Z:-4.76 [[ 9.75590951e-01 2.19365425e-01 1.00551549e-02 1.46628895e+02] [-2.19355344e-01 9.75642756e-01 -2.10826714e-03 -2.01028102e+01] [-1.02727200e-02 -1.48845621e-04 9.99947223e-01 -4.76157677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.38420382200002 meters Centerline goodness [0,1] 0.9999787125340599 Centerline is valid? [True, True] Translation: X:146.66, Y:-20.10, Z:-4.76 [[ 9.75127342e-01 2.21398694e-01 1.04539372e-02 1.46657673e+02] [-2.21387922e-01 9.75183361e-01 -2.19120908e-03 -2.01042157e+01] [-1.06796365e-02 -1.77667549e-04 9.99942955e-01 -4.76203662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.41420382200002 meters Centerline goodness [0,1] 0.9998942694015648 Centerline is valid? [True, True] Translation: X:146.69, Y:-20.11, Z:-4.76 [[ 9.74812290e-01 2.22782226e-01 1.04440629e-02 1.46685008e+02] [-2.22771553e-01 9.74868218e-01 -2.18909160e-03 -2.01068552e+01] [-1.06692757e-02 -1.92686727e-04 9.99943063e-01 -4.76403626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.444203822 meters Centerline goodness [0,1] 0.9998936984437452 Centerline is valid? [True, True] Translation: X:146.71, Y:-20.11, Z:-4.77 [[ 9.74627314e-01 2.23639499e-01 9.32591698e-03 1.46712969e+02] [-2.23631035e-01 9.74671915e-01 -1.95403909e-03 -2.01118414e+01] [-9.52670968e-03 -1.81104601e-04 9.99954603e-01 -4.76640746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.474203822 meters Centerline goodness [0,1] 0.9999354713815577 Centerline is valid? [True, True] Translation: X:146.74, Y:-20.12, Z:-4.77 [[ 9.74524961e-01 2.24137084e-01 7.97918627e-03 1.46741331e+02] [-2.24130886e-01 9.74557614e-01 -1.67421583e-03 -2.01170054e+01] [-8.15143059e-03 -1.56816971e-04 9.99966764e-01 -4.76665184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.504203822 meters Centerline goodness [0,1] 0.9999360654689597 Centerline is valid? [True, True] Translation: X:146.77, Y:-20.12, Z:-4.77 [[ 9.74524775e-01 2.24130677e-01 8.17936245e-03 1.46769227e+02] [-2.24124193e-01 9.74559086e-01 -1.71269604e-03 -2.01163814e+01] [-8.35513972e-03 -1.64128281e-04 9.99965082e-01 -4.77099909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.534203822 meters Centerline goodness [0,1] 0.9998283077583432 Centerline is valid? [True, True] Translation: X:146.80, Y:-20.12, Z:-4.77 [[ 9.74420680e-01 2.24547232e-01 9.10377658e-03 1.46797344e+02] [-2.24539228e-01 9.74463188e-01 -1.90515312e-03 -2.01175256e+01] [-9.29909201e-03 -1.87734361e-04 9.99956745e-01 -4.77081578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.564203822 meters Centerline goodness [0,1] 0.9999783956618489 Centerline is valid? [True, True] Translation: X:146.82, Y:-20.13, Z:-4.77 [[ 9.74356256e-01 2.24820486e-01 9.25398208e-03 1.46824656e+02] [-2.24812218e-01 9.74400181e-01 -1.93761211e-03 -2.01262542e+01] [-9.45269670e-03 -1.92483763e-04 9.99955304e-01 -4.76598796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.594203822 meters Centerline goodness [0,1] 0.9998287377975681 Centerline is valid? [True, True] Translation: X:146.85, Y:-20.12, Z:-4.77 [[ 9.74321933e-01 2.24977532e-01 9.04884559e-03 1.46853778e+02] [-2.24969670e-01 9.74363932e-01 -1.89073476e-03 -2.01240545e+01] [-9.24224162e-03 -1.93531459e-04 9.99957271e-01 -4.77225858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.624203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.88, Y:-20.13, Z:-4.77 [[ 9.74455598e-01 2.24408112e-01 8.79132384e-03 1.46881286e+02] [-2.24400645e-01 9.74495237e-01 -1.83941038e-03 -2.01309943e+01] [-8.97988181e-03 -1.80355001e-04 9.99959664e-01 -4.76768921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.654203822 meters Centerline goodness [0,1] 0.9998301882787459 Centerline is valid? [True, True] Translation: X:146.91, Y:-20.13, Z:-4.77 [[ 9.74643579e-01 2.23565028e-01 9.41124559e-03 1.46909432e+02] [-2.23556483e-01 9.74688998e-01 -1.96384634e-03 -2.01304398e+01] [-9.61208489e-03 -1.89894740e-04 9.99953785e-01 -4.77385048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.684203822 meters Centerline goodness [0,1] 0.9998931349918783 Centerline is valid? [True, True] Translation: X:146.94, Y:-20.14, Z:-4.77 [[ 9.74983614e-01 2.22042159e-01 1.02094344e-02 1.46937315e+02] [-2.22032008e-01 9.75037047e-01 -2.13150901e-03 -2.01370223e+01] [-1.04278616e-02 -1.88634866e-04 9.99945611e-01 -4.77332097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.714203822 meters Centerline goodness [0,1] 0.9999366714514903 Centerline is valid? [True, True] Translation: X:146.97, Y:-20.15, Z:-4.77 [[ 9.76121996e-01 2.16962061e-01 1.06448916e-02 1.46965189e+02] [-2.16950773e-01 9.76180026e-01 -2.21784565e-03 -2.01480341e+01] [-1.08725189e-02 -1.44529534e-04 9.99940882e-01 -4.77303709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.744203822 meters Centerline goodness [0,1] 0.9999787157056808 Centerline is valid? [True, True] Translation: X:146.99, Y:-20.16, Z:-4.77 [[ 9.76945041e-01 2.13232011e-01 1.05117111e-02 1.46992476e+02] [-2.13220785e-01 9.77001586e-01 -2.19035021e-03 -2.01596680e+01] [-1.07370112e-02 -1.01463510e-04 9.99942351e-01 -4.77273816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.774203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.02, Y:-20.18, Z:-4.77 [[ 9.78894640e-01 2.04058226e-01 1.12037478e-02 1.47018561e+02] [-2.04044870e-01 9.78958753e-01 -2.33459426e-03 -2.01789259e+01] [-1.14444002e-02 -7.45466447e-07 9.99934511e-01 -4.76979289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.804203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.04, Y:-20.19, Z:-4.77 [[ 9.79897372e-01 1.99183327e-01 1.12757638e-02 1.47044266e+02] [-1.99169486e-01 9.79962244e-01 -2.34871718e-03 -2.01907179e+01] [-1.15176481e-02 5.57137084e-05 9.99933668e-01 -4.77175337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.834203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.07, Y:-20.20, Z:-4.77 [[ 9.80814746e-01 1.94624977e-01 1.11154426e-02 1.47070955e+02] [-1.94611254e-01 9.80877723e-01 -2.31359998e-03 -2.02022761e+01] [-1.13531743e-02 1.06022760e-04 9.99935545e-01 -4.77167592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.864203822 meters Centerline goodness [0,1] 0.9999786898521076 Centerline is valid? [True, True] Translation: X:147.10, Y:-20.21, Z:-4.77 [[ 9.81605679e-01 1.90623693e-01 1.06253346e-02 1.47098078e+02] [-1.90610924e-01 9.81663174e-01 -2.21111984e-03 -2.02141951e+01] [-1.08519915e-02 1.45142945e-04 9.99941105e-01 -4.77240433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.894203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.12, Y:-20.23, Z:-4.77 [[ 9.82567413e-01 1.85605852e-01 1.05710289e-02 1.47124331e+02] [-1.85592931e-01 9.82624256e-01 -2.19905720e-03 -2.02292208e+01] [-1.07955073e-02 1.98813708e-04 9.99941707e-01 -4.77313526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.924203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.15, Y:-20.24, Z:-4.77 [[ 9.82780304e-01 1.84444737e-01 1.10911103e-02 1.47152988e+02] [-1.84430441e-01 9.82842861e-01 -2.30703573e-03 -2.02355896e+01] [-1.13263392e-02 2.21770899e-04 9.99935830e-01 -4.77085922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.954203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.18, Y:-20.25, Z:-4.77 [[ 9.82953774e-01 1.83491689e-01 1.15186156e-02 1.47178968e+02] [-1.83476208e-01 9.83021232e-01 -2.39566269e-03 -2.02473768e+01] [-1.17626279e-02 2.41433770e-04 9.99930789e-01 -4.77323563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.984203822 meters Centerline goodness [0,1] 0.9999785264875776 Centerline is valid? [True, True] Translation: X:147.21, Y:-20.25, Z:-4.77 [[ 9.82932623e-01 1.83590937e-01 1.17399450e-02 1.47208256e+02] [-1.83574880e-01 9.83002700e-01 -2.44026698e-03 -2.02510133e+01] [-1.19884085e-02 2.43459040e-04 9.99928107e-01 -4.77081277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.014203822 meters Centerline goodness [0,1] 0.9999363111413043 Centerline is valid? [True, True] Translation: X:147.24, Y:-20.26, Z:-4.77 [[ 9.82691704e-01 1.84846537e-01 1.21972272e-02 1.47235135e+02] [-1.84829302e-01 9.82767369e-01 -2.53525207e-03 -2.02568580e+01] [-1.24556695e-02 2.36966181e-04 9.99922397e-01 -4.77331199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.04420382200001 meters Centerline goodness [0,1] 0.9999573633495352 Centerline is valid? [True, True] Translation: X:147.26, Y:-20.26, Z:-4.77 [[ 9.82481448e-01 1.85966560e-01 1.21096050e-02 1.47263851e+02] [-1.85949669e-01 9.82556049e-01 -2.51606542e-03 -2.02606382e+01] [-1.23662697e-02 2.20210552e-04 9.99923511e-01 -4.77215550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.07420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.29, Y:-20.27, Z:-4.78 [[ 9.82262696e-01 1.87126190e-01 1.19910095e-02 1.47291030e+02] [-1.87109722e-01 9.82335863e-01 -2.49082619e-03 -2.02684050e+01] [-1.22452975e-02 2.03011198e-04 9.99925003e-01 -4.77521038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.10420382200002 meters Centerline goodness [0,1] 0.9999782849449523 Centerline is valid? [True, True] Translation: X:147.32, Y:-20.27, Z:-4.77 [[ 9.82009152e-01 1.88472413e-01 1.16693909e-02 1.47319563e+02] [-1.88456918e-01 9.82078468e-01 -2.42347053e-03 -2.02730926e+01] [-1.19170149e-02 1.80692793e-04 9.99928974e-01 -4.77462110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.13420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.35, Y:-20.28, Z:-4.78 [[ 9.81417727e-01 1.91508522e-01 1.19888127e-02 1.47346735e+02] [-1.91492399e-01 9.81490939e-01 -2.48936839e-03 -2.02802609e+01] [-1.22436463e-02 1.47343777e-04 9.99925033e-01 -4.77786138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.16420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.38, Y:-20.28, Z:-4.78 [[ 9.81106325e-01 1.93097290e-01 1.19922850e-02 1.47375453e+02] [-1.93081288e-01 9.81179607e-01 -2.48911738e-03 -2.02848087e+01] [-1.22472273e-02 1.26602974e-04 9.99924992e-01 -4.77758898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.19420382200002 meters Centerline goodness [0,1] 0.9999784950861271 Centerline is valid? [True, True] Translation: X:147.40, Y:-20.29, Z:-4.78 [[ 9.80768702e-01 1.94845043e-01 1.13209108e-02 1.47404138e+02] [-1.94830904e-01 9.80834033e-01 -2.34931143e-03 -2.02900760e+01] [-1.15616862e-02 9.84678429e-05 9.99933157e-01 -4.77863091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.224203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.43, Y:-20.29, Z:-4.78 [[ 9.79945203e-01 1.99046612e-01 9.37256612e-03 1.47432943e+02] [-1.99037115e-01 9.79990023e-01 -1.94478997e-03 -2.02942159e+01] [-9.57212514e-03 4.02990743e-05 9.99954185e-01 -4.78182953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.254203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.46, Y:-20.30, Z:-4.78 [[ 9.79465280e-01 2.01380485e-01 9.67812151e-03 1.47461070e+02] [-2.01370478e-01 9.79513093e-01 -2.00764803e-03 -2.02982742e+01] [-9.88414787e-03 1.75335797e-05 9.99951150e-01 -4.78269409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.284203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.49, Y:-20.30, Z:-4.78 [[ 9.78555070e-01 2.05720081e-01 1.04509882e-02 1.47489441e+02] [-2.05708666e-01 9.78610876e-01 -2.16732949e-03 -2.03028202e+01] [-1.06733139e-02 -2.90075721e-05 9.99943038e-01 -4.78161549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.314203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.52, Y:-20.31, Z:-4.78 [[ 9.78172118e-01 2.07532868e-01 1.04602194e-02 1.47516814e+02] [-2.07521534e-01 9.78228044e-01 -2.16950573e-03 -2.03089057e+01] [-1.06827238e-02 -4.85707669e-05 9.99942937e-01 -4.78441714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.344203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.54, Y:-20.32, Z:-4.78 [[ 9.77611667e-01 2.10175624e-01 1.00814458e-02 1.47544777e+02] [-2.10165253e-01 9.77663644e-01 -2.08930227e-03 -2.03171198e+01] [-1.02953835e-02 -7.62433337e-05 9.99946998e-01 -4.78322444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.374203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.57, Y:-20.32, Z:-4.78 [[ 9.77476799e-01 2.10821735e-01 9.65937918e-03 1.47572512e+02] [-2.10812250e-01 9.77524521e-01 -2.00139759e-03 -2.03236502e+01] [-9.86421812e-03 -7.99957459e-05 9.99951344e-01 -4.78453536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.404203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.60, Y:-20.33, Z:-4.79 [[ 9.77356000e-01 2.11369131e-01 9.91661982e-03 1.47599327e+02] [-2.11359153e-01 9.77406304e-01 -2.05564871e-03 -2.03288115e+01] [-1.01270674e-02 -8.68677616e-05 9.99948716e-01 -4.78743208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.434203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.63, Y:-20.34, Z:-4.79 [[ 9.77237796e-01 2.11897355e-01 1.02859566e-02 1.47626466e+02] [-2.11886674e-01 9.77291922e-01 -2.12973136e-03 -2.03356600e+01] [-1.05036667e-02 -9.82031509e-05 9.99944830e-01 -4.78729757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.464203822 meters Centerline goodness [0,1] 0.9999788583509513 Centerline is valid? [True, True] Translation: X:147.65, Y:-20.34, Z:-4.79 [[ 9.77099877e-01 2.12489034e-01 1.11463322e-02 1.47654162e+02] [-2.12476547e-01 9.77163444e-01 -2.30643671e-03 -2.03433465e+01] [-1.13818809e-02 -1.14715158e-04 9.99935218e-01 -4.78568012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.494203822 meters Centerline goodness [0,1] 0.999848583171101 Centerline is valid? [True, True] Translation: X:147.68, Y:-20.35, Z:-4.78 [[ 9.76605700e-01 2.14772825e-01 1.06742910e-02 1.47681617e+02] [-2.14761514e-01 9.76664024e-01 -2.20834414e-03 -2.03526999e+01] [-1.08994883e-02 -1.35745427e-04 9.99940590e-01 -4.78484704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.524203822 meters Centerline goodness [0,1] 0.999978653460274 Centerline is valid? [True, True] Translation: X:147.71, Y:-20.36, Z:-4.79 [[ 9.76310645e-01 2.16085150e-01 1.11683304e-02 1.47709261e+02] [-2.16072858e-01 9.76374510e-01 -2.31014289e-03 -2.03578135e+01] [-1.14036607e-02 -1.57755969e-04 9.99934964e-01 -4.78540149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.554203822 meters Centerline goodness [0,1] 0.9999788815678324 Centerline is valid? [True, True] Translation: X:147.74, Y:-20.36, Z:-4.79 [[ 9.75509656e-01 2.19686308e-01 1.09012293e-02 1.47738346e+02] [-2.19674835e-01 9.75570545e-01 -2.25372555e-03 -2.03589296e+01] [-1.11300309e-02 -1.96194712e-04 9.99938040e-01 -4.79057077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.584203822 meters Centerline goodness [0,1] 0.9999786370433668 Centerline is valid? [True, True] Translation: X:147.77, Y:-20.37, Z:-4.79 [[ 9.75106847e-01 2.21494738e-01 1.03304792e-02 1.47766425e+02] [-2.21484537e-01 9.75161545e-01 -2.13563622e-03 -2.03658518e+01] [-1.05469182e-02 -2.05567900e-04 9.99944359e-01 -4.78941105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.614203822 meters Centerline goodness [0,1] 0.9999147848317 Centerline is valid? [True, True] Translation: X:147.80, Y:-20.37, Z:-4.79 [[ 9.74639145e-01 2.23572890e-01 9.67984353e-03 1.47795399e+02] [-2.23564042e-01 9.74687189e-01 -2.00049686e-03 -2.03686554e+01] [-9.88207634e-03 -2.14302396e-04 9.99951148e-01 -4.79126408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.644203822 meters Centerline goodness [0,1] 0.9999145189554216 Centerline is valid? [True, True] Translation: X:147.82, Y:-20.37, Z:-4.79 [[ 9.73908248e-01 2.26748754e-01 9.36627647e-03 1.47824837e+02] [-2.26740620e-01 9.73953256e-01 -1.93540760e-03 -2.03715506e+01] [-9.56116673e-03 -2.38805907e-04 9.99954262e-01 -4.79132645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.674203822 meters Centerline goodness [0,1] 0.9999353183415622 Centerline is valid? [True, True] Translation: X:147.85, Y:-20.38, Z:-4.79 [[ 9.73772861e-01 2.27320676e-01 9.57732553e-03 1.47852463e+02] [-2.27312200e-01 9.73819926e-01 -1.97890228e-03 -2.03795295e+01] [-9.77643584e-03 -2.50041602e-04 9.99952178e-01 -4.79100458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.704203822 meters Centerline goodness [0,1] 0.9998072433659592 Centerline is valid? [True, True] Translation: X:147.88, Y:-20.39, Z:-4.79 [[ 9.73743197e-01 2.27447861e-01 9.57374174e-03 1.47879654e+02] [-2.27439400e-01 9.73790228e-01 -1.97792609e-03 -2.03864316e+01] [-9.77269120e-03 -2.51453998e-04 9.99952214e-01 -4.79268504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.734203822 meters Centerline goodness [0,1] 0.9998937865108869 Centerline is valid? [True, True] Translation: X:147.91, Y:-20.40, Z:-4.79 [[ 9.73572493e-01 2.28171211e-01 9.72111358e-03 1.47906880e+02] [-2.28162533e-01 9.73620988e-01 -2.00746835e-03 -2.03960491e+01] [-9.92272669e-03 -2.63577930e-04 9.99950734e-01 -4.79159178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.764203822 meters Centerline goodness [0,1] 0.9998291510945008 Centerline is valid? [True, True] Translation: X:147.93, Y:-20.40, Z:-4.79 [[ 9.73494800e-01 2.28472500e-01 1.04014903e-02 1.47934751e+02] [-2.28462585e-01 9.73550325e-01 -2.14758158e-03 -2.03998677e+01] [-1.06170376e-02 -2.85691860e-04 9.99943597e-01 -4.79257352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.79420382200001 meters Centerline goodness [0,1] 0.9998728463347956 Centerline is valid? [True, True] Translation: X:147.96, Y:-20.41, Z:-4.79 [[ 9.73425628e-01 2.28734552e-01 1.10928339e-02 1.47962527e+02] [-2.28723304e-01 9.73488782e-01 -2.28927220e-03 -2.04058282e+01] [-1.13223850e-02 -3.08753386e-04 9.99935852e-01 -4.79179858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.82420382200002 meters Centerline goodness [0,1] 0.9998086002296798 Centerline is valid? [True, True] Translation: X:147.99, Y:-20.41, Z:-4.79 [[ 9.73295441e-01 2.29285032e-01 1.11516351e-02 1.47990747e+02] [-2.29273699e-01 9.73359273e-01 -2.30162086e-03 -2.04088562e+01] [-1.13822746e-02 -3.16619519e-04 9.99935170e-01 -4.79330591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.85420382200002 meters Centerline goodness [0,1] 0.9999355573217623 Centerline is valid? [True, True] Translation: X:148.02, Y:-20.42, Z:-4.79 [[ 9.73202279e-01 2.29705179e-01 1.06233010e-02 1.48018201e+02] [-2.29694927e-01 9.73260210e-01 -2.19182677e-03 -2.04161426e+01] [-1.08427102e-02 -3.07027544e-04 9.99941169e-01 -4.79248386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.88420382200002 meters Centerline goodness [0,1] 0.9998722208024534 Centerline is valid? [True, True] Translation: X:148.05, Y:-20.42, Z:-4.79 [[ 9.73082900e-01 2.30210943e-01 1.06108992e-02 1.48045860e+02] [-2.30200762e-01 9.73140701e-01 -2.18768162e-03 -2.04194443e+01] [-1.08295261e-02 -3.13841496e-04 9.99941310e-01 -4.79429212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.91420382200002 meters Centerline goodness [0,1] 0.9998489132546243 Centerline is valid? [True, True] Translation: X:148.07, Y:-20.43, Z:-4.79 [[ 9.72921489e-01 2.30914485e-01 1.01132431e-02 1.48073992e+02] [-2.30905282e-01 9.72974001e-01 -2.08430747e-03 -2.04272093e+01] [-1.03212194e-02 -3.07333724e-04 9.99946688e-01 -4.79384413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.94420382200002 meters Centerline goodness [0,1] 0.9997011930932918 Centerline is valid? [True, True] Translation: X:148.10, Y:-20.43, Z:-4.80 [[ 9.72655366e-01 2.32058034e-01 9.51880794e-03 1.48101808e+02] [-2.32049935e-01 9.72701896e-01 -1.96191035e-03 -2.04277366e+01] [-9.71423959e-03 -3.00576139e-04 9.99952770e-01 -4.79673977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.974203822 meters Centerline goodness [0,1] 0.9993846284428978 Centerline is valid? [True, True] Translation: X:148.13, Y:-20.43, Z:-4.80 [[ 9.72580413e-01 2.32375275e-01 9.43775600e-03 1.48130530e+02] [-2.32367338e-01 9.72626156e-01 -1.94421491e-03 -2.04265753e+01] [-9.63119582e-03 -3.02120903e-04 9.99953573e-01 -4.80051700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.004203822 meters Centerline goodness [0,1] 0.9999140358040876 Centerline is valid? [True, True] Translation: X:148.16, Y:-20.43, Z:-4.80 [[ 9.72591633e-01 2.32310421e-01 9.86834687e-03 1.48159138e+02] [-2.32301749e-01 9.72641644e-01 -2.03198749e-03 -2.04317185e+01] [-1.00704170e-02 -3.16140209e-04 9.99949242e-01 -4.79733349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.034203822 meters Centerline goodness [0,1] 0.9996191685179309 Centerline is valid? [True, True] Translation: X:148.19, Y:-20.43, Z:-4.80 [[ 9.72736954e-01 2.31685923e-01 1.02201483e-02 1.48187420e+02] [-2.31676591e-01 9.72790589e-01 -2.10409431e-03 -2.04310668e+01] [-1.04295531e-02 -3.21038820e-04 9.99945559e-01 -4.80052317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.064203822 meters Centerline goodness [0,1] 0.9997660271408516 Centerline is valid? [True, True] Translation: X:148.22, Y:-20.44, Z:-4.80 [[ 9.72954795e-01 2.30784874e-01 9.86451471e-03 1.48215810e+02] [-2.30776142e-01 9.73004754e-01 -2.03004083e-03 -2.04363389e+01] [-1.00667224e-02 -3.01356688e-04 9.99949284e-01 -4.80135235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.094203822 meters Centerline goodness [0,1] 0.9999146010802963 Centerline is valid? [True, True] Translation: X:148.24, Y:-20.44, Z:-4.80 [[ 9.73548926e-01 2.28278843e-01 9.55288925e-03 1.48244495e+02] [-2.28270538e-01 9.73595757e-01 -1.96549480e-03 -2.04404927e+01] [-9.74933332e-03 -2.67137817e-04 9.99952438e-01 -4.80299581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.124203822 meters Centerline goodness [0,1] 0.9999146010802963 Centerline is valid? [True, True] Translation: X:148.27, Y:-20.45, Z:-4.80 [[ 9.73565049e-01 2.28210074e-01 9.55288306e-03 1.48271455e+02] [-2.28201765e-01 9.73611879e-01 -1.96552514e-03 -2.04458988e+01] [-9.74935307e-03 -2.66418194e-04 9.99952438e-01 -4.80383554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.154203822 meters Centerline goodness [0,1] 0.999871122948707 Centerline is valid? [True, True] Translation: X:148.30, Y:-20.45, Z:-4.81 [[ 9.73909830e-01 2.26756429e-01 9.00911719e-03 1.48299273e+02] [-2.26748986e-01 9.73951470e-01 -1.85258790e-03 -2.04511500e+01] [-9.19452914e-03 -2.38554624e-04 9.99957701e-01 -4.80539448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.184203822 meters Centerline goodness [0,1] 0.9997225305216426 Centerline is valid? [True, True] Translation: X:148.33, Y:-20.46, Z:-4.81 [[ 9.74206463e-01 2.25472805e-01 9.15322961e-03 1.48327886e+02] [-2.25465071e-01 9.74249435e-01 -1.88174461e-03 -2.04561866e+01] [-9.34181101e-03 -2.30525803e-04 9.99956338e-01 -4.80805226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.214203822 meters Centerline goodness [0,1] 0.9999787279302276 Centerline is valid? [True, True] Translation: X:148.36, Y:-20.46, Z:-4.81 [[ 9.74684713e-01 2.23387922e-01 9.35667129e-03 1.48356586e+02] [-2.23379749e-01 9.74729598e-01 -1.92308152e-03 -2.04589801e+01] [-9.54981763e-03 -2.15692721e-04 9.99954376e-01 -4.80662212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.244203822 meters Centerline goodness [0,1] 0.9999146320641967 Centerline is valid? [True, True] Translation: X:148.38, Y:-20.46, Z:-4.81 [[ 9.74852713e-01 2.22673430e-01 8.87308292e-03 1.48384963e+02] [-2.22666051e-01 9.74893073e-01 -1.82358501e-03 -2.04596690e+01] [-9.05637101e-03 -1.98007543e-04 9.99958971e-01 -4.81024704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.274203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.41, Y:-20.47, Z:-4.81 [[ 9.74993094e-01 2.22080462e-01 8.29069749e-03 1.48412021e+02] [-2.22073999e-01 9.75028326e-01 -1.70384101e-03 -2.04661884e+01] [-8.46205469e-03 -1.79915132e-04 9.99964180e-01 -4.80771195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.304203822 meters Centerline goodness [0,1] 0.9999140524280189 Centerline is valid? [True, True] Translation: X:148.44, Y:-20.46, Z:-4.81 [[ 9.75204346e-01 2.21147892e-01 8.37216533e-03 1.48441477e+02] [-2.21141269e-01 9.75240268e-01 -1.72030770e-03 -2.04619549e+01] [-8.54531518e-03 -1.73779713e-04 9.99963473e-01 -4.81194003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.334203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.47, Y:-20.47, Z:-4.81 [[ 9.75316355e-01 2.20640484e-01 8.70540775e-03 1.48469493e+02] [-2.20633296e-01 9.75355190e-01 -1.78962140e-03 -2.04670001e+01] [-8.88572756e-03 -1.75255778e-04 9.99960506e-01 -4.80874232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.364203822 meters Centerline goodness [0,1] 0.9999788708586883 Centerline is valid? [True, True] Translation: X:148.50, Y:-20.46, Z:-4.81 [[ 9.75521132e-01 2.19729859e-01 8.79261838e-03 1.48498718e+02] [-2.19722525e-01 9.75560741e-01 -1.80354882e-03 -2.04622311e+01] [-8.97402683e-03 -1.72536321e-04 9.99959718e-01 -4.81336756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.394203822 meters Centerline goodness [0,1] 0.999978645710991 Centerline is valid? [True, True] Translation: X:148.53, Y:-20.47, Z:-4.81 [[ 9.75660387e-01 2.19125158e-01 8.42460472e-03 1.48527195e+02] [-2.19118409e-01 9.75696746e-01 -1.72731907e-03 -2.04675032e+01] [-8.59835847e-03 -1.60709184e-04 9.99963021e-01 -4.81253717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.424203822 meters Centerline goodness [0,1] 0.999892844131073 Centerline is valid? [True, True] Translation: X:148.56, Y:-20.47, Z:-4.81 [[ 9.75865127e-01 2.18225939e-01 8.04321959e-03 1.48555414e+02] [-2.18219760e-01 9.75898262e-01 -1.64879741e-03 -2.04711969e+01] [-8.20917438e-03 -1.46185548e-04 9.99966293e-01 -4.81347424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.454203822 meters Centerline goodness [0,1] 0.9999788632664708 Centerline is valid? [True, True] Translation: X:148.58, Y:-20.48, Z:-4.81 [[ 9.76065956e-01 2.17317027e-01 8.28010789e-03 1.48584431e+02] [-2.17310449e-01 9.76101065e-01 -1.69692031e-03 -2.04751051e+01] [-8.45099181e-03 -1.43047815e-04 9.99964279e-01 -4.81373585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.484203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.61, Y:-20.48, Z:-4.81 [[ 9.76716867e-01 2.14382195e-01 8.02719711e-03 1.48612771e+02] [-2.14375893e-01 9.76749846e-01 -1.64760037e-03 -2.04787579e+01] [-8.19377973e-03 -1.11598473e-04 9.99966424e-01 -4.81222794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.514203822 meters Centerline goodness [0,1] 0.9999571991097415 Centerline is valid? [True, True] Translation: X:148.64, Y:-20.48, Z:-4.81 [[ 9.77227625e-01 2.12024800e-01 8.46482234e-03 1.48640760e+02] [-2.12017719e-01 9.77264281e-01 -1.73559944e-03 -2.04831472e+01] [-8.64035864e-03 -9.86166019e-05 9.99962667e-01 -4.81364223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.54420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.67, Y:-20.49, Z:-4.82 [[ 9.77754482e-01 2.09557369e-01 9.04891800e-03 1.48667875e+02] [-2.09549213e-01 9.77796350e-01 -1.85092700e-03 -2.04879975e+01] [-9.23587438e-03 -8.64414756e-05 9.99957345e-01 -4.81510892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.57420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.70, Y:-20.50, Z:-4.81 [[ 9.78376507e-01 2.06604770e-01 9.68917819e-03 1.48695560e+02] [-2.06595283e-01 9.78424481e-01 -1.98087705e-03 -2.04950403e+01] [-9.88938779e-03 -6.36949436e-05 9.99951097e-01 -4.81418438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.60420382200002 meters Centerline goodness [0,1] 0.9999568630834268 Centerline is valid? [True, True] Translation: X:148.72, Y:-20.51, Z:-4.81 [[ 9.79688354e-01 2.00287783e-01 9.77414404e-03 1.48722733e+02] [-2.00277819e-01 9.79737110e-01 -1.99779636e-03 -2.05055101e+01] [-9.97622584e-03 -3.26418901e-07 9.99950236e-01 -4.81240044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.63420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.75, Y:-20.51, Z:-4.82 [[ 9.80331102e-01 1.97141326e-01 9.28585903e-03 1.48748803e+02] [-1.97132193e-01 9.80375080e-01 -1.89784185e-03 -2.05145370e+01] [-9.47776785e-03 2.99716319e-05 9.99955085e-01 -4.81518538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.66420382200002 meters Centerline goodness [0,1] 0.999957274999466 Centerline is valid? [True, True] Translation: X:148.78, Y:-20.53, Z:-4.82 [[ 9.81317344e-01 1.92183878e-01 9.03482652e-03 1.48775183e+02] [-1.92175027e-01 9.81358931e-01 -1.84598047e-03 -2.05255332e+01] [-9.22117539e-03 7.52246253e-05 9.99957481e-01 -4.81812042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.69420382200002 meters Centerline goodness [0,1] 0.999978456169076 Centerline is valid? [True, True] Translation: X:148.80, Y:-20.53, Z:-4.82 [[ 9.81626746e-01 1.90586322e-01 9.26206009e-03 1.48803164e+02] [-1.90576957e-01 9.81670436e-01 -1.89150897e-03 -2.05314622e+01] [-9.45278631e-03 9.16205718e-05 9.99955317e-01 -4.81664328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.724203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.83, Y:-20.54, Z:-4.82 [[ 9.81856045e-01 1.89432891e-01 8.59572968e-03 1.48832002e+02] [-1.89424784e-01 9.81893666e-01 -1.75511108e-03 -2.05361209e+01] [-8.77256829e-03 9.50221858e-05 9.99961516e-01 -4.81786782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.754203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.86, Y:-20.54, Z:-4.82 [[ 9.81807121e-01 1.89732857e-01 7.49806565e-03 1.48858834e+02] [-1.89726691e-01 9.81835748e-01 -1.53171285e-03 -2.05409959e+01] [-7.65248515e-03 8.12633953e-05 9.99970716e-01 -4.82279283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.784203822 meters Centerline goodness [0,1] 0.9999787179705457 Centerline is valid? [True, True] Translation: X:148.89, Y:-20.54, Z:-4.82 [[ 9.81619410e-01 1.90717065e-01 7.09472551e-03 1.48886536e+02] [-1.90711578e-01 9.81645046e-01 -1.44839893e-03 -2.05436050e+01] [-7.24073654e-03 6.87302123e-05 9.99973783e-01 -4.82457509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.814203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.92, Y:-20.54, Z:-4.82 [[ 9.81341377e-01 1.92157168e-01 6.68767829e-03 1.48915742e+02] [-1.92152332e-01 9.81364163e-01 -1.36441883e-03 -2.05447769e+01] [-6.82523066e-03 5.39076697e-05 9.99976706e-01 -4.82360446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.844203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.95, Y:-20.54, Z:-4.83 [[ 9.80690895e-01 1.95469761e-01 6.07790561e-03 1.48945047e+02] [-1.95465810e-01 9.80709728e-01 -1.24316473e-03 -2.05432622e+01] [-6.20366227e-03 3.11375865e-05 9.99980757e-01 -4.82558599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.874203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.97, Y:-20.55, Z:-4.83 [[ 9.80364744e-01 1.97073093e-01 6.86771628e-03 1.48974284e+02] [-1.97068125e-01 9.80388798e-01 -1.39944903e-03 -2.05462429e+01] [-7.00882586e-03 1.85625196e-05 9.99975438e-01 -4.82545685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.904203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.00, Y:-20.55, Z:-4.82 [[ 9.80043626e-01 1.98615492e-01 8.14722986e-03 1.49001982e+02] [-1.98608557e-01 9.80077490e-01 -1.65975567e-03 -2.05488093e+01] [-8.31456978e-03 8.52339639e-06 9.99965433e-01 -4.82494233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.934203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.03, Y:-20.55, Z:-4.83 [[ 9.79580825e-01 2.00803926e-01 9.95942171e-03 1.49030019e+02] [-2.00793687e-01 9.79631453e-01 -2.02786313e-03 -2.05498710e+01] [-1.01637656e-02 -1.33331659e-05 9.99948348e-01 -4.82549851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.964203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.06, Y:-20.56, Z:-4.82 [[ 9.79611635e-01 2.00649491e-01 1.00412436e-02 1.49057756e+02] [-2.00639079e-01 9.79663096e-01 -2.04413025e-03 -2.05563434e+01] [-1.02471895e-02 -1.22120936e-05 9.99947496e-01 -4.82388870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.994203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.09, Y:-20.56, Z:-4.82 [[ 9.79856482e-01 1.99409749e-01 1.08178909e-02 1.49086135e+02] [-1.99397604e-01 9.79916196e-01 -2.20079007e-03 -2.05635385e+01] [-1.10394855e-02 -6.03109885e-07 9.99939063e-01 -4.82247069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.024203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.11, Y:-20.57, Z:-4.82 [[ 9.79958620e-01 1.98899331e-01 1.09617238e-02 1.49114228e+02] [-1.98886835e-01 9.80019926e-01 -2.22951693e-03 -2.05687121e+01] [-1.11861572e-02 4.69178341e-06 9.99937433e-01 -4.82144917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.054203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.14, Y:-20.57, Z:-4.83 [[ 9.80098487e-01 1.98233822e-01 1.05026985e-02 1.49140924e+02] [-1.98222315e-01 9.80154759e-01 -2.13592083e-03 -2.05747333e+01] [-1.07176816e-02 1.15435691e-05 9.99942564e-01 -4.82510126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.084203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.17, Y:-20.58, Z:-4.83 [[ 9.80153865e-01 1.98019103e-01 9.31856094e-03 1.49167542e+02] [-1.98010039e-01 9.80198161e-01 -1.89467824e-03 -2.05837808e+01] [-9.50921878e-03 1.19075833e-05 9.99954786e-01 -4.82848169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.114203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.20, Y:-20.59, Z:-4.83 [[ 9.80077070e-01 1.98430348e-01 8.62173699e-03 1.49196241e+02] [-1.98422601e-01 9.80114992e-01 -1.75344963e-03 -2.05896157e+01] [-8.79823130e-03 7.76830081e-06 9.99961295e-01 -4.82847792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.144203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.22, Y:-20.59, Z:-4.83 [[ 9.79894164e-01 1.99347964e-01 8.23509788e-03 1.49223224e+02] [-1.99340935e-01 9.79928768e-01 -1.67399346e-03 -2.05937775e+01] [-8.40351651e-03 -1.25569030e-06 9.99964690e-01 -4.83275357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.174203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.25, Y:-20.60, Z:-4.83 [[ 9.79676892e-01 2.00428890e-01 7.83881847e-03 1.49251520e+02] [-2.00422568e-01 9.79708253e-01 -1.59188645e-03 -2.05981144e+01] [-7.99881518e-03 -1.15417548e-05 9.99968009e-01 -4.83055663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.204203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.28, Y:-20.60, Z:-4.84 [[ 9.78941272e-01 2.03989005e-01 7.90385927e-03 1.49280139e+02] [-2.03982689e-01 9.78973179e-01 -1.60565520e-03 -2.05984667e+01] [-8.06520224e-03 -4.04083293e-05 9.99967475e-01 -4.83527492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.234203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.31, Y:-20.60, Z:-4.83 [[ 9.78532433e-01 2.05924799e-01 8.32194092e-03 1.49308676e+02] [-2.05917856e-01 9.78567818e-01 -1.69188721e-03 -2.06008733e+01] [-8.49198510e-03 -5.80697218e-05 9.99963941e-01 -4.83307479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.264203822 meters Centerline goodness [0,1] 0.9999787414965986 Centerline is valid? [True, True] Translation: X:149.34, Y:-20.60, Z:-4.83 [[ 9.77586763e-01 2.10343512e-01 8.92904257e-03 1.49337877e+02] [-2.10335729e-01 9.77627534e-01 -1.81257043e-03 -2.05999805e+01] [-9.11054031e-03 -1.06151817e-04 9.99958493e-01 -4.83325195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.29420382200001 meters Centerline goodness [0,1] 0.9999785513587715 Centerline is valid? [True, True] Translation: X:149.37, Y:-20.60, Z:-4.83 [[ 9.77220414e-01 2.12031181e-01 9.11265507e-03 1.49366335e+02] [-2.12023164e-01 9.77262893e-01 -1.84818123e-03 -2.06038203e+01] [-9.29733170e-03 -1.26013530e-04 9.99956771e-01 -4.83317529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.32420382200002 meters Centerline goodness [0,1] 0.9999786013866302 Centerline is valid? [True, True] Translation: X:149.39, Y:-20.61, Z:-4.83 [[ 9.76897133e-01 2.13501082e-01 9.44878999e-03 1.49394717e+02] [-2.13492549e-01 9.76942816e-01 -1.91448756e-03 -2.06076998e+01] [-9.63967267e-03 -1.46988855e-04 9.99953526e-01 -4.83333409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.35420382200002 meters Centerline goodness [0,1] 0.9999571495907786 Centerline is valid? [True, True] Translation: X:149.42, Y:-20.61, Z:-4.83 [[ 9.76464951e-01 2.15396835e-01 1.09728538e-02 1.49423169e+02] [-2.15385503e-01 9.76526582e-01 -2.21828658e-03 -2.06095325e+01] [-1.11930953e-02 -1.97314544e-04 9.99937336e-01 -4.83190886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.38420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.45, Y:-20.62, Z:-4.83 [[ 9.76483041e-01 2.15260868e-01 1.19845525e-02 1.49451661e+02] [-2.15247325e-01 9.76556559e-01 -2.42396230e-03 -2.06151215e+01] [-1.22253776e-02 -2.12684800e-04 9.99925245e-01 -4.83065524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.41420382200002 meters Centerline goodness [0,1] 0.9999576190375283 Centerline is valid? [True, True] Translation: X:149.48, Y:-20.62, Z:-4.83 [[ 9.76516218e-01 2.15085195e-01 1.24271553e-02 1.49479657e+02] [-2.15070675e-01 9.76595264e-01 -2.50902200e-03 -2.06190702e+01] [-1.26759545e-02 -2.22616014e-04 9.99919632e-01 -4.83230761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.44420382200002 meters Centerline goodness [0,1] 0.9999787405927123 Centerline is valid? [True, True] Translation: X:149.51, Y:-20.63, Z:-4.83 [[ 9.76939284e-01 2.13115716e-01 1.30891539e-02 1.49506202e+02] [-2.13099445e-01 9.77026943e-01 -2.64169542e-03 -2.06287155e+01] [-1.33514428e-02 -2.08515396e-04 9.99910844e-01 -4.83252180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.474203822 meters Centerline goodness [0,1] 0.9999786803112675 Centerline is valid? [True, True] Translation: X:149.53, Y:-20.64, Z:-4.83 [[ 9.77333556e-01 2.11274389e-01 1.35001329e-02 1.49533117e+02] [-2.11256891e-01 9.77426773e-01 -2.72562120e-03 -2.06392775e+01] [-1.37712453e-02 -1.88155048e-04 9.99905154e-01 -4.83152119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.504203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.56, Y:-20.65, Z:-4.83 [[ 9.77803010e-01 2.09055044e-01 1.40449803e-02 1.49559609e+02] [-2.09035939e-01 9.77903861e-01 -2.83118098e-03 -2.06488682e+01] [-1.43265131e-02 -1.67568356e-04 9.99897356e-01 -4.83228416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.534203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.59, Y:-20.66, Z:-4.83 [[ 9.78288347e-01 2.06772844e-01 1.40321462e-02 1.49587224e+02] [-2.06753526e-01 9.78388968e-01 -2.82950409e-03 -2.06591267e+01] [-1.43139617e-02 -1.33124832e-04 9.99897541e-01 -4.83276415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.564203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.61, Y:-20.67, Z:-4.83 [[ 9.79176406e-01 2.02535668e-01 1.38877232e-02 1.49613114e+02] [-2.02516381e-01 9.79274884e-01 -2.79602708e-03 -2.06740095e+01] [-1.41661938e-02 -7.46876999e-05 9.99899652e-01 -4.83442003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.594203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.64, Y:-20.69, Z:-4.83 [[ 9.79550379e-01 2.00677228e-01 1.44812056e-02 1.49640431e+02] [-2.00656066e-01 9.79657413e-01 -2.91475467e-03 -2.06850833e+01] [-1.47715453e-02 -5.05926907e-05 9.99890893e-01 -4.83313996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.624203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.67, Y:-20.69, Z:-4.83 [[ 9.79858167e-01 1.99138135e-01 1.48988389e-02 1.49667293e+02] [-1.99115566e-01 9.79971429e-01 -2.99820421e-03 -2.06947515e+01] [-1.51974933e-02 -2.87758647e-05 9.99884511e-01 -4.83335885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.654203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.69, Y:-20.70, Z:-4.84 [[ 9.79848379e-01 1.99281844e-01 1.35610377e-02 1.49694236e+02] [-1.99263169e-01 9.79942216e-01 -2.72831070e-03 -2.07017447e+01] [-1.38327361e-02 -2.88845248e-05 9.99904323e-01 -4.83599496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.684203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.72, Y:-20.71, Z:-4.84 [[ 9.79515197e-01 2.00934993e-01 1.32327912e-02 1.49723341e+02] [-2.00917376e-01 9.79604576e-01 -2.66128898e-03 -2.07051343e+01] [-1.34976489e-02 -5.19246846e-05 9.99908901e-01 -4.83746107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.714203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.75, Y:-20.70, Z:-4.84 [[ 9.78392026e-01 2.06254327e-01 1.44289959e-02 1.49751978e+02] [-2.06233968e-01 9.78498408e-01 -2.90120913e-03 -2.07018547e+01] [-1.47171364e-02 -1.37229187e-04 9.99891688e-01 -4.83709962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.744203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.78, Y:-20.70, Z:-4.84 [[ 9.77735810e-01 2.09334914e-01 1.45457985e-02 1.49780877e+02] [-2.09314577e-01 9.77843985e-01 -2.92378931e-03 -2.07021911e+01] [-1.48355727e-02 -1.85954147e-04 9.99889930e-01 -4.83778132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.774203822 meters Centerline goodness [0,1] 0.9999571054776305 Centerline is valid? [True, True] Translation: X:149.81, Y:-20.70, Z:-4.84 [[ 9.77102389e-01 2.12292880e-01 1.42356823e-02 1.49809658e+02] [-2.12273727e-01 9.77206059e-01 -2.86062248e-03 -2.07024975e+01] [-1.45184848e-02 -2.26740273e-04 9.99894576e-01 -4.83988037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.804203822 meters Centerline goodness [0,1] 0.9999571550985433 Centerline is valid? [True, True] Translation: X:149.84, Y:-20.70, Z:-4.84 [[ 9.75962284e-01 2.17518447e-01 1.35405050e-02 1.49839763e+02] [-2.17501644e-01 9.76056167e-01 -2.71928635e-03 -2.06984610e+01] [-1.38077883e-02 -2.91161172e-04 9.99904626e-01 -4.84329903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.834203822 meters Centerline goodness [0,1] 0.9999788628196998 Centerline is valid? [True, True] Translation: X:149.87, Y:-20.70, Z:-4.85 [[ 9.75590828e-01 2.19217302e-01 1.28961604e-02 1.49867194e+02] [-2.19202186e-01 9.75676015e-01 -2.59153177e-03 -2.07000457e+01] [-1.31505830e-02 -2.98591941e-04 9.99913483e-01 -4.84587853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.864203822 meters Centerline goodness [0,1] 0.9999573497110443 Centerline is valid? [True, True] Translation: X:149.90, Y:-20.70, Z:-4.85 [[ 9.75511687e-01 2.19604757e-01 1.22759774e-02 1.49895620e+02] [-2.19591092e-01 9.75588882e-01 -2.46684405e-03 -2.07035020e+01] [-1.25180378e-02 -2.89260079e-04 9.99921604e-01 -4.84840427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.894203822 meters Centerline goodness [0,1] 0.9998489328182661 Centerline is valid? [True, True] Translation: X:149.92, Y:-20.71, Z:-4.85 [[ 9.75672199e-01 2.18922285e-01 1.16958966e-02 1.49921688e+02] [-2.18909860e-01 9.75742261e-01 -2.34789340e-03 -2.07081218e+01] [-1.19261868e-02 -2.69572782e-04 9.99928844e-01 -4.85037886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.924203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.95, Y:-20.71, Z:-4.85 [[ 9.75843941e-01 2.18151675e-01 1.17664539e-02 1.49948715e+02] [-2.18139078e-01 9.75914841e-01 -2.35918916e-03 -2.07141532e+01] [-1.19977180e-02 -2.64522948e-04 9.99927990e-01 -4.85111197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.954203822 meters Centerline goodness [0,1] 0.999956855638968 Centerline is valid? [True, True] Translation: X:149.98, Y:-20.72, Z:-4.85 [[ 9.76015917e-01 2.17378208e-01 1.18171087e-02 1.49977326e+02] [-2.17365432e-01 9.76087419e-01 -2.37056544e-03 -2.07199439e+01] [-1.20498404e-02 -2.54921332e-04 9.99927366e-01 -4.85173472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.984203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.01, Y:-20.72, Z:-4.85 [[ 9.76179926e-01 2.16604727e-01 1.24556678e-02 1.50005943e+02] [-2.16590499e-01 9.76259353e-01 -2.49632529e-03 -2.07214828e+01] [-1.27006781e-02 -2.60916665e-04 9.99919309e-01 -4.85207641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.014203822 meters Centerline goodness [0,1] 0.9999353963434331 Centerline is valid? [True, True] Translation: X:150.03, Y:-20.72, Z:-4.85 [[ 9.76245854e-01 2.16266387e-01 1.31484805e-02 1.50034465e+02] [-2.16250534e-01 9.76334356e-01 -2.63270428e-03 -2.07249990e+01] [-1.34066787e-02 -2.73199291e-04 9.99910089e-01 -4.85174653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.04420382200001 meters Centerline goodness [0,1] 0.9999571367338191 Centerline is valid? [True, True] Translation: X:150.06, Y:-20.73, Z:-4.85 [[ 9.76391018e-01 2.15550316e-01 1.40939835e-02 1.50062127e+02] [-2.15532062e-01 9.76492693e-01 -2.81960862e-03 -2.07326171e+01] [-1.43704395e-02 -2.84664800e-04 9.99896699e-01 -4.84702142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.07420382200002 meters Centerline goodness [0,1] 0.9999571367338191 Centerline is valid? [True, True] Translation: X:150.09, Y:-20.74, Z:-4.85 [[ 9.76433402e-01 2.15358213e-01 1.40943934e-02 1.50089098e+02] [-2.15339968e-01 9.76535078e-01 -2.81755751e-03 -2.07378094e+01] [-1.43704537e-02 -2.83928959e-04 9.99896699e-01 -4.84786055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.10420382200002 meters Centerline goodness [0,1] 0.999957211013885 Centerline is valid? [True, True] Translation: X:150.12, Y:-20.74, Z:-4.85 [[ 9.76484061e-01 2.15132528e-01 1.40311683e-02 1.50116800e+02] [-2.15114464e-01 9.76584823e-01 -2.80206151e-03 -2.07405035e+01] [-1.43054406e-02 -2.82138856e-04 9.99897632e-01 -4.84882703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.13420382200002 meters Centerline goodness [0,1] 0.9999359439723278 Centerline is valid? [True, True] Translation: X:150.15, Y:-20.74, Z:-4.85 [[ 9.76466558e-01 2.15213912e-01 1.40011789e-02 1.50145777e+02] [-2.15196006e-01 9.76566889e-01 -2.79099580e-03 -2.07369195e+01] [-1.42737488e-02 -2.87683719e-04 9.99898083e-01 -4.85455192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.16420382200002 meters Centerline goodness [0,1] 0.9999576764363559 Centerline is valid? [True, True] Translation: X:150.17, Y:-20.74, Z:-4.86 [[ 9.76429002e-01 2.15380052e-01 1.40654333e-02 1.50174297e+02] [-2.15361989e-01 9.76530260e-01 -2.80445708e-03 -2.07387346e+01] [-1.43393454e-02 -2.90806472e-04 9.99897144e-01 -4.85527174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.19420382200002 meters Centerline goodness [0,1] 0.9999568872601854 Centerline is valid? [True, True] Translation: X:150.20, Y:-20.74, Z:-4.85 [[ 9.76206620e-01 2.16325424e-01 1.49648154e-02 1.50202913e+02] [-2.16305125e-01 9.76321261e-01 -2.98137534e-03 -2.07427942e+01] [-1.52554148e-02 -3.26527927e-04 9.99883576e-01 -4.84890850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.224203822 meters Centerline goodness [0,1] 0.9999785255653145 Centerline is valid? [True, True] Translation: X:150.23, Y:-20.74, Z:-4.85 [[ 9.76068251e-01 2.16954204e-01 1.48876931e-02 1.50231166e+02] [-2.16934247e-01 9.76181724e-01 -2.96205501e-03 -2.07432417e+01] [-1.51757242e-02 -3.38482640e-04 9.99884785e-01 -4.85038788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.254203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.26, Y:-20.74, Z:-4.85 [[ 9.76175019e-01 2.16505257e-01 1.44154876e-02 1.50259210e+02] [-2.16486517e-01 9.76281399e-01 -2.86668775e-03 -2.07417841e+01] [-1.46942254e-02 -3.22369738e-04 9.99891982e-01 -4.85283405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.284203822 meters Centerline goodness [0,1] 0.9998287304645687 Centerline is valid? [True, True] Translation: X:150.29, Y:-20.75, Z:-4.85 [[ 9.76494732e-01 2.15040109e-01 1.46897582e-02 1.50287917e+02] [-2.15020484e-01 9.76605170e-01 -2.92123083e-03 -2.07462519e+01] [-1.49742756e-02 -3.06032400e-04 9.99887832e-01 -4.85480926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.314203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.32, Y:-20.75, Z:-4.85 [[ 9.77006012e-01 2.12736509e-01 1.42278162e-02 1.50316219e+02] [-2.12717889e-01 9.77109568e-01 -2.82704667e-03 -2.07522611e+01] [-1.45035514e-02 -2.64469429e-04 9.99894783e-01 -4.85479847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.344203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.34, Y:-20.76, Z:-4.86 [[ 9.78269623e-01 2.06800691e-01 1.49003200e-02 1.50344392e+02] [-2.06779659e-01 9.78383073e-01 -2.95537976e-03 -2.07586029e+01] [-1.51893954e-02 -1.89924844e-04 9.99884616e-01 -4.85540227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.374203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.37, Y:-20.77, Z:-4.85 [[ 9.79112520e-01 2.02729033e-01 1.54794365e-02 1.50371639e+02] [-2.02705797e-01 9.79234866e-01 -3.07205230e-03 -2.07676171e+01] [-1.57807981e-02 -1.29886638e-04 9.99875467e-01 -4.85401695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.404203822 meters Centerline goodness [0,1] 0.9999361022364217 Centerline is valid? [True, True] Translation: X:150.40, Y:-20.78, Z:-4.86 [[ 9.80016839e-01 1.98293949e-01 1.57005041e-02 1.50398425e+02] [-1.98269548e-01 9.80142595e-01 -3.11136182e-03 -2.07773095e+01] [-1.60056970e-02 -6.37448803e-05 9.99871899e-01 -4.85639305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.434203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.42, Y:-20.80, Z:-4.86 [[ 9.81810165e-01 1.89275405e-01 1.49539616e-02 1.50424390e+02] [-1.89252238e-01 9.81924037e-01 -2.96236177e-03 -2.07955042e+01] [-1.52443566e-02 7.84062008e-05 9.99883795e-01 -4.85787039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.464203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.45, Y:-20.81, Z:-4.86 [[ 9.82557047e-01 1.85369697e-01 1.48231238e-02 1.50451255e+02] [-1.85346500e-01 9.82668844e-01 -2.93569404e-03 -2.08068348e+01] [-1.51104106e-02 1.37072759e-04 9.99885822e-01 -4.85862683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.494203822 meters Centerline goodness [0,1] 0.9999787066413985 Centerline is valid? [True, True] Translation: X:150.48, Y:-20.82, Z:-4.86 [[ 9.83181039e-01 1.81985583e-01 1.53718011e-02 1.50477204e+02] [-1.81960226e-01 9.83301179e-01 -3.04415852e-03 -2.08168533e+01] [-1.56691032e-02 1.95902520e-04 9.99877213e-01 -4.85926837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.524203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.50, Y:-20.83, Z:-4.86 [[ 9.83633565e-01 1.79492936e-01 1.57256331e-02 1.50503590e+02] [-1.79466106e-01 9.83759233e-01 -3.11260031e-03 -2.08251404e+01] [-1.60289266e-02 2.39440007e-04 9.99871500e-01 -4.85942545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.554203822 meters Centerline goodness [0,1] 0.9999786123706048 Centerline is valid? [True, True] Translation: X:150.53, Y:-20.84, Z:-4.86 [[ 9.84221905e-01 1.76243446e-01 1.56681147e-02 1.50530356e+02] [-1.76216429e-01 9.84346567e-01 -3.09941973e-03 -2.08358583e+01] [-1.59691073e-02 2.89537565e-04 9.99872444e-01 -4.85972056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.584203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.56, Y:-20.84, Z:-4.86 [[ 9.84369053e-01 1.75384023e-01 1.60627248e-02 1.50558665e+02] [-1.75355533e-01 9.84500050e-01 -3.17627481e-03 -2.08434205e+01] [-1.63708212e-02 3.09938972e-04 9.99865941e-01 -4.85936572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.614203822 meters Centerline goodness [0,1] 0.9999784890724488 Centerline is valid? [True, True] Translation: X:150.59, Y:-20.85, Z:-4.86 [[ 9.84222471e-01 1.76230009e-01 1.57832426e-02 1.50586853e+02] [-1.76202623e-01 9.84348973e-01 -3.12024244e-03 -2.08507144e+01] [-1.60860990e-02 2.89963987e-04 9.99870568e-01 -4.86044765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.644203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.61, Y:-20.86, Z:-4.86 [[ 9.83933954e-01 1.77851641e-01 1.55810244e-02 1.50613968e+02] [-1.77825164e-01 9.84057278e-01 -3.07967412e-03 -2.08575167e+01] [-1.58803456e-02 2.59497706e-04 9.99873866e-01 -4.86309017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.674203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.64, Y:-20.86, Z:-4.86 [[ 9.83531834e-01 1.80020321e-01 1.60566503e-02 1.50642982e+02] [-1.79992512e-01 9.83662865e-01 -3.17245657e-03 -2.08605131e+01] [-1.63654373e-02 2.30135208e-04 9.99866051e-01 -4.86164289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.704203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.67, Y:-20.86, Z:-4.86 [[ 9.82248922e-01 1.86916988e-01 1.57827058e-02 1.50672353e+02] [-1.86891022e-01 9.82375706e-01 -3.11756097e-03 -2.08590961e+01] [-1.60872719e-02 1.12574888e-04 9.99870585e-01 -4.86252855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.734203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.70, Y:-20.86, Z:-4.87 [[ 9.81429840e-01 1.91171948e-01 1.57719988e-02 1.50700433e+02] [-1.91146576e-01 9.81556562e-01 -3.11482322e-03 -2.08593800e+01] [-1.60765757e-02 4.22168841e-05 9.99870763e-01 -4.86546499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.764203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.73, Y:-20.86, Z:-4.87 [[ 9.80582640e-01 1.95473235e-01 1.57448476e-02 1.50729247e+02] [-1.95448518e-01 9.80709036e-01 -3.10860527e-03 -2.08581133e+01] [-1.60487634e-02 -2.90627558e-05 9.99871210e-01 -4.86612226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.79420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.76, Y:-20.85, Z:-4.87 [[ 9.78691539e-01 2.04788250e-01 1.49881249e-02 1.50760967e+02] [-2.04766971e-01 9.78806284e-01 -2.95728803e-03 -2.08491228e+01] [-1.52760887e-02 -1.74800170e-04 9.99883298e-01 -4.86742454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.82420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.79, Y:-20.85, Z:-4.87 [[ 9.77759629e-01 2.09198809e-01 1.48985294e-02 1.50791294e+02] [-2.09178295e-01 9.77873100e-01 -2.93961496e-03 -2.08471885e+01] [-1.51838350e-02 -2.42212132e-04 9.99884690e-01 -4.86897321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.85420382200002 meters Centerline goodness [0,1] 0.9999362543028345 Centerline is valid? [True, True] Translation: X:150.82, Y:-20.84, Z:-4.87 [[ 9.76132035e-01 2.16737294e-01 1.38273524e-02 1.50823441e+02] [-2.16720383e-01 9.76229908e-01 -2.72790526e-03 -2.08368016e+01] [-1.40899137e-02 -3.33873390e-04 9.99900676e-01 -4.87410489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.88420382200002 meters Centerline goodness [0,1] 0.999935339253384 Centerline is valid? [True, True] Translation: X:150.85, Y:-20.84, Z:-4.87 [[ 9.75566799e-01 2.19286835e-01 1.35168284e-02 1.50852766e+02] [-2.19270920e-01 9.75660367e-01 -2.66665044e-03 -2.08388153e+01] [-1.37725951e-02 -3.62351767e-04 9.99905088e-01 -4.87418333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.91420382200002 meters Centerline goodness [0,1] 0.9999573260503126 Centerline is valid? [True, True] Translation: X:150.88, Y:-20.84, Z:-4.87 [[ 9.75124638e-01 2.21224453e-01 1.38449033e-02 1.50882023e+02] [-2.21207927e-01 9.75222838e-01 -2.73307347e-03 -2.08389562e+01] [-1.41064886e-02 -3.97515084e-04 9.99900420e-01 -4.87468407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.94420382200002 meters Centerline goodness [0,1] 0.9998497273625006 Centerline is valid? [True, True] Translation: X:150.91, Y:-20.84, Z:-4.87 [[ 9.74524095e-01 2.23821689e-01 1.43749503e-02 1.50912443e+02] [-2.23804227e-01 9.74630003e-01 -2.83278223e-03 -2.08357213e+01] [-1.46442960e-02 -4.56560108e-04 9.99892662e-01 -4.87463110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.974203822 meters Centerline goodness [0,1] 0.999809781460033 Centerline is valid? [True, True] Translation: X:150.94, Y:-20.83, Z:-4.88 [[ 9.74357817e-01 2.24546951e-01 1.43356740e-02 1.50940489e+02] [-2.24529666e-01 9.74463159e-01 -2.82488964e-03 -2.08348724e+01] [-1.46039065e-02 -4.66330777e-04 9.99893249e-01 -4.87709260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.004203822 meters Centerline goodness [0,1] 0.9999574630992386 Centerline is valid? [True, True] Translation: X:150.97, Y:-20.84, Z:-4.88 [[ 9.74344958e-01 2.24604722e-01 1.43046320e-02 1.50969012e+02] [-2.24587504e-01 9.74449846e-01 -2.81964908e-03 -2.08396849e+01] [-1.45724530e-02 -4.65330749e-04 9.99893708e-01 -4.87699699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.034203822 meters Centerline goodness [0,1] 0.9997881445701453 Centerline is valid? [True, True] Translation: X:151.00, Y:-20.84, Z:-4.88 [[ 9.74846118e-01 2.22358083e-01 1.52291974e-02 1.50998804e+02] [-2.22338376e-01 9.74964957e-01 -2.99663377e-03 -2.08383248e+01] [-1.55142595e-02 -4.64778212e-04 9.99879539e-01 -4.87881684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.064203822 meters Centerline goodness [0,1] 0.9998937391082586 Centerline is valid? [True, True] Translation: X:151.03, Y:-20.84, Z:-4.88 [[ 9.75349320e-01 2.20110979e-01 1.56480237e-02 1.51026582e+02] [-2.20089882e-01 9.75474737e-01 -3.07914054e-03 -2.08402525e+01] [-1.59420044e-02 -4.40734056e-04 9.99872821e-01 -4.88055311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.094203822 meters Centerline goodness [0,1] 0.9999152488505625 Centerline is valid? [True, True] Translation: X:151.05, Y:-20.85, Z:-4.88 [[ 9.76005662e-01 2.17174636e-01 1.57519925e-02 1.51054677e+02] [-2.17152899e-01 9.76132686e-01 -3.09812703e-03 -2.08509477e+01] [-1.60488694e-02 -3.96801313e-04 9.99871130e-01 -4.87888056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.124203822 meters Centerline goodness [0,1] 0.9998286571000214 Centerline is valid? [True, True] Translation: X:151.08, Y:-20.86, Z:-4.88 [[ 9.77756710e-01 2.09201030e-01 1.50580792e-02 1.51082068e+02] [-2.09180226e-01 9.77872622e-01 -2.96124930e-03 -2.08613752e+01] [-1.53443797e-02 -2.54471025e-04 9.99882236e-01 -4.88208373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.154203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.11, Y:-20.87, Z:-4.88 [[ 9.78702805e-01 2.04723859e-01 1.51314428e-02 1.51109605e+02] [-2.04702315e-01 9.78819752e-01 -2.97576563e-03 -2.08717495e+01] [-1.54201653e-02 -1.85051199e-04 9.99881085e-01 -4.88259174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.184203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.14, Y:-20.88, Z:-4.88 [[ 9.79720145e-01 1.99783673e-01 1.53271614e-02 1.51136968e+02] [-1.99760948e-01 9.79840024e-01 -3.01518964e-03 -2.08823374e+01] [-1.56205518e-02 -1.07726255e-04 9.99877986e-01 -4.88312814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.214203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.16, Y:-20.90, Z:-4.88 [[ 9.81758458e-01 1.89490917e-01 1.56051798e-02 1.51162880e+02] [-1.89466098e-01 9.81882472e-01 -3.06731953e-03 -2.09008503e+01] [-1.59036817e-02 5.47143833e-05 9.99873527e-01 -4.88282821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.244203822 meters Centerline goodness [0,1] 0.999913976644659 Centerline is valid? [True, True] Translation: X:151.19, Y:-20.91, Z:-4.88 [[ 9.82700956e-01 1.84495336e-01 1.61338876e-02 1.51190517e+02] [-1.84468180e-01 9.82833380e-01 -3.16835604e-03 -2.09110402e+01] [-1.64414702e-02 1.37357614e-04 9.99864820e-01 -4.88144780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.274203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.22, Y:-20.92, Z:-4.88 [[ 9.83519814e-01 1.80022110e-01 1.67575300e-02 1.51217236e+02] [-1.79992244e-01 9.83662540e-01 -3.28615062e-03 -2.09209551e+01] [-1.70753343e-02 2.15768808e-04 9.99854183e-01 -4.88129817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.304203822 meters Centerline goodness [0,1] 0.9999574459031043 Centerline is valid? [True, True] Translation: X:151.24, Y:-20.94, Z:-4.88 [[ 9.84786180e-01 1.72921881e-01 1.71523729e-02 1.51243989e+02] [-1.72889540e-01 9.84935482e-01 -3.36197994e-03 -2.09360362e+01] [-1.74753405e-02 3.45365527e-04 9.99847235e-01 -4.88227421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.334203822 meters Centerline goodness [0,1] 0.9999788368746296 Centerline is valid? [True, True] Translation: X:151.27, Y:-20.94, Z:-4.88 [[ 9.85240093e-01 1.70272627e-01 1.75838654e-02 1.51271209e+02] [-1.70238217e-01 9.85396910e-01 -3.44654778e-03 -2.09446292e+01] [-1.79139393e-02 4.02231171e-04 9.99839452e-01 -4.88218842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.364203822 meters Centerline goodness [0,1] 0.9999785858066726 Centerline is valid? [True, True] Translation: X:151.30, Y:-20.95, Z:-4.88 [[ 9.85523448e-01 1.68605893e-01 1.77647560e-02 1.51298022e+02] [-1.68570521e-01 9.85683450e-01 -3.48090331e-03 -2.09527111e+01] [-1.80973268e-02 4.35897670e-04 9.99836135e-01 -4.88288775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.394203822 meters Centerline goodness [0,1] 0.9999573142100995 Centerline is valid? [True, True] Translation: X:151.33, Y:-20.96, Z:-4.89 [[ 9.85578681e-01 1.68393686e-01 1.66802435e-02 1.51326760e+02] [-1.68362489e-01 9.85719735e-01 -3.26734516e-03 -2.09578751e+01] [-1.69922455e-02 4.11898419e-04 9.99855537e-01 -4.88571700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.424203822 meters Centerline goodness [0,1] 0.9998505997353481 Centerline is valid? [True, True] Translation: X:151.36, Y:-20.96, Z:-4.89 [[ 9.85376294e-01 1.69610062e-01 1.63090577e-02 1.51355340e+02] [-1.69580417e-01 9.85511178e-01 -3.19389004e-03 -2.09611813e+01] [-1.66144745e-02 3.81486726e-04 9.99861897e-01 -4.88667633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.454203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.39, Y:-20.96, Z:-4.89 [[ 9.84533791e-01 1.74437379e-01 1.62731366e-02 1.51386176e+02] [-1.74408541e-01 9.84668224e-01 -3.18575487e-03 -2.09575961e+01] [-1.65793552e-02 2.98309314e-04 9.99862509e-01 -4.88686749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.484203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.41, Y:-20.96, Z:-4.89 [[ 9.83998097e-01 1.77399662e-01 1.66465001e-02 1.51414779e+02] [-1.77369902e-01 9.84138860e-01 -3.25921809e-03 -2.09574490e+01] [-1.69606518e-02 2.54476313e-04 9.99856125e-01 -4.88742272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.514203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.44, Y:-20.96, Z:-4.89 [[ 9.83471158e-01 1.80240493e-01 1.72582117e-02 1.51444124e+02] [-1.80208951e-01 9.83622549e-01 -3.37850228e-03 -2.09575946e+01] [-1.75845091e-02 2.12575325e-04 9.99845358e-01 -4.88729114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.54420382200001 meters Centerline goodness [0,1] 0.99991544949164 Centerline is valid? [True, True] Translation: X:151.47, Y:-20.96, Z:-4.89 [[ 9.82537815e-01 1.85102484e-01 1.88815338e-02 1.51472787e+02] [-1.85065718e-01 9.82719214e-01 -3.69150984e-03 -2.09556053e+01] [-1.92385537e-02 1.32723391e-04 9.99814913e-01 -4.88632643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.57420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.50, Y:-20.96, Z:-4.88 [[ 9.82249263e-01 1.86548449e-01 1.96484297e-02 1.51502141e+02] [-1.86508926e-01 9.82445757e-01 -3.84137747e-03 -2.09568745e+01] [-2.00201194e-02 1.08582669e-04 9.99799571e-01 -4.88412337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.60420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.53, Y:-20.96, Z:-4.89 [[ 9.82101390e-01 1.87274279e-01 2.01296681e-02 1.51529379e+02] [-1.87233040e-01 9.82307659e-01 -3.93100125e-03 -2.09603814e+01] [-2.05097026e-02 9.17028441e-05 9.99789650e-01 -4.88576047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.63420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.56, Y:-20.97, Z:-4.89 [[ 9.82231884e-01 1.86700507e-01 1.90642668e-02 1.51556695e+02] [-1.86663448e-01 9.82416873e-01 -3.72095824e-03 -2.09679061e+01] [-1.94237622e-02 9.62420457e-05 9.99811336e-01 -4.88858258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.66420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.58, Y:-20.98, Z:-4.89 [[ 9.82501120e-01 1.85311953e-01 1.87357552e-02 1.51584158e+02] [-1.85275907e-01 9.82679737e-01 -3.65695911e-03 -2.09765419e+01] [-1.90889252e-02 1.21682386e-04 9.99817782e-01 -4.89046907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.69420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.61, Y:-20.99, Z:-4.89 [[ 9.83132131e-01 1.81926778e-01 1.88111812e-02 1.51611996e+02] [-1.81889880e-01 9.83312063e-01 -3.66853400e-03 -2.09866406e+01] [-1.91646660e-02 1.85090145e-04 9.99816324e-01 -4.88898934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.724203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.64, Y:-21.00, Z:-4.89 [[ 9.83492359e-01 1.80009735e-01 1.84193938e-02 1.51637813e+02] [-1.79974097e-01 9.83664805e-01 -3.58818939e-03 -2.09967626e+01] [-1.87644184e-02 2.13943095e-04 9.99823910e-01 -4.89245932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.754203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.67, Y:-21.01, Z:-4.89 [[ 9.83867876e-01 1.77973952e-01 1.81459182e-02 1.51665673e+02] [-1.77939067e-01 9.84035168e-01 -3.53224344e-03 -2.10054337e+01] [-1.84848690e-02 2.46393102e-04 9.99829110e-01 -4.89258782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.784203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.69, Y:-21.02, Z:-4.89 [[ 9.84286172e-01 1.75553369e-01 1.90196094e-02 1.51693649e+02] [-1.75514611e-01 9.84469868e-01 -3.70132130e-03 -2.10150234e+01] [-1.93740118e-02 3.04940026e-04 9.99812260e-01 -4.89108136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.814203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.72, Y:-21.02, Z:-4.89 [[ 9.84439978e-01 1.74664136e-01 1.92449750e-02 1.51721563e+02] [-1.74624303e-01 9.84628018e-01 -3.74420966e-03 -2.10228059e+01] [-1.96031207e-02 3.25309338e-04 9.99807787e-01 -4.89198719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.844203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.75, Y:-21.03, Z:-4.89 [[ 9.84598265e-01 1.73778392e-01 1.91657917e-02 1.51749650e+02] [-1.73738736e-01 9.84784725e-01 -3.72787617e-03 -2.10315683e+01] [-1.95220033e-02 3.40619975e-04 9.99809370e-01 -4.89353493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.874203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.77, Y:-21.05, Z:-4.90 [[ 9.84831657e-01 1.72399313e-01 1.96235726e-02 1.51774685e+02] [-1.72357478e-01 9.85027073e-01 -3.81633021e-03 -2.10479753e+01] [-1.99876830e-02 3.76173321e-04 9.99800156e-01 -4.89654555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.904203822 meters Centerline goodness [0,1] 0.9999786834924966 Centerline is valid? [True, True] Translation: X:151.80, Y:-21.05, Z:-4.89 [[ 9.84854795e-01 1.72205452e-01 2.01572632e-02 1.51803680e+02] [-1.72161317e-01 9.85060979e-01 -3.91783636e-03 -2.10513830e+01] [-2.05308062e-02 3.88198946e-04 9.99789145e-01 -4.89465912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.934203822 meters Centerline goodness [0,1] 0.9999786834924966 Centerline is valid? [True, True] Translation: X:151.83, Y:-21.06, Z:-4.90 [[ 9.84866854e-01 1.72136455e-01 2.01574013e-02 1.51830682e+02] [-1.72092320e-01 9.85073038e-01 -3.91712594e-03 -2.10564969e+01] [-2.05307927e-02 3.88913554e-04 9.99789145e-01 -4.89549848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.964203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.86, Y:-21.06, Z:-4.90 [[ 9.84902371e-01 1.71919454e-01 2.02736661e-02 1.51858432e+02] [-1.71874792e-01 9.85110931e-01 -3.93824058e-03 -2.10624215e+01] [-2.06488703e-02 3.94250329e-04 9.99786712e-01 -4.89567625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.994203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.89, Y:-21.07, Z:-4.90 [[ 9.84910111e-01 1.72019769e-01 1.90071674e-02 1.51885981e+02] [-1.71980562e-01 9.85093430e-01 -3.69069840e-03 -2.10697387e+01] [-1.93587088e-02 3.66142840e-04 9.99812536e-01 -4.89778530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.024203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.91, Y:-21.08, Z:-4.90 [[ 9.84826907e-01 1.72558527e-01 1.84259894e-02 1.51912714e+02] [-1.72521790e-01 9.84999206e-01 -3.57711515e-03 -2.10762393e+01] [-1.87668466e-02 3.43954588e-04 9.99823828e-01 -4.90025073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.054203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.94, Y:-21.08, Z:-4.90 [[ 9.84678583e-01 1.73445993e-01 1.80159854e-02 1.51939429e+02] [-1.73411040e-01 9.84843331e-01 -3.49644198e-03 -2.10819599e+01] [-1.83493669e-02 3.18700767e-04 9.99831585e-01 -4.90242163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.084203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.97, Y:-21.09, Z:-4.91 [[ 9.84411743e-01 1.75091153e-01 1.66315757e-02 1.51968080e+02] [-1.75061610e-01 9.84552192e-01 -3.22720650e-03 -2.10876839e+01] [-1.69397096e-02 2.65349558e-04 9.99856478e-01 -4.90597068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.114203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.99, Y:-21.09, Z:-4.91 [[ 9.84279633e-01 1.75900861e-01 1.58899787e-02 1.51993860e+02] [-1.75874009e-01 9.84407857e-01 -3.08274479e-03 -2.10938037e+01] [-1.61844774e-02 2.39648643e-04 9.99868994e-01 -4.90887006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.144203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.02, Y:-21.10, Z:-4.91 [[ 9.84163762e-01 1.76567602e-01 1.56707289e-02 1.52022027e+02] [-1.76541622e-01 9.84288490e-01 -3.03697396e-03 -2.10993448e+01] [-1.59607493e-02 2.22343819e-04 9.99872594e-01 -4.90884699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.174203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.05, Y:-21.11, Z:-4.91 [[ 9.83920139e-01 1.77894282e-01 1.59619792e-02 1.52049205e+02] [-1.77867513e-01 9.84049583e-01 -3.09276003e-03 -2.11072860e+01] [-1.62575633e-02 2.03911341e-04 9.99867816e-01 -4.91036821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.204203822 meters Centerline goodness [0,1] 0.999978605964657 Centerline is valid? [True, True] Translation: X:152.08, Y:-21.11, Z:-4.91 [[ 9.83833389e-01 1.78378701e-01 1.59028674e-02 1.52078095e+02] [-1.78352212e-01 9.83961890e-01 -3.08013669e-03 -2.11123417e+01] [-1.61972462e-02 1.94029746e-04 9.99868797e-01 -4.90992737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.234203822 meters Centerline goodness [0,1] 0.9999784580254626 Centerline is valid? [True, True] Translation: X:152.11, Y:-21.12, Z:-4.91 [[ 9.83724892e-01 1.78940403e-01 1.62993610e-02 1.52105222e+02] [-1.78912665e-01 9.83859897e-01 -3.15625538e-03 -2.11181610e+01] [-1.66010693e-02 1.88724872e-04 9.99862175e-01 -4.91007806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.264203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.13, Y:-21.13, Z:-4.91 [[ 9.83718539e-01 1.78892311e-01 1.71865338e-02 1.52132342e+02] [-1.78861486e-01 9.83868641e-01 -3.32674404e-03 -2.11275549e+01] [-1.75044206e-02 1.98570819e-04 9.99846766e-01 -4.90964615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.29420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.16, Y:-21.14, Z:-4.91 [[ 9.83842666e-01 1.78202486e-01 1.72477057e-02 1.52160313e+02] [-1.78171350e-01 9.83993816e-01 -3.33774092e-03 -2.11366372e+01] [-1.75664295e-02 2.10764927e-04 9.99845676e-01 -4.90970950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.32420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.19, Y:-21.15, Z:-4.91 [[ 9.84202886e-01 1.76120841e-01 1.80590079e-02 1.52187456e+02] [-1.76086374e-01 9.84368520e-01 -3.49378844e-03 -2.11486277e+01] [-1.83920479e-02 2.58651445e-04 9.99830819e-01 -4.90857619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.35420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.21, Y:-21.16, Z:-4.91 [[ 9.84367620e-01 1.75127648e-01 1.87268709e-02 1.52213639e+02] [-1.75090420e-01 9.84545695e-01 -3.62213448e-03 -2.11588513e+01] [-1.90717960e-02 2.86616196e-04 9.99818076e-01 -4.90995304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.38420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.24, Y:-21.17, Z:-4.91 [[ 9.84534158e-01 1.74088632e-01 1.96377399e-02 1.52241252e+02] [-1.74047517e-01 9.84729935e-01 -3.79686397e-03 -2.11662133e+01] [-1.99988612e-02 3.20242412e-04 9.99799951e-01 -4.90850825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.41420382200002 meters Centerline goodness [0,1] 0.9999787125340599 Centerline is valid? [True, True] Translation: X:152.27, Y:-21.18, Z:-4.91 [[ 9.84632579e-01 1.73491463e-01 1.99849252e-02 1.52266768e+02] [-1.73448777e-01 9.84835315e-01 -3.86308524e-03 -2.11783853e+01] [-2.03520724e-02 3.37358750e-04 9.99792818e-01 -4.91131694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.44420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.30, Y:-21.19, Z:-4.91 [[ 9.84656513e-01 1.73465002e-01 1.90117216e-02 1.52295050e+02] [-1.73426391e-01 9.84839982e-01 -3.67374610e-03 -2.11861766e+01] [-1.93607699e-02 3.20243777e-04 9.99812511e-01 -4.91180553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.474203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.32, Y:-21.20, Z:-4.92 [[ 9.84357300e-01 1.75221337e-01 1.83898932e-02 1.52321058e+02] [-1.75185531e-01 9.84529028e-01 -3.55284618e-03 -2.11955189e+01] [-1.87279181e-02 2.75626879e-04 9.99824579e-01 -4.91514933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.504203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.35, Y:-21.20, Z:-4.92 [[ 9.84096930e-01 1.76724070e-01 1.79397585e-02 1.52349939e+02] [-1.76690271e-01 9.84260405e-01 -3.46447653e-03 -2.12006945e+01] [-1.82696504e-02 2.39599922e-04 9.99833067e-01 -4.91639256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.534203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.38, Y:-21.20, Z:-4.92 [[ 9.83801409e-01 1.78424476e-01 1.73059033e-02 1.52378813e+02] [-1.78393293e-01 9.83953590e-01 -3.34163012e-03 -2.12048565e+01] [-1.76244343e-02 2.00243331e-04 9.99844658e-01 -4.91807528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.564203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.41, Y:-21.21, Z:-4.92 [[ 9.83000443e-01 1.82857131e-01 1.65347853e-02 1.52407666e+02] [-1.82829304e-01 9.83139490e-01 -3.19201674e-03 -2.12057477e+01] [-1.68396835e-02 1.14710574e-04 9.99858196e-01 -4.91949465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.594203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.44, Y:-21.21, Z:-4.92 [[ 9.82499898e-01 1.85575977e-01 1.59845975e-02 1.52435560e+02] [-1.85550344e-01 9.82629916e-01 -3.08504885e-03 -2.12103023e+01] [-1.62794546e-02 6.51126231e-05 9.99867479e-01 -4.92177047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.624203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.46, Y:-21.21, Z:-4.92 [[ 9.82039865e-01 1.88004041e-01 1.58803338e-02 1.52464544e+02] [-1.87979070e-01 9.82168255e-01 -3.06415183e-03 -2.12141045e+01] [-1.61732327e-02 2.39488685e-05 9.99869204e-01 -4.92287186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.654203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.49, Y:-21.21, Z:-4.92 [[ 9.81143792e-01 1.92631313e-01 1.58125621e-02 1.52492980e+02] [-1.92607166e-01 9.81271203e-01 -3.05046629e-03 -2.12144211e+01] [-1.61040272e-02 -5.26667053e-05 9.99870320e-01 -4.92476594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.684203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.52, Y:-21.22, Z:-4.92 [[ 9.80825806e-01 1.94178539e-01 1.65962028e-02 1.52521903e+02] [-1.94152182e-01 9.80966201e-01 -3.20034329e-03 -2.12187623e+01] [-1.69017520e-02 -8.32097134e-05 9.99857152e-01 -4.92353589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.714203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.55, Y:-21.22, Z:-4.92 [[ 9.80280793e-01 1.96862609e-01 1.71662558e-02 1.52550886e+02] [-1.96834837e-01 9.80431076e-01 -3.30937480e-03 -2.12222506e+01] [-1.74818228e-02 -1.34800603e-04 9.99847172e-01 -4.92241971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.744203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.58, Y:-21.22, Z:-4.93 [[ 9.80073372e-01 1.97895703e-01 1.71311573e-02 1.52578441e+02] [-1.97868215e-01 9.80223070e-01 -3.30189431e-03 -2.12238136e+01] [-1.74457863e-02 -1.53612824e-04 9.99847799e-01 -4.92754981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.774203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.61, Y:-21.23, Z:-4.93 [[ 9.80019307e-01 1.98193760e-01 1.67747399e-02 1.52606786e+02] [-1.98167468e-01 9.80162848e-01 -3.23197565e-03 -2.12306526e+01] [-1.70825342e-02 -1.56809202e-04 9.99854071e-01 -4.92698273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.804203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.63, Y:-21.23, Z:-4.93 [[ 9.79995300e-01 1.98306200e-01 1.68482582e-02 1.52633350e+02] [-1.98279700e-01 9.80140105e-01 -3.24578899e-03 -2.12342922e+01] [-1.71573136e-02 -1.59809620e-04 9.99852790e-01 -4.93018555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.834203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.66, Y:-21.24, Z:-4.93 [[ 9.80005102e-01 1.98317390e-01 1.61311030e-02 1.52661389e+02] [-1.98293101e-01 9.80137842e-01 -3.10753318e-03 -2.12402227e+01] [-1.64269824e-02 -1.53288080e-04 9.99865056e-01 -4.93167394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.864203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.69, Y:-21.25, Z:-4.93 [[ 9.80022393e-01 1.98287329e-01 1.54351859e-02 1.52689544e+02] [-1.98265151e-01 9.80143925e-01 -2.96938638e-03 -2.12478525e+01] [-1.57174954e-02 -1.50194309e-04 9.99876461e-01 -4.93155598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.894203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.72, Y:-21.25, Z:-4.93 [[ 9.79971951e-01 1.98569691e-01 1.50018001e-02 1.52716789e+02] [-1.98548782e-01 9.80086759e-01 -2.88547628e-03 -2.12537602e+01] [-1.52760338e-02 -1.50903318e-04 9.99883303e-01 -4.93383900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.924203822 meters Centerline goodness [0,1] 0.9999788400093104 Centerline is valid? [True, True] Translation: X:152.74, Y:-21.26, Z:-4.94 [[ 9.79890700e-01 1.98971631e-01 1.49835106e-02 1.52744031e+02] [-1.98950828e-01 9.80005237e-01 -2.88147661e-03 -2.12575200e+01] [-1.52572509e-02 -1.57449705e-04 9.99883589e-01 -4.93595568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.954203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.77, Y:-21.26, Z:-4.94 [[ 9.79926086e-01 1.98777625e-01 1.52420860e-02 1.52771710e+02] [-1.98756105e-01 9.80044606e-01 -2.92921228e-03 -2.12611264e+01] [-1.55201860e-02 -1.59046110e-04 9.99879542e-01 -4.93670429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.984203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.80, Y:-21.27, Z:-4.93 [[ 9.80230736e-01 1.97252314e-01 1.54669894e-02 1.52799869e+02] [-1.97229982e-01 9.80352745e-01 -2.97131454e-03 -2.12687561e+01] [-1.57492042e-02 -1.37980199e-04 9.99875964e-01 -4.93482218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.014203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.83, Y:-21.27, Z:-4.94 [[ 9.80468849e-01 1.96066141e-01 1.54565426e-02 1.52827470e+02] [-1.96043701e-01 9.80590666e-01 -2.96870108e-03 -2.12743363e+01] [-1.57386032e-02 -1.19438883e-04 9.99876133e-01 -4.93717481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.04420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.85, Y:-21.28, Z:-4.94 [[ 9.80794827e-01 1.94433738e-01 1.53957353e-02 1.52854989e+02] [-1.94411292e-01 9.80915650e-01 -2.95584577e-03 -2.12808490e+01] [-1.56766338e-02 -9.40265450e-05 9.99877110e-01 -4.93946809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.07420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.88, Y:-21.29, Z:-4.94 [[ 9.81215886e-01 1.92299328e-01 1.53738169e-02 1.52883015e+02] [-1.92276694e-01 9.81336316e-01 -2.95091182e-03 -2.12902700e+01] [-1.56543432e-02 -6.05451386e-05 9.99877461e-01 -4.93787833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.10420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.91, Y:-21.30, Z:-4.94 [[ 9.82242549e-01 1.86954143e-01 1.57392635e-02 1.52908841e+02] [-1.86929744e-01 9.82368642e-01 -3.02039647e-03 -2.13049568e+01] [-1.60264346e-02 2.46254248e-05 9.99871568e-01 -4.94028401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.13420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.94, Y:-21.32, Z:-4.94 [[ 9.82832358e-01 1.83877274e-01 1.51559906e-02 1.52936533e+02] [-1.83854301e-01 9.82949207e-01 -2.90739351e-03 -2.13153367e+01] [-1.54321726e-02 7.09863592e-05 9.99880914e-01 -4.93952984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.16420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.96, Y:-21.33, Z:-4.94 [[ 9.83745455e-01 1.78990127e-01 1.44019066e-02 1.52962868e+02] [-1.78968866e-01 9.83850860e-01 -2.76228753e-03 -2.13285562e+01] [-1.46637504e-02 1.39894921e-04 9.99892472e-01 -4.94123348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.19420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.99, Y:-21.34, Z:-4.94 [[ 9.84051429e-01 1.77308768e-01 1.42963265e-02 1.52989986e+02] [-1.77287653e-01 9.84155259e-01 -2.74113620e-03 -2.13364452e+01] [-1.45558324e-02 1.62856828e-04 9.99894045e-01 -4.94268222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.224203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.02, Y:-21.34, Z:-4.95 [[ 9.84208693e-01 1.76423841e-01 1.44179253e-02 1.53017170e+02] [-1.76402284e-01 9.84314278e-01 -2.76352038e-03 -2.13444941e+01] [-1.46793206e-02 1.76525836e-04 9.99892237e-01 -4.94523636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.254203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.05, Y:-21.35, Z:-4.94 [[ 9.84142842e-01 1.76728482e-01 1.51627916e-02 1.53045448e+02] [-1.76704696e-01 9.84259626e-01 -2.90503871e-03 -2.13501190e+01] [-1.54375266e-02 1.79636582e-04 9.99880818e-01 -4.94390690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.284203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.07, Y:-21.35, Z:-4.94 [[ 9.83987204e-01 1.77503703e-01 1.61745771e-02 1.53074508e+02] [-1.77476747e-01 9.84120116e-01 -3.09849648e-03 -2.13548436e+01] [-1.64677213e-02 1.78269562e-04 9.99864382e-01 -4.94173735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.314203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.10, Y:-21.36, Z:-4.94 [[ 9.83468013e-01 1.80270486e-01 1.71236467e-02 1.53102704e+02] [-1.80240728e-01 9.83617066e-01 -3.27829020e-03 -2.13579725e+01] [-1.74340901e-02 1.37714996e-04 9.99848005e-01 -4.94164375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.344203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.13, Y:-21.36, Z:-4.94 [[ 9.83157122e-01 1.81985777e-01 1.68300402e-02 1.53131916e+02] [-1.81957296e-01 9.83301157e-01 -3.22126022e-03 -2.13593701e+01] [-1.71352216e-02 1.04656313e-04 9.99853176e-01 -4.94191383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.374203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.16, Y:-21.36, Z:-4.94 [[ 9.82894850e-01 1.83434027e-01 1.64216530e-02 1.53159537e+02] [-1.83407121e-01 9.83032020e-01 -3.14265268e-03 -2.13620213e+01] [-1.67194802e-02 7.70490336e-05 9.99860217e-01 -4.94373119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.404203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.19, Y:-21.37, Z:-4.95 [[ 9.82674315e-01 1.84610633e-01 1.64348637e-02 1.53186587e+02] [-1.84583872e-01 9.82811737e-01 -3.14377478e-03 -2.13665487e+01] [-1.67327512e-02 5.56959621e-05 9.99859996e-01 -4.94580128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.434203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.21, Y:-21.37, Z:-4.95 [[ 9.82474956e-01 1.85677755e-01 1.63319448e-02 1.53213314e+02] [-1.85651486e-01 9.82610691e-01 -3.12340968e-03 -2.13725553e+01] [-1.66278912e-02 3.66219724e-05 9.99861746e-01 -4.94739233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.464203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.24, Y:-21.38, Z:-4.95 [[ 9.82517851e-01 1.85472850e-01 1.60777588e-02 1.53241962e+02] [-1.85447395e-01 9.82649388e-01 -3.07297571e-03 -2.13788658e+01] [-1.63687534e-02 3.76750013e-05 9.99866022e-01 -4.94700944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.494203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.27, Y:-21.39, Z:-4.95 [[ 9.82863874e-01 1.83704247e-01 1.52103725e-02 1.53268863e+02] [-1.83681263e-01 9.82981559e-01 -2.90650331e-03 -2.13905300e+01] [-1.54854526e-02 6.28366739e-05 9.99880091e-01 -4.94956791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.524203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.30, Y:-21.40, Z:-4.95 [[ 9.83097665e-01 1.82485596e-01 1.47644176e-02 1.53295457e+02] [-1.82463811e-01 9.83208524e-01 -2.82077252e-03 -2.14010465e+01] [-1.50312516e-02 7.91229825e-05 9.99887021e-01 -4.95361555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.554203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.32, Y:-21.41, Z:-4.95 [[ 9.83261605e-01 1.81608602e-01 1.46605566e-02 1.53322673e+02] [-1.81587034e-01 9.83370890e-01 -2.80030642e-03 -2.14095819e+01] [-1.49253244e-02 9.12667795e-05 9.99888607e-01 -4.95412472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.584203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.35, Y:-21.42, Z:-4.95 [[ 9.83267823e-01 1.81522499e-01 1.52960887e-02 1.53351174e+02] [-1.81499038e-01 9.83386787e-01 -2.91988673e-03 -2.14169132e+01] [-1.55719967e-02 9.48052753e-05 9.99878745e-01 -4.95126229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.614203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.38, Y:-21.42, Z:-4.95 [[ 9.83129941e-01 1.82236080e-01 1.56694251e-02 1.53378873e+02] [-1.82211564e-01 9.83254801e-01 -2.99032296e-03 -2.14232194e+01] [-1.59519822e-02 8.47255928e-05 9.99872755e-01 -4.95130581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.644203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.41, Y:-21.43, Z:-4.95 [[ 9.82921276e-01 1.83334108e-01 1.59489811e-02 1.53407428e+02] [-1.83308870e-01 9.83050660e-01 -3.04265175e-03 -2.14301228e+01] [-1.62364783e-02 6.70974322e-05 9.99868177e-01 -4.95189068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.674203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.43, Y:-21.43, Z:-4.95 [[ 9.82275006e-01 1.86693390e-01 1.67747138e-02 1.53434790e+02] [-1.86665967e-01 9.82418230e-01 -3.19981561e-03 -2.14345613e+01] [-1.70771691e-02 1.18307231e-05 9.99854174e-01 -4.95062117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.704203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.46, Y:-21.44, Z:-4.95 [[ 9.81811539e-01 1.89098255e-01 1.69691192e-02 1.53462905e+02] [-1.89070568e-01 9.81958171e-01 -3.23596586e-03 -2.14377399e+01] [-1.72748807e-02 -3.12523679e-05 9.99850778e-01 -4.95057289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.734203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.49, Y:-21.44, Z:-4.95 [[ 9.81234848e-01 1.92035201e-01 1.73393673e-02 1.53491173e+02] [-1.92006775e-01 9.81388034e-01 -3.30522251e-03 -2.14402791e+01] [-1.76513667e-02 -8.60764875e-05 9.99844199e-01 -4.95167768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.764203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.52, Y:-21.44, Z:-4.95 [[ 9.79777703e-01 1.99340484e-01 1.72923142e-02 1.53520430e+02] [-1.99313378e-01 9.79930265e-01 -3.29453959e-03 -2.14363834e+01] [-1.76019971e-02 -2.18673118e-04 9.99845049e-01 -4.95371926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.79420382200001 meters Centerline goodness [0,1] 0.999978596348537 Centerline is valid? [True, True] Translation: X:153.55, Y:-21.44, Z:-4.96 [[ 9.79007373e-01 2.03131864e-01 1.67931222e-02 1.53550264e+02] [-2.03106874e-01 9.79151351e-01 -3.19846527e-03 -2.14358197e+01] [-1.70927185e-02 -2.79477464e-04 9.99853870e-01 -4.95562555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.82420382200002 meters Centerline goodness [0,1] 0.9999574893191915 Centerline is valid? [True, True] Translation: X:153.58, Y:-21.43, Z:-4.96 [[ 9.77818017e-01 2.08860236e-01 1.57901270e-02 1.53582144e+02] [-2.08838904e-01 9.77945435e-01 -3.00639150e-03 -2.14315679e+01] [-1.60697983e-02 -3.57889042e-04 9.99870808e-01 -4.95967846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.85420382200002 meters Centerline goodness [0,1] 0.9997426439049498 Centerline is valid? [True, True] Translation: X:153.61, Y:-21.44, Z:-4.96 [[ 9.77557832e-01 2.10140199e-01 1.48923580e-02 1.53610782e+02] [-2.10121361e-01 9.77671197e-01 -2.83622928e-03 -2.14369502e+01] [-1.51558353e-02 -3.56624386e-04 9.99885080e-01 -4.96168959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.88420382200002 meters Centerline goodness [0,1] 0.9997426439049498 Centerline is valid? [True, True] Translation: X:153.64, Y:-21.44, Z:-4.96 [[ 9.77573351e-01 2.10067985e-01 1.48924269e-02 1.53637810e+02] [-2.10049144e-01 9.77686716e-01 -2.83586729e-03 -2.14419598e+01] [-1.51558529e-02 -3.55873239e-04 9.99885080e-01 -4.96252912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.91420382200002 meters Centerline goodness [0,1] 0.9999132828928827 Centerline is valid? [True, True] Translation: X:153.67, Y:-21.45, Z:-4.97 [[ 9.77485065e-01 2.10548667e-01 1.38638248e-02 1.53665200e+02] [-2.10532403e-01 9.77583318e-01 -2.63888327e-03 -2.14461420e+01] [-1.41086572e-02 -3.39315361e-04 9.99900410e-01 -4.96533390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.94420382200002 meters Centerline goodness [0,1] 0.999957211013885 Centerline is valid? [True, True] Translation: X:153.69, Y:-21.45, Z:-4.97 [[ 9.77644553e-01 2.09865159e-01 1.29515287e-02 1.53691956e+02] [-2.09850912e-01 9.77730290e-01 -2.46474659e-03 -2.14530578e+01] [-1.31803663e-02 -3.08244018e-04 9.99913088e-01 -4.96778146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.974203822 meters Centerline goodness [0,1] 0.9999784552407627 Centerline is valid? [True, True] Translation: X:153.72, Y:-21.47, Z:-4.97 [[ 9.78557597e-01 2.05643604e-01 1.16506306e-02 1.53718937e+02] [-2.05631788e-01 9.78626924e-01 -2.21606068e-03 -2.14653786e+01] [-1.18573395e-02 -2.27196989e-04 9.99929673e-01 -4.97077143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.004203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.75, Y:-21.47, Z:-4.97 [[ 9.79169370e-01 2.02691047e-01 1.19868356e-02 1.53746269e+02] [-2.02678327e-01 9.79242718e-01 -2.27935800e-03 -2.14724011e+01] [-1.22000269e-02 -1.97594241e-04 9.99925557e-01 -4.97365765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.034203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.77, Y:-21.49, Z:-4.97 [[ 9.80507517e-01 1.96003528e-01 1.36976464e-02 1.53773844e+02] [-1.95986286e-01 9.80603181e-01 -2.60315413e-03 -2.14888092e+01] [-1.39421830e-02 -1.32138643e-04 9.99902794e-01 -4.97021920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.064203822 meters Centerline goodness [0,1] 0.9999785968066436 Centerline is valid? [True, True] Translation: X:153.80, Y:-21.50, Z:-4.97 [[ 9.81174953e-01 1.92595673e-01 1.42343842e-02 1.53801285e+02] [-1.92576688e-01 9.81278197e-01 -2.70554813e-03 -2.14997786e+01] [-1.44889678e-02 -8.65945115e-05 9.99895026e-01 -4.96995358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.094203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.83, Y:-21.51, Z:-4.97 [[ 9.81819195e-01 1.89207048e-01 1.52237406e-02 1.53828282e+02] [-1.89184937e-01 9.81937214e-01 -2.89275241e-03 -2.15108967e+01] [-1.54960865e-02 -3.99425685e-05 9.99879928e-01 -4.96844930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.124203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.85, Y:-21.53, Z:-4.96 [[ 9.82810653e-01 1.83719010e-01 1.81809043e-02 1.53854614e+02] [-1.83686556e-01 9.82978801e-01 -3.45352198e-03 -2.15282933e+01] [-1.85059211e-02 5.45705001e-05 9.99828749e-01 -4.96121370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.154203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.88, Y:-21.54, Z:-4.96 [[ 9.83170891e-01 1.81679185e-01 1.91747913e-02 1.53880806e+02] [-1.81642716e-01 9.83357852e-01 -3.64134648e-03 -2.15400494e+01] [-1.95172384e-02 9.71047079e-05 9.99809516e-01 -4.96317359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.184203822 meters Centerline goodness [0,1] 0.9999353601516882 Centerline is valid? [True, True] Translation: X:153.91, Y:-21.55, Z:-4.96 [[ 9.83496661e-01 1.79921357e-01 1.90426462e-02 1.53907912e+02] [-1.79885084e-01 9.83680989e-01 -3.61502966e-03 -2.15488971e+01] [-1.93823101e-02 1.29881592e-04 9.99812137e-01 -4.96453469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.214203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.94, Y:-21.56, Z:-4.97 [[ 9.83790394e-01 1.78411898e-01 1.80459065e-02 1.53936786e+02] [-1.78379097e-01 9.83955879e-01 -3.42422289e-03 -2.15559319e+01] [-1.83672979e-02 1.49705077e-04 9.99831296e-01 -4.96516730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.244203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.96, Y:-21.56, Z:-4.97 [[ 9.83807570e-01 1.78399251e-01 1.72154716e-02 1.53964190e+02] [-1.78369402e-01 9.83958173e-01 -3.26640533e-03 -2.15629250e+01] [-1.75220283e-02 1.42800905e-04 9.99846467e-01 -4.96904191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.274203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.99, Y:-21.57, Z:-4.97 [[ 9.83726046e-01 1.78911944e-01 1.65403210e-02 1.53992376e+02] [-1.78884470e-01 9.83865082e-01 -3.13786703e-03 -2.15688875e+01] [-1.68348462e-02 1.27994963e-04 9.99858276e-01 -4.97086711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.304203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.02, Y:-21.57, Z:-4.97 [[ 9.83158430e-01 1.82038361e-01 1.61721128e-02 1.54021568e+02] [-1.82012532e-01 9.83291427e-01 -3.06729914e-03 -2.15718958e+01] [-1.64602659e-02 7.21138084e-05 9.99864518e-01 -4.96987058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.334203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.05, Y:-21.58, Z:-4.97 [[ 9.82762522e-01 1.84192524e-01 1.58410538e-02 1.54048607e+02] [-1.84168031e-01 9.82890184e-01 -3.00390879e-03 -2.15757356e+01] [-1.61233138e-02 3.47133010e-05 9.99870010e-01 -4.97457174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.364203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.08, Y:-21.57, Z:-4.97 [[ 9.81872599e-01 1.88938415e-01 1.51153784e-02 1.54078219e+02] [-1.88916692e-01 9.81988938e-01 -2.86527552e-03 -2.15740566e+01] [-1.53844950e-02 -4.22117696e-05 9.99881651e-01 -4.97121857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.394203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.11, Y:-21.57, Z:-4.98 [[ 9.81357775e-01 1.91539158e-01 1.58009211e-02 1.54107087e+02] [-1.91515769e-01 9.81484968e-01 -2.99450007e-03 -2.15729712e+01] [-1.60819306e-02 -8.74496254e-05 9.99870674e-01 -4.97637365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.424203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.14, Y:-21.57, Z:-4.97 [[ 9.80901439e-01 1.93803455e-01 1.65102099e-02 1.54136320e+02] [-1.93778263e-01 9.81040368e-01 -3.12750589e-03 -2.15746631e+01] [-1.68033039e-02 -1.31544783e-04 9.99858806e-01 -4.97411816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.454203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.17, Y:-21.57, Z:-4.97 [[ 9.80174530e-01 1.97289209e-01 1.82991514e-02 1.54165140e+02] [-1.97258886e-01 9.80345308e-01 -3.46547128e-03 -2.15737854e+01] [-1.86231873e-02 -2.12903525e-04 9.99826551e-01 -4.97246877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.484203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.19, Y:-21.58, Z:-4.97 [[ 9.79925967e-01 1.98484490e-01 1.86817283e-02 1.54193618e+02] [-1.98453126e-01 9.80103999e-01 -3.53664508e-03 -2.15793690e+01] [-1.90120058e-02 -2.41797044e-04 9.99819226e-01 -4.97002718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.514203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.22, Y:-21.58, Z:-4.97 [[ 9.79676701e-01 1.99674133e-01 1.90735852e-02 1.54222084e+02] [-1.99641682e-01 9.79862320e-01 -3.60995011e-03 -2.15801113e+01] [-1.94103011e-02 -2.71298620e-04 9.99811566e-01 -4.97213775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.54420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.25, Y:-21.58, Z:-4.97 [[ 9.79640092e-01 1.99827861e-01 1.93420672e-02 1.54248828e+02] [-1.99794540e-01 9.79830979e-01 -3.65974217e-03 -2.15831744e+01] [-1.96832751e-02 -2.79209257e-04 9.99806227e-01 -4.97252245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.57420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.28, Y:-21.59, Z:-4.97 [[ 9.79616560e-01 1.99911221e-01 1.96697471e-02 1.54276920e+02] [-1.99876816e-01 9.79813973e-01 -3.71989342e-03 -2.15878203e+01] [-2.00163414e-02 -2.87457216e-04 9.99799612e-01 -4.97249852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.60420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.30, Y:-21.59, Z:-4.97 [[ 9.79669969e-01 1.99668802e-01 1.94710479e-02 1.54304565e+02] [-1.99635069e-01 9.79863404e-01 -3.68088249e-03 -2.15927583e+01] [-1.98139247e-02 -2.81053942e-04 9.99803645e-01 -4.97336270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.63420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.33, Y:-21.59, Z:-4.98 [[ 9.79863304e-01 1.98807080e-01 1.85377942e-02 1.54331952e+02] [-1.98776371e-01 9.80038612e-01 -3.50327967e-03 -2.15946678e+01] [-1.88642309e-02 -2.52140256e-04 9.99822023e-01 -4.97777952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.66420382200002 meters Centerline goodness [0,1] 0.9999359124991989 Centerline is valid? [True, True] Translation: X:154.36, Y:-21.60, Z:-4.98 [[ 9.79987206e-01 1.98229895e-01 1.81655023e-02 1.54359974e+02] [-1.98200346e-01 9.80155524e-01 -3.43087083e-03 -2.15991266e+01] [-1.84851186e-02 -2.38199321e-04 9.99829107e-01 -4.97929362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.69420382200002 meters Centerline goodness [0,1] 0.9999787964886985 Centerline is valid? [True, True] Translation: X:154.39, Y:-21.60, Z:-4.98 [[ 9.80374440e-01 1.96325805e-01 1.79481320e-02 1.54386741e+02] [-1.96296648e-01 9.80538698e-01 -3.38939238e-03 -2.16048130e+01] [-1.82642631e-02 -2.00284491e-04 9.99833174e-01 -4.98104383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.724203822 meters Centerline goodness [0,1] 0.9999572082673628 Centerline is valid? [True, True] Translation: X:154.41, Y:-21.61, Z:-4.98 [[ 9.80656952e-01 1.94892636e-01 1.81329281e-02 1.54414919e+02] [-1.94862667e-01 9.80824566e-01 -3.42229037e-03 -2.16122249e+01] [-1.84522005e-02 -1.77337871e-04 9.99829728e-01 -4.98053979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.754203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.44, Y:-21.62, Z:-4.98 [[ 9.80982958e-01 1.93217754e-01 1.84210757e-02 1.54443289e+02] [-1.93186547e-01 9.81155888e-01 -3.47574346e-03 -2.16194599e+01] [-1.87455222e-02 -1.49058907e-04 9.99824276e-01 -4.98042817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.784203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.47, Y:-21.63, Z:-4.98 [[ 9.81695955e-01 1.89609883e-01 1.79204783e-02 1.54469849e+02] [-1.89579761e-01 9.81859504e-01 -3.38057353e-03 -2.16283415e+01] [-1.82363821e-02 -7.86646369e-05 9.99833700e-01 -4.98288653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.814203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.50, Y:-21.64, Z:-4.98 [[ 9.82097013e-01 1.87527404e-01 1.78586210e-02 1.54497389e+02] [-1.87497168e-01 9.82259371e-01 -3.36763554e-03 -2.16371290e+01] [-1.81733217e-02 -4.10960536e-05 9.99834851e-01 -4.98326016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.844203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.52, Y:-21.65, Z:-4.99 [[ 9.82475475e-01 1.85506555e-01 1.81455161e-02 1.54523779e+02] [-1.85475009e-01 9.82643027e-01 -3.42094829e-03 -2.16457474e+01] [-1.84651732e-02 -4.54196369e-06 9.99829504e-01 -4.98517129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.874203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.55, Y:-21.65, Z:-4.99 [[ 9.82907342e-01 1.83328777e-01 1.68438637e-02 1.54551375e+02] [-1.83301293e-01 9.83051656e-01 -3.17447876e-03 -2.16549467e+01] [-1.71403614e-02 3.27164845e-05 9.99853093e-01 -4.98604869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.904203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.58, Y:-21.66, Z:-4.99 [[ 9.82931681e-01 1.83242198e-01 1.63587000e-02 1.54579111e+02] [-1.83216274e-01 9.83067798e-01 -3.08242732e-03 -2.16602111e+01] [-1.66465419e-02 3.26354173e-05 9.99861436e-01 -4.98905455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.934203822 meters Centerline goodness [0,1] 0.9999132396321361 Centerline is valid? [True, True] Translation: X:154.61, Y:-21.66, Z:-4.99 [[ 9.82825180e-01 1.83776838e-01 1.67552825e-02 1.54607804e+02] [-1.83749740e-01 9.82967992e-01 -3.15590053e-03 -2.16639564e+01] [-1.70498878e-02 2.29197078e-05 9.99854640e-01 -4.98749959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.964203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.64, Y:-21.66, Z:-4.98 [[ 9.82136403e-01 1.87184962e-01 1.92321635e-02 1.54637558e+02] [-1.87149936e-01 9.82324686e-01 -3.62123663e-03 -2.16615347e+01] [-1.95700700e-02 -4.27498642e-05 9.99808487e-01 -4.98309974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.994203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.67, Y:-21.66, Z:-4.98 [[ 9.81639091e-01 1.89788603e-01 1.91045012e-02 1.54666815e+02] [-1.89754552e-01 9.81824973e-01 -3.59624225e-03 -2.16615212e+01] [-1.94398022e-02 -9.49540940e-05 9.99811025e-01 -4.98406300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.024203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.70, Y:-21.66, Z:-4.99 [[ 9.81156500e-01 1.92352528e-01 1.82325722e-02 1.54695526e+02] [-1.92321970e-01 9.81325881e-01 -3.43140963e-03 -2.16619592e+01] [-1.85521353e-02 -1.39774345e-04 9.99827885e-01 -4.98652587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.054203822 meters Centerline goodness [0,1] 0.9999568183780982 Centerline is valid? [True, True] Translation: X:154.72, Y:-21.66, Z:-4.99 [[ 9.80304128e-01 1.96819130e-01 1.63109514e-02 1.54724958e+02] [-1.96795308e-01 9.80439794e-01 -3.06874067e-03 -2.16578614e+01] [-1.65958927e-02 -2.01619570e-04 9.99862258e-01 -4.99232945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.084203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.75, Y:-21.66, Z:-5.00 [[ 9.79959620e-01 1.98594671e-01 1.54692994e-02 1.54753001e+02] [-1.98573474e-01 9.80081684e-01 -2.90986161e-03 -2.16568970e+01] [-1.57390601e-02 -2.20245647e-04 9.99876109e-01 -4.99742027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.114203822 meters Centerline goodness [0,1] 0.9999786347612435 Centerline is valid? [True, True] Translation: X:154.78, Y:-21.66, Z:-5.00 [[ 9.79733527e-01 1.99761312e-01 1.47524074e-02 1.54781730e+02] [-1.99742182e-01 9.79844562e-01 -2.77394833e-03 -2.16589581e+01] [-1.50091938e-02 -2.28947876e-04 9.99887329e-01 -4.99957722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.144203822 meters Centerline goodness [0,1] 0.9999575398594569 Centerline is valid? [True, True] Translation: X:154.81, Y:-21.66, Z:-5.00 [[ 9.79680196e-01 2.00115859e-01 1.34297148e-02 1.54810908e+02] [-2.00100046e-01 9.79772217e-01 -2.52472498e-03 -2.16602271e+01] [-1.36632989e-02 -2.13863489e-04 9.99906630e-01 -5.00228683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.174203822 meters Centerline goodness [0,1] 0.999957550673883 Centerline is valid? [True, True] Translation: X:154.84, Y:-21.66, Z:-5.00 [[ 9.79917846e-01 1.98979132e-01 1.29738327e-02 1.54837988e+02] [-1.98964280e-01 9.80003708e-01 -2.43863687e-03 -2.16641809e+01] [-1.31996420e-02 -1.91665490e-04 9.99912863e-01 -5.00445185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.204203822 meters Centerline goodness [0,1] 0.9999573187648051 Centerline is valid? [True, True] Translation: X:154.87, Y:-21.67, Z:-5.01 [[ 9.80309400e-01 1.97032911e-01 1.30962513e-02 1.54866154e+02] [-1.97017618e-01 9.80396860e-01 -2.46059627e-03 -2.16709852e+01] [-1.33243421e-02 -1.68046578e-04 9.99911213e-01 -5.00551268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.234203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.89, Y:-21.69, Z:-5.01 [[ 9.81476203e-01 1.91106829e-01 1.35145657e-02 1.54892488e+02] [-1.91089990e-01 9.81569239e-01 -2.53848848e-03 -2.16851735e+01] [-1.37506044e-02 -9.10321856e-05 9.99905452e-01 -5.00581362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.264203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.92, Y:-21.70, Z:-5.00 [[ 9.82133655e-01 1.87667784e-01 1.39387001e-02 1.54919868e+02] [-1.87649535e-01 9.82232559e-01 -2.61745881e-03 -2.16961168e+01] [-1.41822578e-02 -4.48962034e-05 9.99899426e-01 -5.00457148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.29420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.95, Y:-21.71, Z:-5.01 [[ 9.82836782e-01 1.83910567e-01 1.44486135e-02 1.54946255e+02] [-1.83890556e-01 9.82942981e-01 -2.71294233e-03 -2.17063074e+01] [-1.47011020e-02 9.41594048e-06 9.99891933e-01 -5.00541328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.32420382200002 meters Centerline goodness [0,1] 0.9999786716717144 Centerline is valid? [True, True] Translation: X:154.97, Y:-21.72, Z:-5.00 [[ 9.84176437e-01 1.76489081e-01 1.57589790e-02 1.54971609e+02] [-1.76464353e-01 9.84302589e-01 -2.95712911e-03 -2.17225972e+01] [-1.60335048e-02 1.29438764e-04 9.99871447e-01 -5.00366131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.35420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.00, Y:-21.73, Z:-5.00 [[ 9.84801545e-01 1.72974918e-01 1.56714894e-02 1.54998800e+02] [-1.72950037e-01 9.84926212e-01 -2.93959602e-03 -2.17341311e+01] [-1.59437370e-02 1.84534046e-04 9.99872874e-01 -5.00442947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.38420382200002 meters Centerline goodness [0,1] 0.9999349085465078 Centerline is valid? [True, True] Translation: X:155.03, Y:-21.74, Z:-5.00 [[ 9.85311750e-01 1.70073341e-01 1.53562190e-02 1.55026108e+02] [-1.70049108e-01 9.85431381e-01 -2.87977877e-03 -2.17440324e+01] [-1.56222737e-02 2.26168505e-04 9.99877939e-01 -5.00423283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.41420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.05, Y:-21.76, Z:-5.00 [[ 9.85899227e-01 1.66679495e-01 1.48546551e-02 1.55053570e+02] [-1.66656451e-01 9.86011092e-01 -2.78462568e-03 -2.17582462e+01] [-1.51109947e-02 2.69736197e-04 9.99885786e-01 -5.00482730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.44420382200002 meters Centerline goodness [0,1] 0.9999784728650464 Centerline is valid? [True, True] Translation: X:155.08, Y:-21.77, Z:-5.01 [[ 9.85973279e-01 1.66258101e-01 1.46607093e-02 1.55081336e+02] [-1.66235611e-01 9.86082233e-01 -2.74809606e-03 -2.17677229e+01] [-1.49135582e-02 2.72417316e-04 9.99888750e-01 -5.00805122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.474203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.11, Y:-21.77, Z:-5.01 [[ 9.85604885e-01 1.68403264e-01 1.49449169e-02 1.55111151e+02] [-1.68380141e-01 9.85718155e-01 -2.80128385e-03 -2.17688217e+01] [-1.52032212e-02 2.44531835e-04 9.99884394e-01 -5.00567781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.504203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.14, Y:-21.77, Z:-5.01 [[ 9.85236054e-01 1.70488254e-01 1.56100427e-02 1.55138946e+02] [-1.70463312e-01 9.85359684e-01 -2.92446367e-03 -2.17738052e+01] [-1.58800934e-02 2.20347472e-04 9.99873879e-01 -5.00703659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.534203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.17, Y:-21.78, Z:-5.01 [[ 9.84769807e-01 1.73110195e-01 1.61643827e-02 1.55167877e+02] [-1.73083817e-01 9.84902445e-01 -3.02745045e-03 -2.17755501e+01] [-1.64444226e-02 1.83548730e-04 9.99864764e-01 -5.00547650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.564203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.20, Y:-21.77, Z:-5.01 [[ 9.83614869e-01 1.79551309e-01 1.62208703e-02 1.55196663e+02] [-1.79525632e-01 9.83748607e-01 -3.03738097e-03 -2.17744248e+01] [-1.65026243e-02 7.55510917e-05 9.99863820e-01 -5.00729356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.594203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.23, Y:-21.78, Z:-5.01 [[ 9.82996562e-01 1.82939450e-01 1.58403796e-02 1.55225325e+02] [-1.82915421e-01 9.83124182e-01 -2.96501312e-03 -2.17752401e+01] [-1.61154781e-02 1.71479953e-05 9.99870137e-01 -5.00862151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.624203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.25, Y:-21.78, Z:-5.01 [[ 9.82299796e-01 1.86665493e-01 1.55918338e-02 1.55253331e+02] [-1.86642691e-01 9.82423530e-01 -2.91791687e-03 -2.17751642e+01] [-1.58624588e-02 -4.38326700e-05 9.99874182e-01 -5.01087180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.654203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.28, Y:-21.78, Z:-5.01 [[ 9.81592244e-01 1.90382791e-01 1.52006199e-02 1.55282079e+02] [-1.90361578e-01 9.81709928e-01 -2.84382105e-03 -2.17750976e+01] [-1.54640141e-02 -1.02141315e-04 9.99880420e-01 -5.01279199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.684203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.31, Y:-21.77, Z:-5.02 [[ 9.80297920e-01 1.97029056e-01 1.39835239e-02 1.55311725e+02] [-1.97011795e-01 9.80397631e-01 -2.61500171e-03 -2.17708981e+01] [-1.42246450e-02 -1.91438408e-04 9.99898806e-01 -5.01664894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.714203822 meters Centerline goodness [0,1] 0.9999785181843569 Centerline is valid? [True, True] Translation: X:155.34, Y:-21.77, Z:-5.02 [[ 9.79683713e-01 2.00105760e-01 1.33231906e-02 1.55341623e+02] [-2.00090383e-01 9.79774277e-01 -2.49086346e-03 -2.17721866e+01] [-1.35521555e-02 -2.25583945e-04 9.99908140e-01 -5.01808728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.744203822 meters Centerline goodness [0,1] 0.9999785181843569 Centerline is valid? [True, True] Translation: X:155.37, Y:-21.78, Z:-5.02 [[ 9.79697944e-01 2.00036079e-01 1.33231021e-02 1.55368667e+02] [-2.00020690e-01 9.79788506e-01 -2.49133711e-03 -2.17771026e+01] [-1.35521796e-02 -2.24138227e-04 9.99908140e-01 -5.01892670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.774203822 meters Centerline goodness [0,1] 0.9999355559374463 Centerline is valid? [True, True] Translation: X:155.40, Y:-21.77, Z:-5.02 [[ 9.78572071e-01 2.05461611e-01 1.34991928e-02 1.55398324e+02] [-2.05446346e-01 9.78665128e-01 -2.52299325e-03 -2.17707489e+01] [-1.37295675e-02 -3.04429109e-04 9.99905699e-01 -5.01945839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.804203822 meters Centerline goodness [0,1] 0.9998938879456706 Centerline is valid? [True, True] Translation: X:155.43, Y:-21.77, Z:-5.02 [[ 9.78146517e-01 2.07448303e-01 1.39496578e-02 1.55426956e+02] [-2.07432190e-01 9.78245922e-01 -2.60812173e-03 -2.17727006e+01] [-1.41872463e-02 -3.42482871e-04 9.99899297e-01 -5.01902406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.834203822 meters Centerline goodness [0,1] 0.9998301233729004 Centerline is valid? [True, True] Translation: X:155.45, Y:-21.77, Z:-5.02 [[ 9.77737913e-01 2.09341610e-01 1.43060982e-02 1.55454712e+02] [-2.09324928e-01 9.77842494e-01 -2.67043781e-03 -2.17737753e+01] [-1.45481445e-02 -3.83634699e-04 9.99894097e-01 -5.01978852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.864203822 meters Centerline goodness [0,1] 0.9997215618239842 Centerline is valid? [True, True] Translation: X:155.48, Y:-21.77, Z:-5.02 [[ 9.77444682e-01 2.10701655e-01 1.43772605e-02 1.55482417e+02] [-2.10684967e-01 9.77550330e-01 -2.68283246e-03 -2.17749855e+01] [-1.46197730e-02 -4.06752345e-04 9.99893043e-01 -5.02087702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.894203822 meters Centerline goodness [0,1] 0.9999144439928989 Centerline is valid? [True, True] Translation: X:155.51, Y:-21.78, Z:-5.02 [[ 9.77131580e-01 2.12157088e-01 1.42564258e-02 1.55511136e+02] [-2.12140819e-01 9.77235484e-01 -2.66131285e-03 -2.17789963e+01] [-1.44965016e-02 -4.23917031e-04 9.99894830e-01 -5.01908174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.924203822 meters Centerline goodness [0,1] 0.9996801705756929 Centerline is valid? [True, True] Translation: X:155.54, Y:-21.78, Z:-5.02 [[ 9.77057977e-01 2.12506538e-01 1.40954000e-02 1.55539551e+02] [-2.12490732e-01 9.77159551e-01 -2.62695699e-03 -2.17794871e+01] [-1.43317002e-02 -4.28452571e-04 9.99897204e-01 -5.02185731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.954203822 meters Centerline goodness [0,1] 0.9997442455242966 Centerline is valid? [True, True] Translation: X:155.57, Y:-21.78, Z:-5.02 [[ 9.77288943e-01 2.11463070e-01 1.37728782e-02 1.55567940e+02] [-2.11447888e-01 9.77385905e-01 -2.56600165e-03 -2.17787659e+01] [-1.40040316e-02 -4.04520960e-04 9.99901857e-01 -5.02430215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.984203822 meters Centerline goodness [0,1] 0.9997447351627313 Centerline is valid? [True, True] Translation: X:155.60, Y:-21.78, Z:-5.03 [[ 9.77556771e-01 2.10242061e-01 1.34549181e-02 1.55596769e+02] [-2.10227443e-01 9.77649290e-01 -2.50776104e-03 -2.17828874e+01] [-1.36814280e-02 -3.77114241e-04 9.99906334e-01 -5.02601607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.014203822 meters Centerline goodness [0,1] 0.9999358110276655 Centerline is valid? [True, True] Translation: X:155.62, Y:-21.79, Z:-5.03 [[ 9.77856636e-01 2.08858622e-01 1.32088835e-02 1.55624606e+02] [-2.08844454e-01 9.77945781e-01 -2.45843063e-03 -2.17886062e+01] [-1.34310363e-02 -3.54609358e-04 9.99909737e-01 -5.02653979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.04420382200001 meters Centerline goodness [0,1] 0.9999140210218601 Centerline is valid? [True, True] Translation: X:155.65, Y:-21.79, Z:-5.03 [[ 9.78657092e-01 2.05042443e-01 1.37074161e-02 1.55652809e+02] [-2.05026844e-01 9.78753032e-01 -2.54876741e-03 -2.17923323e+01] [-1.39387806e-02 -3.16018967e-04 9.99902801e-01 -5.02879624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.07420382200002 meters Centerline goodness [0,1] 0.9999353211305866 Centerline is valid? [True, True] Translation: X:155.68, Y:-21.80, Z:-5.03 [[ 9.79125945e-01 2.02803622e-01 1.35304790e-02 1.55680382e+02] [-2.02788209e-01 9.79219389e-01 -2.51595684e-03 -2.18025059e+01] [-1.37595525e-02 -2.80382981e-04 9.99905294e-01 -5.02788811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.10420382200002 meters Centerline goodness [0,1] 0.9999571192727429 Centerline is valid? [True, True] Translation: X:155.71, Y:-21.81, Z:-5.03 [[ 9.80311640e-01 1.97040248e-01 1.28152127e-02 1.55708265e+02] [-1.97025942e-01 9.80395382e-01 -2.38193434e-03 -2.18105338e+01] [-1.30333123e-02 -1.89891409e-04 9.99915045e-01 -5.03122554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.13420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.74, Y:-21.82, Z:-5.03 [[ 9.80933063e-01 1.93907579e-01 1.30452175e-02 1.55735352e+02] [-1.93892474e-01 9.81019790e-01 -2.42495305e-03 -2.18178702e+01] [-1.32678333e-02 -1.50652868e-04 9.99911967e-01 -5.03268330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.16420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.76, Y:-21.83, Z:-5.03 [[ 9.81534957e-01 1.90835253e-01 1.30779810e-02 1.55762860e+02] [-1.90819813e-01 9.81622073e-01 -2.43001165e-03 -2.18258808e+01] [-1.33013667e-02 -1.10396501e-04 9.99911527e-01 -5.03293122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.19420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.79, Y:-21.83, Z:-5.03 [[ 9.82082243e-01 1.88007416e-01 1.29491286e-02 1.55791140e+02] [-1.87992031e-01 9.82167606e-01 -2.40619535e-03 -2.18339090e+01] [-1.31705972e-02 -7.12512457e-05 9.99913261e-01 -5.03402747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.224203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.82, Y:-21.84, Z:-5.03 [[ 9.83083970e-01 1.82685596e-01 1.31103308e-02 1.55818664e+02] [-1.82669378e-01 9.83171385e-01 -2.43417424e-03 -2.18440127e+01] [-1.33343907e-02 -1.85830343e-06 9.99911093e-01 -5.03445119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.254203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.85, Y:-21.85, Z:-5.03 [[ 9.83466403e-01 1.80626904e-01 1.29520416e-02 1.55846464e+02] [-1.80610901e-01 9.83551687e-01 -2.40447470e-03 -2.18499937e+01] [-1.31733152e-02 2.54401690e-05 9.99913228e-01 -5.03142598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.284203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.87, Y:-21.86, Z:-5.04 [[ 9.84116637e-01 1.77105078e-01 1.21752659e-02 1.55872874e+02] [-1.77090676e-01 9.84191946e-01 -2.25957603e-03 -2.18596109e+01] [-1.23829810e-02 6.75602999e-05 9.99923326e-01 -5.03795102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.314203822 meters Centerline goodness [0,1] 0.9999572146753664 Centerline is valid? [True, True] Translation: X:155.90, Y:-21.87, Z:-5.04 [[ 9.84388588e-01 1.75609058e-01 1.18560576e-02 1.55900566e+02] [-1.75595305e-01 9.84459980e-01 -2.19931475e-03 -2.18664189e+01] [-1.20580338e-02 8.31122896e-05 9.99927296e-01 -5.03839367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.344203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.93, Y:-21.87, Z:-5.04 [[ 9.84630838e-01 1.74228937e-01 1.20991768e-02 1.55928648e+02] [-1.74214518e-01 9.84705168e-01 -2.24382545e-03 -2.18719042e+01] [-1.23050613e-02 1.01487476e-04 9.99924285e-01 -5.03636632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.374203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.96, Y:-21.88, Z:-5.03 [[ 9.84840564e-01 1.72962255e-01 1.31575610e-02 1.55957579e+02] [-1.72945100e-01 9.84928445e-01 -2.43934583e-03 -2.18757804e+01] [-1.33811709e-02 1.26831017e-04 9.99910460e-01 -5.03322909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.404203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.98, Y:-21.88, Z:-5.04 [[ 9.84937204e-01 1.72379860e-01 1.35605726e-02 1.55983738e+02] [-1.72361583e-01 9.85030540e-01 -2.51393414e-03 -2.18828836e+01] [-1.37909297e-02 1.38745505e-04 9.99904891e-01 -5.03737685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.434203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.01, Y:-21.89, Z:-5.03 [[ 9.85007899e-01 1.71964169e-01 1.37026460e-02 1.56012156e+02] [-1.71945488e-01 9.85103194e-01 -2.53878009e-03 -2.18861566e+01] [-1.39350995e-02 1.44610283e-04 9.99902891e-01 -5.03453792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.464203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.04, Y:-21.89, Z:-5.04 [[ 9.85255012e-01 1.70531275e-01 1.38436083e-02 1.56039016e+02] [-1.70512085e-01 9.85352250e-01 -2.56358644e-03 -2.18947405e+01] [-1.40780022e-02 1.65283872e-04 9.99900886e-01 -5.03936339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.494203822 meters Centerline goodness [0,1] 0.9999570391373459 Centerline is valid? [True, True] Translation: X:156.07, Y:-21.90, Z:-5.04 [[ 9.85467109e-01 1.69336153e-01 1.34105818e-02 1.56066943e+02] [-1.69318045e-01 9.85558337e-01 -2.48256398e-03 -2.18995526e+01] [-1.36372985e-02 1.75831658e-04 9.99906992e-01 -5.03821084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.524203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.09, Y:-21.91, Z:-5.04 [[ 9.85679706e-01 1.68082582e-01 1.35559489e-02 1.56094469e+02] [-1.68063976e-01 9.85772899e-01 -2.50838654e-03 -2.19073165e+01] [-1.37847031e-02 1.94199032e-04 9.99904968e-01 -5.03910251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.554203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.12, Y:-21.92, Z:-5.04 [[ 9.85903905e-01 1.66667347e-01 1.46793942e-02 1.56121326e+02] [-1.66645380e-01 9.86013155e-01 -2.71579995e-03 -2.19163798e+01] [-1.49267110e-02 2.31264556e-04 9.99888564e-01 -5.03677469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.584203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.15, Y:-21.92, Z:-5.04 [[ 9.85917463e-01 1.66574811e-01 1.48185290e-02 1.56148636e+02] [-1.66552435e-01 9.86028792e-01 -2.74020598e-03 -2.19230571e+01] [-1.50679456e-02 2.33554840e-04 9.99886445e-01 -5.03745058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.614203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.18, Y:-21.93, Z:-5.04 [[ 9.85760584e-01 1.67508220e-01 1.47331918e-02 1.56176981e+02] [-1.67486222e-01 9.85870655e-01 -2.72333278e-03 -2.19298071e+01] [-1.49812020e-02 2.16947488e-04 9.99887752e-01 -5.03815309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.644203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.20, Y:-21.94, Z:-5.04 [[ 9.85620690e-01 1.68346924e-01 1.45316584e-02 1.56204161e+02] [-1.68325622e-01 9.85727788e-01 -2.68556105e-03 -2.19359439e+01] [-1.47763655e-02 2.00894093e-04 9.99890803e-01 -5.03950112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.674203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.23, Y:-21.94, Z:-5.04 [[ 9.85399597e-01 1.69642403e-01 1.44599250e-02 1.56232614e+02] [-1.69621466e-01 9.85505669e-01 -2.67122871e-03 -2.19407614e+01] [-1.47034917e-02 1.79514020e-04 9.99891882e-01 -5.04027579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.704203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.26, Y:-21.94, Z:-5.04 [[ 9.84722533e-01 1.73576103e-01 1.38877599e-02 1.56260882e+02] [-1.73557187e-01 9.84820452e-01 -2.56509799e-03 -2.19419806e+01] [-1.41221897e-02 1.15589253e-04 9.99900270e-01 -5.04346111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.734203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.29, Y:-21.94, Z:-5.04 [[ 9.84210041e-01 1.76517407e-01 1.31225192e-02 1.56289855e+02] [-1.76500792e-01 9.84297516e-01 -2.42284628e-03 -2.19435424e+01] [-1.33441376e-02 6.84546134e-05 9.99910961e-01 -5.04413098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.764203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.32, Y:-21.95, Z:-5.05 [[ 9.83629616e-01 1.79741437e-01 1.28760943e-02 1.56317676e+02] [-1.79725721e-01 9.83713889e-01 -2.37694749e-03 -2.19454843e+01] [-1.30936288e-02 2.38706142e-05 9.99914274e-01 -5.04607812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.79420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.35, Y:-21.94, Z:-5.05 [[ 9.82415012e-01 1.86282607e-01 1.26307130e-02 1.56346945e+02] [-1.86268036e-01 9.82496202e-01 -2.33069704e-03 -2.19433348e+01] [-1.28437959e-02 -6.29863430e-05 9.99917513e-01 -5.04704647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.82420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.37, Y:-21.94, Z:-5.05 [[ 9.81939428e-01 1.88783156e-01 1.24851811e-02 1.56374522e+02] [-1.88769116e-01 9.82018794e-01 -2.30427229e-03 -2.19439178e+01] [-1.26956903e-02 -9.41607801e-05 9.99919402e-01 -5.05044669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.85420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.40, Y:-21.95, Z:-5.05 [[ 9.81518783e-01 1.90975187e-01 1.22211743e-02 1.56403416e+02] [-1.90961933e-01 9.81594857e-01 -2.25324332e-03 -2.19468891e+01] [-1.24265554e-02 -1.22178418e-04 9.99922780e-01 -5.04978201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.88420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.43, Y:-21.95, Z:-5.05 [[ 9.81045371e-01 1.93335771e-01 1.30866535e-02 1.56431553e+02] [-1.93320791e-01 9.81132638e-01 -2.41225639e-03 -2.19493487e+01] [-1.33061183e-02 -1.63389237e-04 9.99911456e-01 -5.05269857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.91420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.46, Y:-21.96, Z:-5.05 [[ 9.81065640e-01 1.93238654e-01 1.30012441e-02 1.56458526e+02] [-1.93223867e-01 9.81151770e-01 -2.39590536e-03 -2.19573322e+01] [-1.32191752e-02 -1.61610240e-04 9.99912610e-01 -5.05244423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.94420382200002 meters Centerline goodness [0,1] 0.9999787771387338 Centerline is valid? [True, True] Translation: X:156.48, Y:-21.97, Z:-5.06 [[ 9.81455857e-01 1.91256316e-01 1.28616758e-02 1.56484474e+02] [-1.91241690e-01 9.81540118e-01 -2.36904368e-03 -2.19675913e+01] [-1.30773454e-02 -1.34576833e-04 9.99914479e-01 -5.05665176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.974203822 meters Centerline goodness [0,1] 0.9999788878098214 Centerline is valid? [True, True] Translation: X:156.51, Y:-21.98, Z:-5.06 [[ 9.81705188e-01 1.89942331e-01 1.32979210e-02 1.56512004e+02] [-1.89926592e-01 9.81795241e-01 -2.44827281e-03 -2.19764175e+01] [-1.35208662e-02 -1.22146695e-04 9.99908581e-01 -5.05604870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.004203822 meters Centerline goodness [0,1] 0.9999785780081832 Centerline is valid? [True, True] Translation: X:156.54, Y:-21.99, Z:-5.05 [[ 9.81976395e-01 1.88523845e-01 1.34580557e-02 1.56539551e+02] [-1.88507598e-01 9.82068607e-01 -2.47715499e-03 -2.19854863e+01] [-1.36837368e-02 -1.04438019e-04 9.99906368e-01 -5.05298785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.034203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.57, Y:-22.00, Z:-5.05 [[ 9.82441697e-01 1.86005043e-01 1.45063841e-02 1.56567488e+02] [-1.85985895e-01 9.82548787e-01 -2.66992650e-03 -2.19961081e+01] [-1.47498499e-02 -7.49357014e-05 9.99891212e-01 -5.05201342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.064203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.59, Y:-22.00, Z:-5.05 [[ 9.82528732e-01 1.85522032e-01 1.47941304e-02 1.56594329e+02] [-1.85502089e-01 9.82640102e-01 -2.72107891e-03 -2.20034736e+01] [-1.50421259e-02 -7.08038705e-05 9.99886858e-01 -5.05299185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.094203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.62, Y:-22.01, Z:-5.05 [[ 9.82428343e-01 1.86042123e-01 1.49291096e-02 1.56621750e+02] [-1.86021886e-01 9.82541766e-01 -2.74516813e-03 -2.20098525e+01] [-1.51791906e-02 -8.02101387e-05 9.99884786e-01 -5.05303677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.124203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.65, Y:-22.01, Z:-5.05 [[ 9.81796949e-01 1.89292369e-01 1.55932736e-02 1.56650550e+02] [-1.89270725e-01 9.81920761e-01 -2.86571572e-03 -2.20133510e+01] [-1.58538172e-02 -1.37799252e-04 9.99874311e-01 -5.05278587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.154203822 meters Centerline goodness [0,1] 0.9999576531368439 Centerline is valid? [True, True] Translation: X:156.68, Y:-22.02, Z:-5.05 [[ 9.81409116e-01 1.91270028e-01 1.58721118e-02 1.56678655e+02] [-1.91247873e-01 9.81537440e-01 -2.91632958e-03 -2.20154471e+01] [-1.61368785e-02 -1.73395192e-04 9.99869777e-01 -5.05499392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.184203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.71, Y:-22.02, Z:-5.05 [[ 9.81025242e-01 1.93227369e-01 1.58952481e-02 1.56706927e+02] [-1.93205424e-01 9.81153984e-01 -2.91945850e-03 -2.20209146e+01] [-1.61598053e-02 -2.06985678e-04 9.99869400e-01 -5.05263527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.214203822 meters Centerline goodness [0,1] 0.999978811314758 Centerline is valid? [True, True] Translation: X:156.74, Y:-22.02, Z:-5.05 [[ 9.80654524e-01 1.95120729e-01 1.56398927e-02 1.56735107e+02] [-1.95099727e-01 9.80779203e-01 -2.87238400e-03 -2.20224618e+01] [-1.58997432e-02 -2.34522439e-04 9.99873564e-01 -5.05481018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.244203822 meters Centerline goodness [0,1] 0.9999786989306864 Centerline is valid? [True, True] Translation: X:156.77, Y:-22.02, Z:-5.06 [[ 9.80036793e-01 1.98223668e-01 1.53382379e-02 1.56765208e+02] [-1.98203883e-01 9.80156772e-01 -2.81469878e-03 -2.20216766e+01] [-1.55918177e-02 -2.81589951e-04 9.99878401e-01 -5.05590423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.274203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.79, Y:-22.02, Z:-5.06 [[ 9.79881906e-01 1.98996976e-01 1.52201562e-02 1.56792894e+02] [-1.98977585e-01 9.80000061e-01 -2.79320271e-03 -2.20248309e+01] [-1.54715929e-02 -2.91461124e-04 9.99880265e-01 -5.05764730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.304203822 meters Centerline goodness [0,1] 0.9999788802297831 Centerline is valid? [True, True] Translation: X:156.82, Y:-22.03, Z:-5.06 [[ 9.79835844e-01 1.99208586e-01 1.54161738e-02 1.56820667e+02] [-1.99188734e-01 9.79957065e-01 -2.82819458e-03 -2.20271150e+01] [-1.56705891e-02 -2.99561729e-04 9.99877164e-01 -5.06035045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.334203822 meters Centerline goodness [0,1] 0.9999359945382006 Centerline is valid? [True, True] Translation: X:156.85, Y:-22.03, Z:-5.06 [[ 9.79790541e-01 1.99350925e-01 1.64227104e-02 1.56848850e+02] [-1.99328437e-01 9.79928112e-01 -3.01157904e-03 -2.20339149e+01] [-1.66934367e-02 -3.22796542e-04 9.99860603e-01 -5.05784798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.364203822 meters Centerline goodness [0,1] 0.9999153851035475 Centerline is valid? [True, True] Translation: X:156.88, Y:-22.04, Z:-5.06 [[ 9.79872026e-01 1.98967698e-01 1.62070536e-02 1.56875511e+02] [-1.98945749e-01 9.80005999e-01 -2.97175796e-03 -2.20393317e+01] [-1.64742936e-02 -3.12381925e-04 9.99864241e-01 -5.05969139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.394203822 meters Centerline goodness [0,1] 0.9999789345073835 Centerline is valid? [True, True] Translation: X:156.90, Y:-22.05, Z:-5.06 [[ 9.80067100e-01 1.98090716e-01 1.51178241e-02 1.56902288e+02] [-1.98071534e-01 9.80183651e-01 -2.77072413e-03 -2.20467787e+01] [-1.53670987e-02 -2.78915045e-04 9.99881880e-01 -5.06306534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.424203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.93, Y:-22.05, Z:-5.06 [[ 9.80152534e-01 1.97670493e-01 1.50793563e-02 1.56930695e+02] [-1.97651381e-01 9.80268485e-01 -2.76224115e-03 -2.20516723e+01] [-1.53278313e-02 -2.73037925e-04 9.99882485e-01 -5.06375612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.454203822 meters Centerline goodness [0,1] 0.9999358453445105 Centerline is valid? [True, True] Translation: X:156.96, Y:-22.06, Z:-5.06 [[ 9.80280580e-01 1.97068613e-01 1.46268863e-02 1.56959202e+02] [-1.97050574e-01 9.80389665e-01 -2.67870401e-03 -2.20562888e+01] [-1.48679367e-02 -2.56354826e-04 9.99889433e-01 -5.06487162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.484203822 meters Centerline goodness [0,1] 0.9999575182140658 Centerline is valid? [True, True] Translation: X:156.99, Y:-22.06, Z:-5.07 [[ 9.80678879e-01 1.95203676e-01 1.28242136e-02 1.56986276e+02] [-1.95189648e-01 9.80762706e-01 -2.34874810e-03 -2.20602344e+01] [-1.30359947e-02 -1.99786086e-04 9.99915008e-01 -5.06979759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.514203822 meters Centerline goodness [0,1] 0.9999575353518196 Centerline is valid? [True, True] Translation: X:157.01, Y:-22.07, Z:-5.07 [[ 9.80900646e-01 1.94121148e-01 1.22842141e-02 1.57013942e+02] [-1.94108211e-01 9.80977547e-01 -2.24825080e-03 -2.20667135e+01] [-1.24869712e-02 -1.79156151e-04 9.99922019e-01 -5.07217457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.54420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.04, Y:-22.07, Z:-5.07 [[ 9.81095263e-01 1.93148380e-01 1.20742678e-02 1.57041553e+02] [-1.93135814e-01 9.81169545e-01 -2.20929471e-03 -2.20741356e+01] [-1.22736255e-02 -1.64444958e-04 9.99924663e-01 -5.07193246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.57420382200002 meters Centerline goodness [0,1] 0.9999787220460881 Centerline is valid? [True, True] Translation: X:157.07, Y:-22.08, Z:-5.07 [[ 9.81054539e-01 1.93313527e-01 1.27228790e-02 1.57070610e+02] [-1.93299598e-01 9.81137019e-01 -2.32726975e-03 -2.20776027e+01] [-1.29327803e-02 -1.76148855e-04 9.99916353e-01 -5.07026108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.60420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.10, Y:-22.08, Z:-5.07 [[ 9.80841605e-01 1.94394490e-01 1.26699866e-02 1.57099991e+02] [-1.94380775e-01 9.80923415e-01 -2.31695954e-03 -2.20786125e+01] [-1.28786907e-02 -1.90231497e-04 9.99917048e-01 -5.07053206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.63420382200002 meters Centerline goodness [0,1] 0.999936609897308 Centerline is valid? [True, True] Translation: X:157.13, Y:-22.07, Z:-5.07 [[ 9.80147556e-01 1.97790949e-01 1.37662020e-02 1.57129756e+02] [-1.97775101e-01 9.80244192e-01 -2.51680529e-03 -2.20710851e+01] [-1.39920409e-02 -2.55771446e-04 9.99902074e-01 -5.07133891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.66420382200002 meters Centerline goodness [0,1] 0.9998935785284039 Centerline is valid? [True, True] Translation: X:157.16, Y:-22.07, Z:-5.07 [[ 9.79872411e-01 1.99083761e-01 1.46871754e-02 1.57158621e+02] [-1.99065857e-01 9.79982434e-01 -2.68583006e-03 -2.20735069e+01] [-1.49278790e-02 -2.91944386e-04 9.99888530e-01 -5.07020142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.69420382200002 meters Centerline goodness [0,1] 0.9998935785284039 Centerline is valid? [True, True] Translation: X:157.19, Y:-22.08, Z:-5.07 [[ 9.79886572e-01 1.99013999e-01 1.46878874e-02 1.57185684e+02] [-1.98996145e-01 9.79996603e-01 -2.68192946e-03 -2.20783101e+01] [-1.49278212e-02 -2.94846303e-04 9.99888530e-01 -5.07104111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.724203822 meters Centerline goodness [0,1] 0.9999149750239132 Centerline is valid? [True, True] Translation: X:157.21, Y:-22.08, Z:-5.07 [[ 9.79645240e-01 2.00154389e-01 1.52782294e-02 1.57213461e+02] [-2.00135225e-01 9.79764316e-01 -2.78877172e-03 -2.20795249e+01] [-1.55272488e-02 -3.25704925e-04 9.99879392e-01 -5.07140499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.754203822 meters Centerline goodness [0,1] 0.9999361131223646 Centerline is valid? [True, True] Translation: X:157.24, Y:-22.08, Z:-5.07 [[ 9.79307164e-01 2.01745458e-01 1.60077400e-02 1.57243718e+02] [-2.01724640e-01 9.79437918e-01 -2.92144695e-03 -2.20756657e+01] [-1.62679762e-02 -3.68161659e-04 9.99867600e-01 -5.07065430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.784203822 meters Centerline goodness [0,1] 0.999936 Centerline is valid? [True, True] Translation: X:157.27, Y:-22.08, Z:-5.07 [[ 9.79311368e-01 2.01705646e-01 1.62504700e-02 1.57271761e+02] [-2.01684228e-01 9.79446115e-01 -2.96322678e-03 -2.20750609e+01] [-1.65141593e-02 -3.75541847e-04 9.99863561e-01 -5.07155508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.814203822 meters Centerline goodness [0,1] 0.9998732760259361 Centerline is valid? [True, True] Translation: X:157.30, Y:-22.08, Z:-5.07 [[ 9.79430973e-01 2.01129881e-01 1.61783884e-02 1.57300509e+02] [-2.01108630e-01 9.79564513e-01 -2.94671294e-03 -2.20783686e+01] [-1.64404471e-02 -3.67511599e-04 9.99864779e-01 -5.07199013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.844203822 meters Centerline goodness [0,1] 0.9999366540678646 Centerline is valid? [True, True] Translation: X:157.33, Y:-22.08, Z:-5.07 [[ 9.80054786e-01 1.98148640e-01 1.51569330e-02 1.57327917e+02] [-1.98129692e-01 9.80171937e-01 -2.75670153e-03 -2.20817694e+01] [-1.54026370e-02 -3.01319927e-04 9.99881327e-01 -5.07477917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.874203822 meters Centerline goodness [0,1] 0.9999369350430943 Centerline is valid? [True, True] Translation: X:157.36, Y:-22.09, Z:-5.08 [[ 9.80473534e-01 1.96081142e-01 1.49611157e-02 1.57355805e+02] [-1.96062429e-01 9.80587638e-01 -2.72182614e-03 -2.20863318e+01] [-1.52043839e-02 -2.64634198e-04 9.99884372e-01 -5.07654784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.904203822 meters Centerline goodness [0,1] 0.9999785825962176 Centerline is valid? [True, True] Translation: X:157.38, Y:-22.09, Z:-5.08 [[ 9.81400767e-01 1.91390061e-01 1.49124059e-02 1.57383931e+02] [-1.91370993e-01 9.81514038e-01 -2.70860897e-03 -2.20923533e+01] [-1.51551365e-02 -1.95571003e-04 9.99885135e-01 -5.07642140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.934203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.41, Y:-22.10, Z:-5.08 [[ 9.81920180e-01 1.88706795e-01 1.49166488e-02 1.57410857e+02] [-1.88687415e-01 9.82033463e-01 -2.70883290e-03 -2.20975848e+01] [-1.51598235e-02 -1.54726215e-04 9.99885071e-01 -5.07759183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.964203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.44, Y:-22.10, Z:-5.08 [[ 9.82510268e-01 1.85588143e-01 1.51860277e-02 1.57439477e+02] [-1.85567675e-01 9.82627615e-01 -2.75831749e-03 -2.21046490e+01] [-1.54341212e-02 -1.07960589e-04 9.99880881e-01 -5.07612629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.994203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.47, Y:-22.11, Z:-5.08 [[ 9.83043435e-01 1.82688653e-01 1.58259615e-02 1.57467837e+02] [-1.82666118e-01 9.83170815e-01 -2.87018208e-03 -2.21102808e+01] [-1.60839732e-02 -6.93533031e-05 9.99870642e-01 -5.07668142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.024203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.50, Y:-22.12, Z:-5.08 [[ 9.84232442e-01 1.76177476e-01 1.57479477e-02 1.57495326e+02] [-1.76154341e-01 9.84358418e-01 -2.85525406e-03 -2.21192246e+01] [-1.60046563e-02 3.61643325e-05 9.99871917e-01 -5.07796458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.054203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.52, Y:-22.13, Z:-5.08 [[ 9.84835289e-01 1.72784404e-01 1.56525499e-02 1.57521881e+02] [-1.72761129e-01 9.84959665e-01 -2.83736689e-03 -2.21283536e+01] [-1.59073831e-02 9.01868383e-05 9.99873466e-01 -5.07962999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.084203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.55, Y:-22.14, Z:-5.08 [[ 9.86038269e-01 1.65764742e-01 1.58298121e-02 1.57549446e+02] [-1.65740050e-01 9.86165305e-01 -2.86834802e-03 -2.21404574e+01] [-1.60862824e-02 2.04667078e-04 9.99870586e-01 -5.07871912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.114203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.58, Y:-22.15, Z:-5.08 [[ 9.86595906e-01 1.62423758e-01 1.57175446e-02 1.57577267e+02] [-1.62399004e-01 9.86721063e-01 -2.84721871e-03 -2.21474454e+01] [-1.59712883e-02 2.56540737e-04 9.99872418e-01 -5.07984506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.144203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.60, Y:-22.16, Z:-5.08 [[ 9.87093907e-01 1.59445588e-01 1.49238916e-02 1.57604603e+02] [-1.59422943e-01 9.87206676e-01 -2.70258274e-03 -2.21569348e+01] [-1.51638803e-02 2.88492232e-04 9.99884980e-01 -5.08395718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.174203822 meters Centerline goodness [0,1] 0.9999786971155894 Centerline is valid? [True, True] Translation: X:157.63, Y:-22.17, Z:-5.09 [[ 9.87901704e-01 1.54425280e-01 1.42497855e-02 1.57633550e+02] [-1.54404128e-01 9.88004409e-01 -2.57943694e-03 -2.21675216e+01] [-1.44771811e-02 3.48004448e-04 9.99895140e-01 -5.08582476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.204203822 meters Centerline goodness [0,1] 0.999914801167224 Centerline is valid? [True, True] Translation: X:157.66, Y:-22.18, Z:-5.09 [[ 9.88216952e-01 1.52371667e-01 1.44959155e-02 1.57661120e+02] [-1.52349547e-01 9.88323189e-01 -2.62472804e-03 -2.21755386e+01] [-1.47265837e-02 3.85354581e-04 9.99891484e-01 -5.08647699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.234203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.69, Y:-22.19, Z:-5.09 [[ 9.88749687e-01 1.48963713e-01 1.35598411e-02 1.57689599e+02] [-1.48944052e-01 9.88842579e-01 -2.45410366e-03 -2.21852482e+01] [-1.37741206e-02 4.06836558e-04 9.99905050e-01 -5.08784903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.264203822 meters Centerline goodness [0,1] 0.9996591828909811 Centerline is valid? [True, True] Translation: X:157.72, Y:-22.20, Z:-5.09 [[ 9.88960246e-01 1.47601038e-01 1.30982735e-02 1.57715486e+02] [-1.47582565e-01 9.89046897e-01 -2.37124112e-03 -2.21979648e+01] [-1.33048044e-02 4.11986406e-04 9.99911402e-01 -5.09239844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.29420382200001 meters Centerline goodness [0,1] 0.9998077990859778 Centerline is valid? [True, True] Translation: X:157.74, Y:-22.20, Z:-5.09 [[ 9.89155565e-01 1.46307090e-01 1.28648527e-02 1.57743144e+02] [-1.46289170e-01 9.89239131e-01 -2.32821749e-03 -2.22041620e+01] [-1.30670504e-02 4.20980661e-04 9.99914534e-01 -5.09228588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.32420382200002 meters Centerline goodness [0,1] 0.9998711423233039 Centerline is valid? [True, True] Translation: X:157.77, Y:-22.21, Z:-5.09 [[ 9.89338684e-01 1.45001243e-01 1.35501803e-02 1.57771408e+02] [-1.44981255e-01 9.89431366e-01 -2.45116887e-03 -2.22102003e+01] [-1.37623959e-02 4.60514035e-04 9.99905188e-01 -5.08941789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.35420382200002 meters Centerline goodness [0,1] 0.9998072020736488 Centerline is valid? [True, True] Translation: X:157.80, Y:-22.22, Z:-5.09 [[ 9.89366767e-01 1.44720819e-01 1.44666591e-02 1.57797974e+02] [-1.44698014e-01 9.89472404e-01 -2.61638331e-03 -2.22215580e+01] [-1.46930051e-02 4.95265856e-04 9.99891929e-01 -5.09058859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.38420382200002 meters Centerline goodness [0,1] 0.999872340425532 Centerline is valid? [True, True] Translation: X:157.83, Y:-22.23, Z:-5.09 [[ 9.89374310e-01 1.44606059e-01 1.50852010e-02 1.57825383e+02] [-1.44581271e-01 9.89489172e-01 -2.72675679e-03 -2.22309916e+01] [-1.53209486e-02 5.16745576e-04 9.99882494e-01 -5.09062204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.41420382200002 meters Centerline goodness [0,1] 0.9998708483113417 Centerline is valid? [True, True] Translation: X:157.85, Y:-22.24, Z:-5.09 [[ 9.89288370e-01 1.45196806e-01 1.50468729e-02 1.57854193e+02] [-1.45172223e-01 9.89402664e-01 -2.71913706e-03 -2.22395141e+01] [-1.52822261e-02 5.05622680e-04 9.99883092e-01 -5.08913058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.44420382200002 meters Centerline goodness [0,1] 0.9998935127997615 Centerline is valid? [True, True] Translation: X:157.88, Y:-22.25, Z:-5.09 [[ 9.89156120e-01 1.46108802e-01 1.49126777e-02 1.57880962e+02] [-1.46084762e-01 9.89268407e-01 -2.69470443e-03 -2.22504865e+01] [-1.51463610e-02 4.86968398e-04 9.99885169e-01 -5.09126968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.474203822 meters Centerline goodness [0,1] 0.999978391927224 Centerline is valid? [True, True] Translation: X:157.91, Y:-22.26, Z:-5.09 [[ 9.88655820e-01 1.49460536e-01 1.48733889e-02 1.57909923e+02] [-1.49437016e-01 9.88767597e-01 -2.68667845e-03 -2.22587879e+01] [-1.51078774e-02 4.33565435e-04 9.99885776e-01 -5.09120594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.504203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.94, Y:-22.27, Z:-5.09 [[ 9.88256124e-01 1.52084857e-01 1.48333859e-02 1.57937519e+02] [-1.52061755e-01 9.88367362e-01 -2.67964619e-03 -2.22677216e+01] [-1.50683681e-02 3.92586072e-04 9.99886389e-01 -5.09344017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.534203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.97, Y:-22.27, Z:-5.09 [[ 9.87744686e-01 1.55397598e-01 1.45609911e-02 1.57967893e+02] [-1.55375710e-01 9.87851950e-01 -2.62953462e-03 -2.22701548e+01] [-1.47927268e-02 3.34884517e-04 9.99890526e-01 -5.09278502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.564203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.00, Y:-22.27, Z:-5.09 [[ 9.86375827e-01 1.63735812e-01 1.59157464e-02 1.57997952e+02] [-1.63710748e-01 9.86504197e-01 -2.87399267e-03 -2.22719038e+01] [-1.61715261e-02 2.29258161e-04 9.99869206e-01 -5.09303711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.594203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.03, Y:-22.27, Z:-5.09 [[ 9.85529049e-01 1.68725401e-01 1.62552163e-02 1.58027447e+02] [-1.68699933e-01 9.85663085e-01 -2.93533047e-03 -2.22728425e+01] [-1.65174315e-02 1.50599540e-04 9.99863567e-01 -5.09300427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.624203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.06, Y:-22.27, Z:-5.10 [[ 9.83689998e-01 1.79231795e-01 1.51641560e-02 1.58057163e+02] [-1.79210882e-01 9.83806873e-01 -2.73801539e-03 -2.22692519e+01] [-1.54093403e-02 -2.42234184e-05 9.99881269e-01 -5.09571354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.654203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.09, Y:-22.27, Z:-5.10 [[ 9.82803283e-01 1.84047212e-01 1.49776638e-02 1.58086228e+02] [-1.84027379e-01 9.82917399e-01 -2.70362748e-03 -2.22699659e+01] [-1.52194015e-02 -9.91662545e-05 9.99884173e-01 -5.09716398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.684203822 meters Centerline goodness [0,1] 0.9999786297388554 Centerline is valid? [True, True] Translation: X:158.11, Y:-22.27, Z:-5.10 [[ 9.81978868e-01 1.88376041e-01 1.52305704e-02 1.58113999e+02] [-1.88356056e-01 9.82096960e-01 -2.74910743e-03 -2.22705860e+01] [-1.54757628e-02 -1.69204755e-04 9.99880229e-01 -5.09863318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.714203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.14, Y:-22.27, Z:-5.10 [[ 9.81285318e-01 1.91946057e-01 1.53569368e-02 1.58142063e+02] [-1.91926204e-01 9.81405451e-01 -2.77009165e-03 -2.22719615e+01] [-1.56030896e-02 -2.29148321e-04 9.99878238e-01 -5.09985492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.744203822 meters Centerline goodness [0,1] 0.9999786109982247 Centerline is valid? [True, True] Translation: X:158.17, Y:-22.27, Z:-5.10 [[ 9.80285789e-01 1.97049565e-01 1.45341300e-02 1.58171641e+02] [-1.97032359e-01 9.80393483e-01 -2.62051799e-03 -2.22733957e+01] [-1.47655383e-02 -2.94837389e-04 9.99890940e-01 -5.10141693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.774203822 meters Centerline goodness [0,1] 0.9999571569341502 Centerline is valid? [True, True] Translation: X:158.20, Y:-22.28, Z:-5.10 [[ 9.79962884e-01 1.98656887e-01 1.44287254e-02 1.58199608e+02] [-1.98640106e-01 9.80069049e-01 -2.60140661e-03 -2.22784395e+01] [-1.46579345e-02 -3.16841626e-04 9.99892517e-01 -5.10122687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.804203822 meters Centerline goodness [0,1] 0.999914946097089 Centerline is valid? [True, True] Translation: X:158.23, Y:-22.28, Z:-5.10 [[ 9.79569470e-01 2.00586695e-01 1.44440758e-02 1.58227117e+02] [-2.00570098e-01 9.79675894e-01 -2.60345662e-03 -2.22791159e+01] [-1.46727316e-02 -3.46783074e-04 9.99892290e-01 -5.10416626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.834203822 meters Centerline goodness [0,1] 0.9998946325838198 Centerline is valid? [True, True] Translation: X:158.26, Y:-22.28, Z:-5.11 [[ 9.79479781e-01 2.01017724e-01 1.45338843e-02 1.58255319e+02] [-2.01000981e-01 9.79587540e-01 -2.61879136e-03 -2.22816774e+01] [-1.47636354e-02 -3.56271806e-04 9.99890948e-01 -5.10638304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.864203822 meters Centerline goodness [0,1] 0.9999786475348579 Centerline is valid? [True, True] Translation: X:158.28, Y:-22.29, Z:-5.11 [[ 9.79490514e-01 2.00966171e-01 1.45234678e-02 1.58282888e+02] [-2.00949469e-01 9.79598117e-01 -2.61533825e-03 -2.22894791e+01] [-1.47527562e-02 -3.56784141e-04 9.99891109e-01 -5.10584701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.894203822 meters Centerline goodness [0,1] 0.9999146138410964 Centerline is valid? [True, True] Translation: X:158.31, Y:-22.30, Z:-5.11 [[ 9.79544273e-01 2.00697117e-01 1.46179467e-02 1.58310486e+02] [-2.00680188e-01 9.79653276e-01 -2.63092126e-03 -2.22963932e+01] [-1.48485377e-02 -3.56428438e-04 9.99889691e-01 -5.10593987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.924203822 meters Centerline goodness [0,1] 0.9999572100984168 Centerline is valid? [True, True] Translation: X:158.34, Y:-22.31, Z:-5.11 [[ 9.79904540e-01 1.98970492e-01 1.40653924e-02 1.58337621e+02] [-1.98954651e-01 9.80005429e-01 -2.53085493e-03 -2.23071990e+01] [-1.42877264e-02 -3.18378990e-04 9.99897875e-01 -5.10689040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.954203822 meters Centerline goodness [0,1] 0.9999369124976342 Centerline is valid? [True, True] Translation: X:158.37, Y:-22.31, Z:-5.11 [[ 9.80129405e-01 1.97864562e-01 1.39987047e-02 1.58365509e+02] [-1.97848758e-01 9.80229322e-01 -2.51882831e-03 -2.23108583e+01] [-1.42203277e-02 -3.00848651e-04 9.99898841e-01 -5.11000351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.984203822 meters Centerline goodness [0,1] 0.9999785688262146 Centerline is valid? [True, True] Translation: X:158.39, Y:-22.31, Z:-5.11 [[ 9.80535352e-01 1.95774589e-01 1.49242503e-02 1.58393340e+02] [-1.95756415e-01 9.80648880e-01 -2.68331596e-03 -2.23147829e+01] [-1.51607745e-02 -2.90431576e-04 9.99885027e-01 -5.10918648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.014203822 meters Centerline goodness [0,1] 0.9999365965001268 Centerline is valid? [True, True] Translation: X:158.42, Y:-22.32, Z:-5.11 [[ 9.80684558e-01 1.94984866e-01 1.54499402e-02 1.58420781e+02] [-1.94965300e-01 9.80806209e-01 -2.77725036e-03 -2.23176460e+01] [-1.56949191e-02 -2.88595691e-04 9.99876786e-01 -5.10983742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.04420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.45, Y:-22.33, Z:-5.11 [[ 9.80847488e-01 1.94154517e-01 1.55637296e-02 1.58448701e+02] [-1.94134587e-01 9.80970920e-01 -2.79578723e-03 -2.23272295e+01] [-1.58103808e-02 -2.79217334e-04 9.99874969e-01 -5.10688265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.07420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.48, Y:-22.33, Z:-5.11 [[ 9.81223017e-01 1.92251693e-01 1.55138069e-02 1.58476364e+02] [-1.92231666e-01 9.81345619e-01 -2.78603892e-03 -2.23329499e+01] [-1.57600272e-02 -2.48519432e-04 9.99875772e-01 -5.10836986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.10420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.50, Y:-22.34, Z:-5.11 [[ 9.81442856e-01 1.91134337e-01 1.54138368e-02 1.58504777e+02] [-1.91114441e-01 9.81563861e-01 -2.76731611e-03 -2.23390052e+01] [-1.56585943e-02 -2.29844169e-04 9.99877370e-01 -5.10918803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.13420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.53, Y:-22.34, Z:-5.11 [[ 9.81736381e-01 1.89611607e-01 1.55278997e-02 1.58531751e+02] [-1.89591229e-01 9.81859153e-01 -2.78755290e-03 -2.23441339e+01] [-1.57747628e-02 -2.07311490e-04 9.99875549e-01 -5.11043302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.16420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.56, Y:-22.35, Z:-5.11 [[ 9.82408319e-01 1.86071189e-01 1.58558012e-02 1.58558862e+02] [-1.86049510e-01 9.82536253e-01 -2.84457598e-03 -2.23509636e+01] [-1.61081931e-02 -1.55428926e-04 9.99870243e-01 -5.11124140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.19420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.59, Y:-22.36, Z:-5.11 [[ 9.82739992e-01 1.84277764e-01 1.62423444e-02 1.58586485e+02] [-1.84254787e-01 9.82874198e-01 -2.91285030e-03 -2.23555316e+01] [-1.65009547e-02 -1.30155233e-04 9.99863842e-01 -5.11147319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.224203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.61, Y:-22.36, Z:-5.11 [[ 9.83374632e-01 1.80847314e-01 1.63884887e-02 1.58614593e+02] [-1.80823465e-01 9.83511181e-01 -2.93787789e-03 -2.23609748e+01] [-1.66495692e-02 -7.43887145e-05 9.99861384e-01 -5.11142456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.254203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.64, Y:-22.37, Z:-5.11 [[ 9.83609619e-01 1.79551349e-01 1.65357531e-02 1.58643307e+02] [-1.79526902e-01 9.83748601e-01 -2.96329756e-03 -2.23667677e+01] [-1.67990880e-02 -5.38845373e-05 9.99858884e-01 -5.11255264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.284203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.67, Y:-22.37, Z:-5.12 [[ 9.83911186e-01 1.77937658e-01 1.60302300e-02 1.58670685e+02] [-1.77914473e-01 9.84041762e-01 -2.87249256e-03 -2.23728535e+01] [-1.62855403e-02 -2.57323500e-05 9.99867381e-01 -5.11598673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.314203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.70, Y:-22.38, Z:-5.12 [[ 9.84078390e-01 1.77061159e-01 1.54618108e-02 1.58698758e+02] [-1.77039500e-01 9.84199851e-01 -2.76942214e-03 -2.23790869e+01] [-1.57078690e-02 -1.20227778e-05 9.99876624e-01 -5.11601462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.344203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.73, Y:-22.39, Z:-5.12 [[ 9.84228833e-01 1.76242800e-01 1.52341266e-02 1.58727277e+02] [-1.76221681e-01 9.84346725e-01 -2.72832309e-03 -2.23851910e+01] [-1.54765099e-02 7.10851946e-07 9.99880232e-01 -5.11526879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.374203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.76, Y:-22.39, Z:-5.11 [[ 9.84377989e-01 1.75317414e-01 1.62412518e-02 1.58755628e+02] [-1.75293299e-01 9.84511962e-01 -2.90777434e-03 -2.23892872e+01] [-1.64994902e-02 1.53664421e-05 9.99863874e-01 -5.11328252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.404203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.78, Y:-22.39, Z:-5.11 [[ 9.84416937e-01 1.75091047e-01 1.63223271e-02 1.58783078e+02] [-1.75066668e-01 9.84552246e-01 -2.92179849e-03 -2.23923358e+01] [-1.65817646e-02 1.87724994e-05 9.99862513e-01 -5.11362727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.434203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.81, Y:-22.39, Z:-5.12 [[ 9.84435957e-01 1.74964191e-01 1.65341345e-02 1.58810575e+02] [-1.74939176e-01 9.84574797e-01 -2.95860971e-03 -2.23943248e+01] [-1.67967429e-02 2.00939079e-05 9.99858925e-01 -5.11593863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.464203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.84, Y:-22.40, Z:-5.12 [[ 9.84455378e-01 1.74850638e-01 1.65790192e-02 1.58837587e+02] [-1.74825498e-01 9.84594970e-01 -2.96500130e-03 -2.24001535e+01] [-1.68420513e-02 2.04761895e-05 9.99858162e-01 -5.11664853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.494203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.86, Y:-22.41, Z:-5.12 [[ 9.84529265e-01 1.74468915e-01 1.62087916e-02 1.58864053e+02] [-1.74444856e-01 9.84662682e-01 -2.89747279e-03 -2.24082872e+01] [-1.64657111e-02 2.51064518e-05 9.99864431e-01 -5.11897089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.524203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.89, Y:-22.42, Z:-5.12 [[ 9.84889473e-01 1.72488128e-01 1.55103514e-02 1.58891355e+02] [-1.72465868e-01 9.85011595e-01 -2.77157763e-03 -2.24199168e+01] [-1.57559402e-02 5.46914230e-05 9.99875866e-01 -5.12053293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.554203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.92, Y:-22.43, Z:-5.12 [[ 9.85171943e-01 1.70872249e-01 1.54569777e-02 1.58918273e+02] [-1.70849950e-01 9.85293189e-01 -2.76155405e-03 -2.24276060e+01] [-1.57015278e-02 7.97817051e-05 9.99876720e-01 -5.12258437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.584203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.95, Y:-22.43, Z:-5.12 [[ 9.85179969e-01 1.70825946e-01 1.54572097e-02 1.58946167e+02] [-1.70803663e-01 9.85301218e-01 -2.76025459e-03 -2.24324947e+01] [-1.57015306e-02 7.91995055e-05 9.99876720e-01 -5.12344921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.614203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.97, Y:-22.45, Z:-5.13 [[ 9.85806632e-01 1.67277071e-01 1.42711527e-02 1.58972168e+02] [-1.67257709e-01 9.85909918e-01 -2.54806204e-03 -2.24467080e+01] [-1.44963033e-02 1.24936156e-04 9.99894915e-01 -5.12730656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.644203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.00, Y:-22.46, Z:-5.13 [[ 9.86055095e-01 1.65872509e-01 1.34781708e-02 1.58999531e+02] [-1.65855121e-01 9.86147196e-01 -2.40556585e-03 -2.24562255e+01] [-1.36904776e-02 1.36596817e-04 9.99906272e-01 -5.12972116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.674203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.03, Y:-22.46, Z:-5.13 [[ 9.86173941e-01 1.65230028e-01 1.26489815e-02 1.59026847e+02] [-1.65214665e-01 9.86255048e-01 -2.25726929e-03 -2.24640754e+01] [-1.28480905e-02 1.36262906e-04 9.99917451e-01 -5.13145073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.704203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.05, Y:-22.47, Z:-5.13 [[ 9.86103146e-01 1.65677804e-01 1.23065288e-02 1.59054139e+02] [-1.65663305e-01 9.86179928e-01 -2.19545455e-03 -2.24713533e+01] [-1.25001898e-02 1.26204401e-04 9.99921862e-01 -5.13356821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.734203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.08, Y:-22.48, Z:-5.13 [[ 9.85504002e-01 1.69198922e-01 1.23930313e-02 1.59082849e+02] [-1.69184509e-01 9.85581918e-01 -2.20994738e-03 -2.24767972e+01] [-1.25882683e-02 8.12030717e-05 9.99920761e-01 -5.13118368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.764203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.11, Y:-22.48, Z:-5.13 [[ 9.84929348e-01 1.72517501e-01 1.23244567e-02 1.59110567e+02] [-1.72503511e-01 9.85006452e-01 -2.19732932e-03 -2.24784984e+01] [-1.25187472e-02 3.82020696e-05 9.99921637e-01 -5.13323224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.79420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.14, Y:-22.47, Z:-5.14 [[ 9.83509596e-01 1.80434247e-01 1.23433268e-02 1.59139686e+02] [-1.80420847e-01 9.83587047e-01 -2.19987411e-03 -2.24731658e+01] [-1.25376690e-02 -6.33961906e-05 9.99921398e-01 -5.13550159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.82420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.17, Y:-22.48, Z:-5.14 [[ 9.82910025e-01 1.83655950e-01 1.25846817e-02 1.59168295e+02] [-1.83642297e-01 9.82990580e-01 -2.24189425e-03 -2.24757592e+01] [-1.27823608e-02 -1.07499519e-04 9.99918297e-01 -5.13528649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.85420382200002 meters Centerline goodness [0,1] 0.9999141870293695 Centerline is valid? [True, True] Translation: X:159.20, Y:-22.48, Z:-5.14 [[ 9.81844582e-01 1.89283308e-01 1.23711606e-02 1.59198523e+02] [-1.89270573e-01 9.81922501e-01 -2.20285306e-03 -2.24753531e+01] [-1.25644842e-02 -1.78637311e-04 9.99921048e-01 -5.13683127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.88420382200002 meters Centerline goodness [0,1] 0.9999358618035661 Centerline is valid? [True, True] Translation: X:159.23, Y:-22.48, Z:-5.14 [[ 9.81485599e-01 1.91116696e-01 1.26659971e-02 1.59227352e+02] [-1.91103499e-01 9.81567301e-01 -2.25544408e-03 -2.24777640e+01] [-1.28635816e-02 -2.06830481e-04 9.99917239e-01 -5.13708815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.91420382200002 meters Centerline goodness [0,1] 0.9999786771290886 Centerline is valid? [True, True] Translation: X:159.26, Y:-22.48, Z:-5.14 [[ 9.81234036e-01 1.92347314e-01 1.35010400e-02 1.59255488e+02] [-1.92332446e-01 9.81326884e-01 -2.40339537e-03 -2.24817922e+01] [-1.37112202e-02 -2.38394722e-04 9.99905968e-01 -5.13607845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.94420382200002 meters Centerline goodness [0,1] 0.9998099019939168 Centerline is valid? [True, True] Translation: X:159.28, Y:-22.49, Z:-5.14 [[ 9.81159069e-01 1.92617559e-01 1.50119023e-02 1.59283225e+02] [-1.92599220e-01 9.81273867e-01 -2.67162208e-03 -2.24851410e+01] [-1.52453887e-02 -2.69994439e-04 9.99883746e-01 -5.13642616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.974203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.31, Y:-22.49, Z:-5.14 [[ 9.81274865e-01 1.92033227e-01 1.49291311e-02 1.59310232e+02] [-1.92015036e-01 9.81388390e-01 -2.65594419e-03 -2.24908688e+01] [-1.51613055e-02 -2.60406379e-04 9.99885027e-01 -5.13849202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.004203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.34, Y:-22.51, Z:-5.14 [[ 9.81786182e-01 1.89382305e-01 1.51735237e-02 1.59337270e+02] [-1.89363206e-01 9.81903403e-01 -2.69885869e-03 -2.25072838e+01] [-1.54100507e-02 -2.23604930e-04 9.99881233e-01 -5.13610111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.034203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.36, Y:-22.52, Z:-5.13 [[ 9.82199532e-01 1.87166583e-01 1.58981271e-02 1.59364489e+02] [-1.87145356e-01 9.82328168e-01 -2.82583747e-03 -2.25175009e+01] [-1.61460804e-02 -1.99724415e-04 9.99869624e-01 -5.13442822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.064203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.39, Y:-22.53, Z:-5.14 [[ 9.82680961e-01 1.84562641e-01 1.65758788e-02 1.59391020e+02] [-1.84539207e-01 9.82820739e-01 -2.94556605e-03 -2.25256182e+01] [-1.68347589e-02 -1.64347862e-04 9.99858272e-01 -5.13545341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.094203822 meters Centerline goodness [0,1] 0.9999787726336793 Centerline is valid? [True, True] Translation: X:159.42, Y:-22.53, Z:-5.14 [[ 9.83241300e-01 1.81551938e-01 1.65963717e-02 1.59417273e+02] [-1.81528035e-01 9.83381351e-01 -2.94813905e-03 -2.25347523e+01] [-1.68558028e-02 -1.13974683e-04 9.99857924e-01 -5.13746387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.124203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.44, Y:-22.55, Z:-5.14 [[ 9.84456171e-01 1.74943357e-01 1.55199695e-02 1.59443047e+02] [-1.74921649e-01 9.84578500e-01 -2.75590381e-03 -2.25529266e+01] [-1.57627554e-02 -1.71214570e-06 9.99875760e-01 -5.13934987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.154203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.47, Y:-22.57, Z:-5.14 [[ 9.85036719e-01 1.71633207e-01 1.56430519e-02 1.59470166e+02] [-1.71610750e-01 9.85160921e-01 -2.77678954e-03 -2.25659942e+01] [-1.58875127e-02 5.07237931e-05 9.99873784e-01 -5.14189194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.184203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.50, Y:-22.59, Z:-5.14 [[ 9.85972577e-01 1.66204121e-01 1.53058354e-02 1.59497542e+02] [-1.66181984e-01 9.86091361e-01 -2.71584667e-03 -2.25858898e+01] [-1.55443369e-02 1.34196239e-04 9.99879170e-01 -5.14236480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.214203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.53, Y:-22.60, Z:-5.14 [[ 9.86255844e-01 1.64547035e-01 1.49560578e-02 1.59527811e+02] [-1.64525714e-01 9.86369225e-01 -2.65340151e-03 -2.25953307e+01] [-1.51888045e-02 1.56276661e-04 9.99884631e-01 -5.14199250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.244203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.56, Y:-22.61, Z:-5.14 [[ 9.86385472e-01 1.63754279e-01 1.51075069e-02 1.59556464e+02] [-1.63732432e-01 9.86501144e-01 -2.68018794e-03 -2.26053213e+01] [-1.53424651e-02 1.70109595e-04 9.99882283e-01 -5.14440752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.274203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.59, Y:-22.61, Z:-5.14 [[ 9.86212200e-01 1.64806651e-01 1.49754693e-02 1.59586700e+02] [-1.64785286e-01 9.86325881e-01 -2.65808165e-03 -2.26119087e+01] [-1.52087624e-02 1.53695570e-04 9.99884328e-01 -5.14366450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.304203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.62, Y:-22.62, Z:-5.14 [[ 9.85954081e-01 1.66412917e-01 1.41877442e-02 1.59618017e+02] [-1.66393903e-01 9.86056147e-01 -2.51856955e-03 -2.26163450e+01] [-1.44090349e-02 1.22439800e-04 9.99896177e-01 -5.14494133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.334203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.65, Y:-22.62, Z:-5.15 [[ 9.85541047e-01 1.68879909e-01 1.37266864e-02 1.59647530e+02] [-1.68862336e-01 9.85636631e-01 -2.43766431e-03 -2.26200515e+01] [-1.39411974e-02 8.44979107e-05 9.99902813e-01 -5.14903590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.364203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.68, Y:-22.62, Z:-5.15 [[ 9.84536491e-01 1.74741288e-01 1.23846883e-02 1.59678053e+02] [-1.74727446e-01 9.84614382e-01 -2.19942867e-03 -2.26194975e+01] [-1.25784732e-02 1.47282355e-06 9.99920888e-01 -5.15269413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.394203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.71, Y:-22.62, Z:-5.15 [[ 9.84024871e-01 1.77615110e-01 1.21624477e-02 1.59707651e+02] [-1.77601983e-01 9.84100031e-01 -2.15969923e-03 -2.26227955e+01] [-1.23526604e-02 -3.48770765e-05 9.99923702e-01 -5.15157592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.424203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.74, Y:-22.62, Z:-5.15 [[ 9.83115997e-01 1.82460552e-01 1.38233283e-02 1.59736526e+02] [-1.82444070e-01 9.83213169e-01 -2.45478278e-03 -2.26216218e+01] [-1.40391795e-02 -1.08648063e-04 9.99901440e-01 -5.15038105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.454203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.76, Y:-22.62, Z:-5.15 [[ 9.82696939e-01 1.84617409e-01 1.49378075e-02 1.59764484e+02] [-1.84598429e-01 9.82810454e-01 -2.65156849e-03 -2.26219880e+01] [-1.51705591e-02 -1.51807561e-04 9.99884909e-01 -5.15055306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.484203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.79, Y:-22.63, Z:-5.15 [[ 9.82360917e-01 1.86296711e-01 1.61420044e-02 1.59793199e+02] [-1.86274795e-01 9.82493510e-01 -2.86403428e-03 -2.26257440e+01] [-1.63929747e-02 -1.93333216e-04 9.99865607e-01 -5.14747227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.514203822 meters Centerline goodness [0,1] 0.9999786893979755 Centerline is valid? [True, True] Translation: X:159.82, Y:-22.63, Z:-5.14 [[ 9.81945162e-01 1.88249654e-01 1.85947855e-02 1.59821368e+02] [-1.88220941e-01 9.82121174e-01 -3.29812801e-03 -2.26303500e+01] [-1.88832040e-02 -2.61347188e-04 9.99821662e-01 -5.14308175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.54420382200001 meters Centerline goodness [0,1] 0.9999786825836708 Centerline is valid? [True, True] Translation: X:159.85, Y:-22.63, Z:-5.14 [[ 9.81774078e-01 1.89134215e-01 1.86523137e-02 1.59849252e+02] [-1.89105499e-01 9.81951206e-01 -3.30754083e-03 -2.26321990e+01] [-1.89412310e-02 -2.79997245e-04 9.99820560e-01 -5.14473716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.57420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.88, Y:-22.64, Z:-5.15 [[ 9.81631147e-01 1.89900047e-01 1.83919594e-02 1.59877815e+02] [-1.89872285e-01 9.81803385e-01 -3.26012673e-03 -2.26373743e+01] [-1.86763862e-02 -2.91881425e-04 9.99825538e-01 -5.14510996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.60420382200002 meters Centerline goodness [0,1] 0.9999578414839798 Centerline is valid? [True, True] Translation: X:159.91, Y:-22.64, Z:-5.15 [[ 9.81279408e-01 1.91747989e-01 1.79842001e-02 1.59905489e+02] [-1.91721765e-01 9.81444143e-01 -3.18728608e-03 -2.26374778e+01] [-1.82616435e-02 -3.20344374e-04 9.99833191e-01 -5.14856828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.63420382200002 meters Centerline goodness [0,1] 0.9999573224078697 Centerline is valid? [True, True] Translation: X:159.93, Y:-22.64, Z:-5.15 [[ 9.81036252e-01 1.93075973e-01 1.70158773e-02 1.59933641e+02] [-1.93052722e-01 9.81183755e-01 -3.01421783e-03 -2.26416915e+01] [-1.72776754e-02 -3.27904464e-04 9.99850676e-01 -5.14934018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.66420382200002 meters Centerline goodness [0,1] 0.9999354838709678 Centerline is valid? [True, True] Translation: X:159.96, Y:-22.64, Z:-5.15 [[ 9.80425146e-01 1.96300346e-01 1.52547751e-02 1.59964309e+02] [-1.96282057e-01 9.80543755e-01 -2.70167623e-03 -2.26362701e+01] [-1.54883144e-02 -3.45447324e-04 9.99879989e-01 -5.15353250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.69420382200002 meters Centerline goodness [0,1] 0.9999576423745685 Centerline is valid? [True, True] Translation: X:159.99, Y:-22.63, Z:-5.16 [[ 9.80086299e-01 1.98019872e-01 1.47978719e-02 1.59992170e+02] [-1.98002864e-01 9.80197939e-01 -2.62041210e-03 -2.26348538e+01] [-1.50237372e-02 -3.61791025e-04 9.99887072e-01 -5.15616996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.724203822 meters Centerline goodness [0,1] 0.9998513547948696 Centerline is valid? [True, True] Translation: X:160.02, Y:-22.63, Z:-5.16 [[ 9.79850547e-01 1.99244020e-01 1.39544283e-02 1.60020747e+02] [-1.99229035e-01 9.79949841e-01 -2.46994430e-03 -2.26327766e+01] [-1.41667614e-02 -3.59951016e-04 9.99899582e-01 -5.16047343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.754203822 meters Centerline goodness [0,1] 0.9999140838112421 Centerline is valid? [True, True] Translation: X:160.05, Y:-22.64, Z:-5.16 [[ 9.79899545e-01 1.99053720e-01 1.32097959e-02 1.60049615e+02] [-1.99040286e-01 9.79988521e-01 -2.33728906e-03 -2.26372614e+01] [-1.34106944e-02 -3.38973066e-04 9.99910015e-01 -5.15961697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.784203822 meters Centerline goodness [0,1] 0.999914889995319 Centerline is valid? [True, True] Translation: X:160.08, Y:-22.64, Z:-5.16 [[ 9.80185325e-01 1.97619858e-01 1.35321805e-02 1.60077741e+02] [-1.97605630e-01 9.80278677e-01 -2.39382527e-03 -2.26372779e+01] [-1.37383754e-02 -3.27642669e-04 9.99905570e-01 -5.16252021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.814203822 meters Centerline goodness [0,1] 0.9999574721442545 Centerline is valid? [True, True] Translation: X:160.11, Y:-22.64, Z:-5.17 [[ 9.81320968e-01 1.91875240e-01 1.38942236e-02 1.60106399e+02] [-1.91859686e-01 9.81419292e-01 -2.45634050e-03 -2.26436292e+01] [-1.41073700e-02 -2.55282940e-04 9.99900454e-01 -5.16531460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.844203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.13, Y:-22.65, Z:-5.16 [[ 9.82129382e-01 1.87669597e-01 1.42126555e-02 1.60133554e+02] [-1.87652881e-01 9.82232194e-01 -2.51265775e-03 -2.26547457e+01] [-1.44316773e-02 -1.99290763e-04 9.99895838e-01 -5.16443144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.874203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.16, Y:-22.67, Z:-5.16 [[ 9.83089799e-01 1.82583064e-01 1.40666642e-02 1.60160289e+02] [-1.82566178e-01 9.83190424e-01 -2.48623560e-03 -2.26677637e+01] [-1.42841540e-02 -1.23904255e-04 9.99897969e-01 -5.16331622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.904203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.19, Y:-22.68, Z:-5.17 [[ 9.84159811e-01 1.76724238e-01 1.40716318e-02 1.60186584e+02] [-1.76706747e-01 9.84260404e-01 -2.48660038e-03 -2.26803437e+01] [-1.42895926e-02 -3.93401262e-05 9.99897898e-01 -5.16583224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.934203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.21, Y:-22.71, Z:-5.17 [[ 9.86286203e-01 1.64373814e-01 1.48585041e-02 1.60212352e+02] [-1.64352952e-01 9.86398108e-01 -2.62271768e-03 -2.27060636e+01] [-1.50875064e-02 1.44711247e-04 9.99886167e-01 -5.16643527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.964203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.24, Y:-22.72, Z:-5.17 [[ 9.87246225e-01 1.58423075e-01 1.57168944e-02 1.60241938e+02] [-1.58398953e-01 9.87371291e-01 -2.77582746e-03 -2.27206507e+01] [-1.59581654e-02 2.50885566e-04 9.99872629e-01 -5.16555158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.994203822 meters Centerline goodness [0,1] 0.999978592224696 Centerline is valid? [True, True] Translation: X:160.27, Y:-22.74, Z:-5.16 [[ 9.88733634e-01 1.48804088e-01 1.62217005e-02 1.60270290e+02] [-1.48777084e-01 9.88866607e-01 -2.86570416e-03 -2.27354122e+01] [-1.64675264e-02 4.20000794e-04 9.99864313e-01 -5.16354509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.024203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.30, Y:-22.75, Z:-5.17 [[ 9.89223319e-01 1.45577005e-01 1.56384557e-02 1.60298785e+02] [-1.45551504e-01 9.89346818e-01 -2.76273250e-03 -2.27454200e+01] [-1.58740467e-02 4.56758668e-04 9.99873895e-01 -5.16542290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.054203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.33, Y:-22.76, Z:-5.17 [[ 9.89629765e-01 1.42857012e-01 1.49934363e-02 1.60328723e+02] [-1.42833266e-01 9.89743221e-01 -2.64840587e-03 -2.27551855e+01] [-1.52179952e-02 4.79379813e-04 9.99884085e-01 -5.16677714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.084203822 meters Centerline goodness [0,1] 0.9999361919346605 Centerline is valid? [True, True] Translation: X:160.36, Y:-22.77, Z:-5.17 [[ 9.89549668e-01 1.43464800e-01 1.44674260e-02 1.60358032e+02] [-1.43442782e-01 9.89655317e-01 -2.55370721e-03 -2.27656850e+01] [-1.46841322e-02 4.51772292e-04 9.99892080e-01 -5.17025365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.114203822 meters Centerline goodness [0,1] 0.9998312912545604 Centerline is valid? [True, True] Translation: X:160.39, Y:-22.77, Z:-5.17 [[ 9.89299592e-01 1.45192568e-01 1.43330192e-02 1.60390076e+02] [-1.45171105e-01 9.89403324e-01 -2.53217596e-03 -2.27710536e+01] [-1.45487900e-02 4.24340406e-04 9.99894071e-01 -5.17164508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.144203822 meters Centerline goodness [0,1] 0.9999785545785975 Centerline is valid? [True, True] Translation: X:160.42, Y:-22.77, Z:-5.17 [[ 9.88556811e-01 1.50179750e-01 1.41941916e-02 1.60421935e+02] [-1.50159146e-01 9.88658646e-01 -2.51237272e-03 -2.27672096e+01] [-1.44105178e-02 3.52235466e-04 9.99896101e-01 -5.16944259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.174203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.45, Y:-22.77, Z:-5.17 [[ 9.88086594e-01 1.53219390e-01 1.44464802e-02 1.60453442e+02] [-1.53198372e-01 9.88192148e-01 -2.55701791e-03 -2.27686955e+01] [-1.46676831e-02 3.13377864e-04 9.99892375e-01 -5.16998710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.204203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.48, Y:-22.77, Z:-5.17 [[ 9.87572630e-01 1.56447567e-01 1.49819570e-02 1.60483492e+02] [-1.56425338e-01 9.87686227e-01 -2.65145510e-03 -2.27713856e+01] [-1.52122863e-02 2.74946786e-04 9.99884249e-01 -5.17191100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.234203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.52, Y:-22.77, Z:-5.17 [[ 9.86626897e-01 1.62191380e-01 1.61654549e-02 1.60515390e+02] [-1.62166235e-01 9.86759299e-01 -2.86307790e-03 -2.27701724e+01] [-1.64157795e-02 2.03298708e-04 9.99865231e-01 -5.17191450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.264203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.55, Y:-22.78, Z:-5.18 [[ 9.86285324e-01 1.64263137e-01 1.60898268e-02 1.60545488e+02] [-1.64238496e-01 9.86416542e-01 -2.85004118e-03 -2.27753419e+01] [-1.63394280e-02 1.68384827e-04 9.99866488e-01 -5.17516948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.29420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.58, Y:-22.78, Z:-5.17 [[ 9.85836544e-01 1.66930893e-01 1.61364644e-02 1.60575866e+02] [-1.66906461e-01 9.85968590e-01 -2.85866433e-03 -2.27784802e+01] [-1.63872464e-02 1.24895606e-04 9.99865712e-01 -5.17468909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.32420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.61, Y:-22.78, Z:-5.17 [[ 9.85684745e-01 1.67863280e-01 1.57322503e-02 1.60606086e+02] [-1.67840175e-01 9.85810280e-01 -2.78705556e-03 -2.27829691e+01] [-1.59768583e-02 1.06654502e-04 9.99872356e-01 -5.17474608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.35420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.64, Y:-22.79, Z:-5.18 [[ 9.85564646e-01 1.68636843e-01 1.49647300e-02 1.60636048e+02] [-1.68616027e-01 9.85678247e-01 -2.65108507e-03 -2.27876193e+01] [-1.51974794e-02 8.95224149e-05 9.99884508e-01 -5.17682372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.38420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.66, Y:-22.79, Z:-5.18 [[ 9.85338027e-01 1.70099610e-01 1.32323408e-02 1.60664844e+02] [-1.70083464e-01 9.85426872e-01 -2.34439368e-03 -2.27920150e+01] [-1.34382846e-02 5.94178903e-05 9.99909700e-01 -5.18277683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.41420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.69, Y:-22.80, Z:-5.18 [[ 9.85241627e-01 1.70652652e-01 1.32894445e-02 1.60694483e+02] [-1.70636416e-01 9.85331249e-01 -2.35454532e-03 -2.27972080e+01] [-1.34963143e-02 5.21328888e-05 9.99908919e-01 -5.18272071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.44420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.72, Y:-22.80, Z:-5.18 [[ 9.85019904e-01 1.71853912e-01 1.42134224e-02 1.60722583e+02] [-1.71835468e-01 9.85122445e-01 -2.51804299e-03 -2.28037539e+01] [-1.44346970e-02 3.79523736e-05 9.99895814e-01 -5.18316347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.47420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.75, Y:-22.81, Z:-5.18 [[ 9.84939877e-01 1.72322010e-01 1.40912524e-02 1.60752087e+02] [-1.72303945e-01 9.85040671e-01 -2.49529937e-03 -2.28096235e+01] [-1.43104517e-02 2.97414878e-05 9.99897600e-01 -5.18321042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.504203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.78, Y:-22.81, Z:-5.18 [[ 9.84939877e-01 1.72322010e-01 1.40912524e-02 1.60781617e+02] [-1.72303945e-01 9.85040671e-01 -2.49529937e-03 -2.28148528e+01] [-1.43104517e-02 2.97414877e-05 9.99897600e-01 -5.18412626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.534203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.81, Y:-22.82, Z:-5.19 [[ 9.84858072e-01 1.72836157e-01 1.34996754e-02 1.60811421e+02] [-1.72819626e-01 9.84950589e-01 -2.39054207e-03 -2.28210008e+01] [-1.37096854e-02 2.13357973e-05 9.99906018e-01 -5.18561549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.564203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.84, Y:-22.83, Z:-5.19 [[ 9.84812755e-01 1.73134037e-01 1.29785612e-02 1.60841609e+02] [-1.73118783e-01 9.84898271e-01 -2.29826240e-03 -2.28272739e+01] [-1.31804699e-02 1.65254162e-05 9.99913134e-01 -5.18775578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.594203822 meters Centerline goodness [0,1] 0.9998718249983978 Centerline is valid? [True, True] Translation: X:160.87, Y:-22.83, Z:-5.19 [[ 9.84705793e-01 1.73730569e-01 1.31221184e-02 1.60870708e+02] [-1.73715031e-01 9.84793222e-01 -2.32346104e-03 -2.28320545e+01] [-1.33262295e-02 8.41633478e-06 9.99911202e-01 -5.19055916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.624203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.90, Y:-22.84, Z:-5.19 [[ 9.84604792e-01 1.74328749e-01 1.27628645e-02 1.60900368e+02] [-1.74314090e-01 9.84687507e-01 -2.26066502e-03 -2.28369127e+01] [-1.29615321e-02 1.11449840e-06 9.99915996e-01 -5.19077396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.654203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.93, Y:-22.84, Z:-5.19 [[ 9.84327128e-01 1.75907787e-01 1.25122049e-02 1.60928294e+02] [-1.75893827e-01 9.84406649e-01 -2.21618522e-03 -2.28412597e+01] [-1.27069420e-02 -1.93683817e-05 9.99919263e-01 -5.19331713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.684203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.96, Y:-22.85, Z:-5.19 [[ 9.84111558e-01 1.77056953e-01 1.32391975e-02 1.60957308e+02] [-1.77041438e-01 9.84200607e-01 -2.34418062e-03 -2.28457731e+01] [-1.34450797e-02 -3.69513121e-05 9.99909610e-01 -5.19206131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.714203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.99, Y:-22.85, Z:-5.19 [[ 9.83813085e-01 1.78669348e-01 1.37505465e-02 1.60986282e+02] [-1.78652771e-01 9.83909173e-01 -2.43455162e-03 -2.28488517e+01] [-1.39642686e-02 -6.14294970e-05 9.99902493e-01 -5.19232754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.744203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.02, Y:-22.85, Z:-5.19 [[ 9.83119395e-01 1.82421285e-01 1.40971723e-02 1.61015572e+02] [-1.82404252e-01 9.83220454e-01 -2.49560038e-03 -2.28473688e+01] [-1.43158788e-02 -1.17911025e-04 9.99897516e-01 -5.19042423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.774203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.04, Y:-22.85, Z:-5.19 [[ 9.82712145e-01 1.84541547e-01 1.48747393e-02 1.61044428e+02] [-1.84522838e-01 9.82824701e-01 -2.63241491e-03 -2.28474339e+01] [-1.51050511e-02 -1.57823010e-04 9.99885900e-01 -5.18982490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.804203822 meters Centerline goodness [0,1] 0.9999787043741215 Centerline is valid? [True, True] Translation: X:161.07, Y:-22.85, Z:-5.19 [[ 9.82297748e-01 1.86722591e-01 1.50268941e-02 1.61073290e+02] [-1.86703760e-01 9.82412661e-01 -2.65887880e-03 -2.28462032e+01] [-1.52590838e-02 -1.93766987e-04 9.99883555e-01 -5.19160867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.834203822 meters Centerline goodness [0,1] 0.9999788426954406 Centerline is valid? [True, True] Translation: X:161.10, Y:-22.84, Z:-5.20 [[ 9.81314309e-01 1.91915594e-01 1.38069550e-02 1.61103384e+02] [-1.91900226e-01 9.81411402e-01 -2.44185918e-03 -2.28368214e+01] [-1.40189339e-02 -2.53326416e-04 9.99901698e-01 -5.19577612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.864203822 meters Centerline goodness [0,1] 0.9999362136417758 Centerline is valid? [True, True] Translation: X:161.13, Y:-22.84, Z:-5.20 [[ 9.80820662e-01 1.94430764e-01 1.36933357e-02 1.61132259e+02] [-1.94415899e-01 9.80916202e-01 -2.42129740e-03 -2.28357926e+01] [-1.39027896e-02 -2.87343654e-04 9.99903310e-01 -5.19624246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.894203822 meters Centerline goodness [0,1] 0.9999152326862761 Centerline is valid? [True, True] Translation: X:161.16, Y:-22.83, Z:-5.20 [[ 9.80045644e-01 1.98285849e-01 1.39017062e-02 1.61163408e+02] [-1.98270936e-01 9.80144173e-01 -2.45670201e-03 -2.28301033e+01] [-1.41128056e-02 -3.48624199e-04 9.99900349e-01 -5.19737348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.924203822 meters Centerline goodness [0,1] 0.9998938676742162 Centerline is valid? [True, True] Translation: X:161.19, Y:-22.83, Z:-5.20 [[ 9.79836527e-01 1.99324047e-01 1.37950604e-02 1.61191484e+02] [-1.99309455e-01 9.79933566e-01 -2.43854967e-03 -2.28293077e+01] [-1.40043043e-02 -3.60105923e-04 9.99901870e-01 -5.19880973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.954203822 meters Centerline goodness [0,1] 0.9998081146195339 Centerline is valid? [True, True] Translation: X:161.22, Y:-22.83, Z:-5.20 [[ 9.79751285e-01 1.99731202e-01 1.39594757e-02 1.61220028e+02] [-1.99716327e-01 9.79850656e-01 -2.46574815e-03 -2.28316008e+01] [-1.41706883e-02 -3.72115300e-04 9.99899522e-01 -5.19902396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.984203822 meters Centerline goodness [0,1] 0.9999356747716455 Centerline is valid? [True, True] Translation: X:161.25, Y:-22.84, Z:-5.20 [[ 9.80136642e-01 1.97838322e-01 1.38622519e-02 1.61248463e+02] [-1.97823474e-01 9.80234605e-01 -2.44795134e-03 -2.28359372e+01] [-1.40725576e-02 -3.42952020e-04 9.99900918e-01 -5.19883026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.014203822 meters Centerline goodness [0,1] 0.999849287344443 Centerline is valid? [True, True] Translation: X:161.28, Y:-22.84, Z:-5.20 [[ 9.80590209e-01 1.95580904e-01 1.38185695e-02 1.61277355e+02] [-1.95565937e-01 9.80687521e-01 -2.43934987e-03 -2.28409603e+01] [-1.40287889e-02 -3.10438889e-04 9.99901544e-01 -5.20023960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.04420382200001 meters Centerline goodness [0,1] 0.9998935966461663 Centerline is valid? [True, True] Translation: X:161.30, Y:-22.85, Z:-5.20 [[ 9.81217030e-01 1.92400138e-01 1.39759452e-02 1.61304738e+02] [-1.92384508e-01 9.81316521e-01 -2.46698924e-03 -2.28451984e+01] [-1.41894749e-02 -2.68103483e-04 9.99899288e-01 -5.20308939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.07420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.33, Y:-22.86, Z:-5.20 [[ 9.82822273e-01 1.84049472e-01 1.36444411e-02 1.61331712e+02] [-1.84033789e-01 9.82916970e-01 -2.40704743e-03 -2.28621400e+01] [-1.38543686e-02 -1.45338374e-04 9.99904013e-01 -5.20309973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.10420382200002 meters Centerline goodness [0,1] 0.9999569503637694 Centerline is valid? [True, True] Translation: X:161.36, Y:-22.87, Z:-5.21 [[ 9.83678933e-01 1.79440327e-01 1.33013119e-02 1.61358379e+02] [-1.79424997e-01 9.83768856e-01 -2.34685193e-03 -2.28721721e+01] [-1.35065362e-02 -7.80390362e-05 9.99908780e-01 -5.20551083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.13420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.39, Y:-22.88, Z:-5.21 [[ 9.84497531e-01 1.74924275e-01 1.28883290e-02 1.61385665e+02] [-1.74909508e-01 9.84581890e-01 -2.27296442e-03 -2.28824840e+01] [-1.30872120e-02 -1.65634305e-05 9.99914359e-01 -5.20667128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.16420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.41, Y:-22.90, Z:-5.21 [[ 9.85854822e-01 1.67174637e-01 1.19545656e-02 1.61411343e+02] [-1.67161367e-01 9.85927297e-01 -2.10779985e-03 -2.28984319e+01] [-1.21387032e-02 7.96431203e-05 9.99926320e-01 -5.21064911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.19420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.44, Y:-22.91, Z:-5.21 [[ 9.86344912e-01 1.64234219e-01 1.22814976e-02 1.61439439e+02] [-1.64219994e-01 9.86421364e-01 -2.16479647e-03 -2.29071203e+01] [-1.24702653e-02 1.18368519e-04 9.99922236e-01 -5.20860134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.22420382200002 meters Centerline goodness [0,1] 0.9999786096256684 Centerline is valid? [True, True] Translation: X:161.47, Y:-22.92, Z:-5.21 [[ 9.86819733e-01 1.61217101e-01 1.39950379e-02 1.61467189e+02] [-1.61198342e-01 9.86918950e-01 -2.46573225e-03 -2.29150375e+01] [-1.42094864e-02 1.77256329e-04 9.99899024e-01 -5.20648930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.254203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.50, Y:-22.92, Z:-5.21 [[ 9.86864820e-01 1.60920562e-01 1.42266967e-02 1.61495331e+02] [-1.60901153e-01 9.86967344e-01 -2.50600615e-03 -2.29201510e+01] [-1.44445530e-02 1.83997405e-04 9.99895655e-01 -5.20710673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.284203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.52, Y:-22.93, Z:-5.21 [[ 9.86792719e-01 1.61381124e-01 1.40093989e-02 1.61523245e+02] [-1.61362357e-01 9.86892143e-01 -2.46723021e-03 -2.29261807e+01] [-1.42239301e-02 1.74055174e-04 9.99898820e-01 -5.20993901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.314203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.55, Y:-22.93, Z:-5.21 [[ 9.86633163e-01 1.62397827e-01 1.34887551e-02 1.61553164e+02] [-1.62380533e-01 9.86725353e-01 -2.37489619e-03 -2.29283950e+01] [-1.36953747e-02 1.52840093e-04 9.99906202e-01 -5.20906770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.344203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.58, Y:-22.93, Z:-5.21 [[ 9.86037799e-01 1.65913645e-01 1.42169267e-02 1.61582250e+02] [-1.65894798e-01 9.86140279e-01 -2.50309935e-03 -2.29261931e+01] [-1.44351824e-02 1.09636399e-04 9.99895801e-01 -5.21146998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.374203822 meters Centerline goodness [0,1] 0.9998720382179189 Centerline is valid? [True, True] Translation: X:161.61, Y:-22.92, Z:-5.21 [[ 9.85627995e-01 1.68347738e-01 1.40176572e-02 1.61611916e+02] [-1.68329671e-01 9.85727667e-01 -2.46735475e-03 -2.29241728e+01] [-1.42329661e-02 7.23062877e-05 9.99898704e-01 -5.21085001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.404203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.64, Y:-22.92, Z:-5.21 [[ 9.85213034e-01 1.70774178e-01 1.38368480e-02 1.61640948e+02] [-1.70756822e-01 9.85310194e-01 -2.43489228e-03 -2.29238136e+01] [-1.40494042e-02 3.61514061e-05 9.99901302e-01 -5.21054510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.434203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.67, Y:-22.92, Z:-5.21 [[ 9.84363475e-01 1.75626761e-01 1.35569466e-02 1.61670995e+02] [-1.75610571e-01 9.84456825e-01 -2.38480682e-03 -2.29200094e+01] [-1.37650645e-02 -3.32264156e-05 9.99905256e-01 -5.21149859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.464203822 meters Centerline goodness [0,1] 0.9999788775531757 Centerline is valid? [True, True] Translation: X:161.70, Y:-22.92, Z:-5.21 [[ 9.84059070e-01 1.77315689e-01 1.36708498e-02 1.61699340e+02] [-1.77299392e-01 9.84154024e-01 -2.40473061e-03 -2.29204425e+01] [-1.38806183e-02 -5.74363851e-05 9.99903658e-01 -5.21499818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.494203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.73, Y:-22.92, Z:-5.21 [[ 9.83745111e-01 1.79037428e-01 1.38258862e-02 1.61728142e+02] [-1.79020944e-01 9.83842260e-01 -2.43087898e-03 -2.29205520e+01] [-1.40377094e-02 -8.37578863e-05 9.99901463e-01 -5.21456365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.524203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.76, Y:-22.93, Z:-5.22 [[ 9.83780246e-01 1.78898453e-01 1.31061472e-02 1.61756174e+02] [-1.78883635e-01 9.83867541e-01 -2.30378740e-03 -2.29258033e+01] [-1.33068568e-02 -7.80547221e-05 9.99911457e-01 -5.21539660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.554203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.78, Y:-22.93, Z:-5.22 [[ 9.83946652e-01 1.77988611e-01 1.30015298e-02 1.61782960e+02] [-1.77973950e-01 9.84032545e-01 -2.28539127e-03 -2.29308222e+01] [-1.32007021e-02 -6.52305301e-05 9.99912865e-01 -5.21704145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.584203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.81, Y:-22.94, Z:-5.21 [[ 9.84120736e-01 1.76973166e-01 1.36702595e-02 1.61811065e+02] [-1.76956887e-01 9.84215675e-01 -2.40101795e-03 -2.29355649e+01] [-1.38793995e-02 -5.61550139e-05 9.99903675e-01 -5.21471698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.614203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.84, Y:-22.94, Z:-5.21 [[ 9.84408888e-01 1.75241822e-01 1.51474238e-02 1.61838941e+02] [-1.75221638e-01 9.84525420e-01 -2.65985435e-03 -2.29378647e+01] [-1.53791415e-02 -3.57721567e-05 9.99881733e-01 -5.21471245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.644203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.87, Y:-22.94, Z:-5.21 [[ 9.84636767e-01 1.73919326e-01 1.55725724e-02 1.61866942e+02] [-1.73897852e-01 9.84759904e-01 -2.73300831e-03 -2.29434402e+01] [-1.58105678e-02 -1.70164233e-05 9.99875005e-01 -5.21333206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.674203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.89, Y:-22.95, Z:-5.21 [[ 9.84752972e-01 1.73192103e-01 1.63119190e-02 1.61894121e+02] [-1.73168454e-01 9.84888062e-01 -2.86204439e-03 -2.29477696e+01] [-1.65610978e-02 -6.30306142e-06 9.99862856e-01 -5.21472212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.704203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.92, Y:-22.95, Z:-5.22 [[ 9.84861177e-01 1.72565368e-01 1.64211988e-02 1.61921397e+02] [-1.72541331e-01 9.84998068e-01 -2.88016177e-03 -2.29520711e+01] [-1.66718652e-02 3.22401749e-06 9.99861015e-01 -5.21657020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.734203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.95, Y:-22.96, Z:-5.22 [[ 9.85139925e-01 1.71022699e-01 1.58292251e-02 1.61949688e+02] [-1.71000182e-01 9.85267088e-01 -2.77528739e-03 -2.29583734e+01] [-1.60706517e-02 2.72460428e-05 9.99870858e-01 -5.21643753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.764203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.98, Y:-22.96, Z:-5.22 [[ 9.85233242e-01 1.70501189e-01 1.56462062e-02 1.61977424e+02] [-1.70479133e-01 9.85357470e-01 -2.74262554e-03 -2.29631966e+01] [-1.58847271e-02 3.47741869e-05 9.99873829e-01 -5.21747660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.79420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.01, Y:-22.97, Z:-5.22 [[ 9.85254381e-01 1.70355969e-01 1.58949182e-02 1.62006292e+02] [-1.70333205e-01 9.85382587e-01 -2.78508078e-03 -2.29669987e+01] [-1.61370307e-02 3.65806777e-05 9.99869789e-01 -5.21613922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.82420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.03, Y:-22.97, Z:-5.22 [[ 9.85177987e-01 1.70744435e-01 1.64521271e-02 1.62033568e+02] [-1.70720113e-01 9.85315349e-01 -2.88200845e-03 -2.29699786e+01] [-1.67026203e-02 3.05822733e-05 9.99860501e-01 -5.21594654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.85420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.06, Y:-22.97, Z:-5.22 [[ 9.85126900e-01 1.71050529e-01 1.63311509e-02 1.62061632e+02] [-1.71026625e-01 9.85262257e-01 -2.85964893e-03 -2.29749862e+01] [-1.65796111e-02 2.40554682e-05 9.99862549e-01 -5.21723771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.88420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.09, Y:-22.98, Z:-5.22 [[ 9.84945496e-01 1.72103594e-01 1.62087144e-02 1.62089087e+02] [-1.72080199e-01 9.85078856e-01 -2.83767605e-03 -2.29777562e+01] [-1.64552360e-02 5.75745260e-06 9.99864603e-01 -5.21911395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.91420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.12, Y:-22.98, Z:-5.22 [[ 9.84777651e-01 1.73073937e-01 1.60745616e-02 1.62118082e+02] [-1.73051077e-01 9.84908835e-01 -2.81286701e-03 -2.29796167e+01] [-1.63188117e-02 -1.16716373e-05 9.99866839e-01 -5.21932986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.94420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.15, Y:-22.98, Z:-5.22 [[ 9.84525506e-01 1.74553973e-01 1.55060774e-02 1.62146146e+02] [-1.74532894e-01 9.84647607e-01 -2.71286112e-03 -2.29806922e+01] [-1.57415627e-02 -3.54395870e-05 9.99876093e-01 -5.22151721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.97420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.18, Y:-22.98, Z:-5.22 [[ 9.83835766e-01 1.78457241e-01 1.48391039e-02 1.62175558e+02] [-1.78438395e-01 9.83947663e-01 -2.59516509e-03 -2.29782852e+01] [-1.50640276e-02 -9.46496499e-05 9.99886527e-01 -5.22383862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.004203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.20, Y:-22.98, Z:-5.23 [[ 9.83464515e-01 1.80500275e-01 1.47376215e-02 1.62204602e+02] [-1.80481926e-01 9.83574926e-01 -2.57671712e-03 -2.29796183e+01] [-1.49606532e-02 -1.25764466e-04 9.99888075e-01 -5.22513132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.034203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.23, Y:-22.98, Z:-5.22 [[ 9.82720360e-01 1.84459883e-01 1.53377473e-02 1.62233998e+02] [-1.84440504e-01 9.82840024e-01 -2.68084745e-03 -2.29785237e+01] [-1.55690607e-02 -1.94378467e-04 9.99878776e-01 -5.22460789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.064203822 meters Centerline goodness [0,1] 0.9999576423745685 Centerline is valid? [True, True] Translation: X:162.26, Y:-22.98, Z:-5.23 [[ 9.82393887e-01 1.86170370e-01 1.55834844e-02 1.62261780e+02] [-1.86150582e-01 9.82517452e-01 -2.72362124e-03 -2.29790553e+01] [-1.58181030e-02 -2.25205845e-04 9.99874861e-01 -5.22541863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.094203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.29, Y:-22.98, Z:-5.22 [[ 9.82072931e-01 1.87851546e-01 1.56382379e-02 1.62290065e+02] [-1.87831861e-01 9.82197399e-01 -2.73136877e-03 -2.29822911e+01] [-1.58729285e-02 -2.54955996e-04 9.99873985e-01 -5.22279150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.124203822 meters Centerline goodness [0,1] 0.9999360027305502 Centerline is valid? [True, True] Translation: X:162.32, Y:-22.98, Z:-5.22 [[ 9.81784298e-01 1.89297287e-01 1.63134552e-02 1.62318418e+02] [-1.89276076e-01 9.81919779e-01 -2.84860721e-03 -2.29788901e+01] [-1.65577379e-02 -2.91028955e-04 9.99862869e-01 -5.22499224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.154203822 meters Centerline goodness [0,1] 0.9999570206730563 Centerline is valid? [True, True] Translation: X:162.35, Y:-22.98, Z:-5.22 [[ 9.81387670e-01 1.91293620e-01 1.68817022e-02 1.62347653e+02] [-1.91271239e-01 9.81532800e-01 -2.94555854e-03 -2.29790287e+01] [-1.71334110e-02 -3.38249277e-04 9.99853155e-01 -5.22306751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.184203822 meters Centerline goodness [0,1] 0.9998731474238356 Centerline is valid? [True, True] Translation: X:162.38, Y:-22.98, Z:-5.23 [[ 9.81345700e-01 1.91549346e-01 1.64153758e-02 1.62375363e+02] [-1.91528231e-01 9.81482927e-01 -2.86357981e-03 -2.29802773e+01] [-1.66599280e-02 -3.33846172e-04 9.99861158e-01 -5.22626401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.214203822 meters Centerline goodness [0,1] 0.9999785550384938 Centerline is valid? [True, True] Translation: X:162.40, Y:-22.99, Z:-5.23 [[ 9.81613540e-01 1.90195537e-01 1.61405358e-02 1.62403283e+02] [-1.90174959e-01 9.81746181e-01 -2.81448307e-03 -2.29855945e+01] [-1.63812115e-02 -3.06791035e-04 9.99865772e-01 -5.22767071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.244203822 meters Centerline goodness [0,1] 0.9999574630992386 Centerline is valid? [True, True] Translation: X:162.43, Y:-22.99, Z:-5.23 [[ 9.81873723e-01 1.88784395e-01 1.68654655e-02 1.62430688e+02] [-1.88761725e-01 9.82018515e-01 -2.94054034e-03 -2.29899273e+01] [-1.71173275e-02 -2.96315065e-04 9.99853444e-01 -5.22773871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.274203822 meters Centerline goodness [0,1] 0.9999786311088318 Centerline is valid? [True, True] Translation: X:162.46, Y:-23.00, Z:-5.23 [[ 9.82513135e-01 1.85477868e-01 1.63064454e-02 1.62458254e+02] [-1.85456252e-01 9.82648414e-01 -2.84115875e-03 -2.29984936e+01] [-1.65504747e-02 -2.32656446e-04 9.99863004e-01 -5.22875895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.304203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.49, Y:-23.00, Z:-5.23 [[ 9.82810956e-01 1.83964191e-01 1.54855110e-02 1.62485624e+02] [-1.83944517e-01 9.82932926e-01 -2.69760757e-03 -2.30040651e+01] [-1.57174819e-02 -1.97236583e-04 9.99876453e-01 -5.23132466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.334203822 meters Centerline goodness [0,1] 0.9999787721830687 Centerline is valid? [True, True] Translation: X:162.51, Y:-23.01, Z:-5.23 [[ 9.83057820e-01 1.82661136e-01 1.52391544e-02 1.62513195e+02] [-1.82641941e-01 9.83175915e-01 -2.65377127e-03 -2.30096061e+01] [-1.54675104e-02 -1.74498141e-04 9.99880356e-01 -5.23303579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.364203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.54, Y:-23.02, Z:-5.23 [[ 9.83204382e-01 1.81911287e-01 1.47453979e-02 1.62540678e+02] [-1.81893240e-01 9.83314934e-01 -2.56719593e-03 -2.30153526e+01] [-1.49663719e-02 -1.58009915e-04 9.99887985e-01 -5.23235820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.394203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.57, Y:-23.02, Z:-5.23 [[ 9.83217831e-01 1.81838565e-01 1.47455878e-02 1.62567776e+02] [-1.81820526e-01 9.83328384e-01 -2.56610476e-03 -2.30199318e+01] [-1.49663718e-02 -1.58010570e-04 9.99887985e-01 -5.23319759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.424203822 meters Centerline goodness [0,1] 0.9999786698519688 Centerline is valid? [True, True] Translation: X:162.60, Y:-23.02, Z:-5.24 [[ 9.83288112e-01 1.81558118e-01 1.34587860e-02 1.62595712e+02] [-1.81543078e-01 9.83380206e-01 -2.34112667e-03 -2.30203877e+01] [-1.36601543e-02 -1.41347425e-04 9.99906686e-01 -5.23883905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.454203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.62, Y:-23.02, Z:-5.24 [[ 9.83288202e-01 1.81585875e-01 1.30721922e-02 1.62624020e+02] [-1.81571702e-01 9.83375082e-01 -2.27289485e-03 -2.30239664e+01] [-1.32675936e-02 -1.38629494e-04 9.99911972e-01 -5.23841805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.484203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.65, Y:-23.02, Z:-5.24 [[ 9.83278973e-01 1.81636714e-01 1.30600537e-02 1.62651286e+02] [-1.81622562e-01 9.83365692e-01 -2.27161322e-03 -2.30214045e+01] [-1.32554172e-02 -1.38370901e-04 9.99912134e-01 -5.24277967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.514203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.68, Y:-23.03, Z:-5.24 [[ 9.83390454e-01 1.81062006e-01 1.26398384e-02 1.62679689e+02] [-1.81048743e-01 9.83471674e-01 -2.19533981e-03 -2.30262731e+01] [-1.28284157e-02 -1.29550645e-04 9.99917704e-01 -5.24463171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.54420382200001 meters Centerline goodness [0,1] 0.9999571761985312 Centerline is valid? [True, True] Translation: X:162.71, Y:-23.03, Z:-5.24 [[ 9.83612129e-01 1.79874167e-01 1.23475986e-02 1.62707639e+02] [-1.79861423e-01 9.83689622e-01 -2.14404926e-03 -2.30335190e+01] [-1.25318637e-02 -1.11943793e-04 9.99921467e-01 -5.24472702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.57420382200002 meters Centerline goodness [0,1] 0.9999787541429421 Centerline is valid? [True, True] Translation: X:162.73, Y:-23.04, Z:-5.25 [[ 9.84257007e-01 1.76265670e-01 1.29829739e-02 1.62733868e+02] [-1.76251267e-01 9.84342628e-01 -2.25435393e-03 -2.30426087e+01] [-1.31770598e-02 -6.94019475e-05 9.99913176e-01 -5.24647119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.60420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.76, Y:-23.05, Z:-5.25 [[ 9.84655626e-01 1.74015215e-01 1.31149680e-02 1.62762004e+02] [-1.74000344e-01 9.84742963e-01 -2.27535682e-03 -2.30501917e+01] [-1.33108192e-02 -4.15660488e-05 9.99911406e-01 -5.24644940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.63420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.79, Y:-23.06, Z:-5.24 [[ 9.84997446e-01 1.72042340e-01 1.34709027e-02 1.62789851e+02] [-1.72026475e-01 9.85089556e-01 -2.33644512e-03 -2.30568478e+01] [-1.36720131e-02 -1.59594386e-05 9.99906534e-01 -5.24454243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.66420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.82, Y:-23.06, Z:-5.24 [[ 9.85592106e-01 1.68503068e-01 1.46600460e-02 1.62818222e+02] [-1.68483899e-01 9.85701129e-01 -2.54184322e-03 -2.30635287e+01] [-1.48787323e-02 3.52389022e-05 9.99889305e-01 -5.24179554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.69420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.85, Y:-23.07, Z:-5.24 [[ 9.85819968e-01 1.67140692e-01 1.49325396e-02 1.62845619e+02] [-1.67120653e-01 9.85933054e-01 -2.58868416e-03 -2.30695829e+01] [-1.51551589e-02 5.64407616e-05 9.99885152e-01 -5.24262984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.72420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.87, Y:-23.08, Z:-5.25 [[ 9.86027522e-01 1.65985609e-01 1.40891130e-02 1.62873026e+02] [-1.65967668e-01 9.86128173e-01 -2.44133292e-03 -2.30767078e+01] [-1.42988974e-02 6.88842126e-05 9.99897763e-01 -5.24516579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.754203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.90, Y:-23.09, Z:-5.25 [[ 9.86420728e-01 1.63700933e-01 1.32722015e-02 1.62899318e+02] [-1.63684815e-01 9.86510008e-01 -2.29905318e-03 -2.30881048e+01] [-1.34695168e-02 9.53758615e-05 9.99909277e-01 -5.25144896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.784203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.93, Y:-23.09, Z:-5.25 [[ 9.86538284e-01 1.62963041e-01 1.36110442e-02 1.62927181e+02] [-1.62946031e-01 9.86632168e-01 -2.35701663e-03 -2.30926874e+01] [-1.38132007e-02 1.07421513e-04 9.99904587e-01 -5.24948293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.814203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.96, Y:-23.10, Z:-5.25 [[ 9.86566330e-01 1.62867976e-01 1.26845732e-02 1.62955180e+02] [-1.62853201e-01 9.86647866e-01 -2.19600534e-03 -2.30965786e+01] [-1.28728660e-02 1.00781578e-04 9.99917136e-01 -5.25180466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.844203822 meters Centerline goodness [0,1] 0.9999783802481947 Centerline is valid? [True, True] Translation: X:162.98, Y:-23.10, Z:-5.25 [[ 9.86487088e-01 1.63438733e-01 1.14457771e-02 1.62983487e+02] [-1.63426758e-01 9.86553482e-01 -1.98017607e-03 -2.30995483e+01] [-1.16155088e-02 8.28718725e-05 9.99932534e-01 -5.25461026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.874203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.01, Y:-23.10, Z:-5.26 [[ 9.86332090e-01 1.64380469e-01 1.13167722e-02 1.63012043e+02] [-1.64368831e-01 9.86397007e-01 -1.95735392e-03 -2.31013951e+01] [-1.14845810e-02 7.04763578e-05 9.99934048e-01 -5.25515343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.904203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.04, Y:-23.10, Z:-5.26 [[ 9.86059355e-01 1.66084623e-01 1.01413623e-02 1.63039595e+02] [-1.66075362e-01 9.86111503e-01 -1.75449037e-03 -2.31033987e+01] [-1.02919079e-02 4.58012333e-05 9.99947036e-01 -5.25931244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.934203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.07, Y:-23.11, Z:-5.26 [[ 9.85950143e-01 1.66754662e-01 9.75695343e-03 1.63067909e+02] [-1.66746138e-01 9.85998419e-01 -1.68642431e-03 -2.31078954e+01] [-9.90155977e-03 3.57959899e-05 9.99950978e-01 -5.26131128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.964203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.10, Y:-23.11, Z:-5.26 [[ 9.85724717e-01 1.68067771e-01 1.00002867e-02 1.63096814e+02] [-1.68058889e-01 9.85775443e-01 -1.72798098e-03 -2.31121118e+01] [-1.01484550e-02 2.26764825e-05 9.99948503e-01 -5.26091843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.994203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.13, Y:-23.12, Z:-5.26 [[ 9.85644201e-01 1.68515747e-01 1.03899641e-02 1.63126079e+02] [-1.68506180e-01 9.85698962e-01 -1.79571030e-03 -2.31153250e+01] [-1.05439822e-02 1.91582888e-05 9.99944410e-01 -5.25903176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.024203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.15, Y:-23.12, Z:-5.26 [[ 9.85520882e-01 1.69225935e-01 1.05439065e-02 1.63154189e+02] [-1.69216142e-01 9.85577284e-01 -1.82057631e-03 -2.31176115e+01] [-1.06999234e-02 1.00168001e-05 9.99942754e-01 -5.26424460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.054203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.18, Y:-23.12, Z:-5.26 [[ 9.85431065e-01 1.69712041e-01 1.11103485e-02 1.63183670e+02] [-1.69701210e-01 9.85493695e-01 -1.91729931e-03 -2.31191525e+01] [-1.12745672e-02 3.92671607e-06 9.99936440e-01 -5.26267473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.084203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.21, Y:-23.12, Z:-5.26 [[ 9.85490774e-01 1.69339114e-01 1.14977660e-02 1.63212282e+02] [-1.69327497e-01 9.85557844e-01 -1.98356931e-03 -2.31249453e+01] [-1.16676094e-02 7.90131789e-06 9.99931931e-01 -5.26230197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.114203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.24, Y:-23.13, Z:-5.26 [[ 9.85599037e-01 1.68677885e-01 1.19293301e-02 1.63239588e+02] [-1.68665336e-01 9.85671229e-01 -2.05760214e-03 -2.31319029e+01] [-1.21054694e-02 1.59062218e-05 9.99926726e-01 -5.26443518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.144203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.27, Y:-23.14, Z:-5.27 [[ 9.85958312e-01 1.66581009e-01 1.17036039e-02 1.63266913e+02] [-1.66568793e-01 9.86027771e-01 -2.01776043e-03 -2.31415060e+01] [-1.18761991e-02 3.99724876e-05 9.99929475e-01 -5.26524269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.174203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.29, Y:-23.15, Z:-5.26 [[ 9.86177438e-01 1.65302535e-01 1.13636883e-02 1.63294642e+02] [-1.65290939e-01 9.86242906e-01 -1.95869460e-03 -2.31487574e+01] [-1.15311342e-02 5.33057074e-05 9.99933513e-01 -5.26485983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.204203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.32, Y:-23.16, Z:-5.26 [[ 9.86726519e-01 1.61955158e-01 1.18871395e-02 1.63321724e+02] [-1.61942234e-01 9.86798114e-01 -2.04828480e-03 -2.31611484e+01] [-1.20619372e-02 9.60670018e-05 9.99927248e-01 -5.26390442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.234203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.35, Y:-23.17, Z:-5.26 [[ 9.86982844e-01 1.60363335e-01 1.21847214e-02 1.63348549e+02] [-1.60349639e-01 9.87058046e-01 -2.09913359e-03 -2.31699568e+01] [-1.23636514e-02 1.17993157e-04 9.99923560e-01 -5.26451315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.264203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.38, Y:-23.18, Z:-5.26 [[ 9.87215911e-01 1.58913772e-01 1.22946740e-02 1.63376232e+02] [-1.58899728e-01 9.87292456e-01 -2.11709804e-03 -2.31776384e+01] [-1.24748750e-02 1.36412510e-04 9.99922176e-01 -5.26428852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.29420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.40, Y:-23.19, Z:-5.27 [[ 9.87368712e-01 1.57967231e-01 1.22221226e-02 1.63403207e+02] [-1.57953284e-01 9.87444344e-01 -2.10422066e-03 -2.31866579e+01] [-1.24010637e-02 1.47117246e-04 9.99923093e-01 -5.26723544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.32420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.43, Y:-23.20, Z:-5.27 [[ 9.87418195e-01 1.57619052e-01 1.27099837e-02 1.63430455e+02] [-1.57603954e-01 9.87499980e-01 -2.18711480e-03 -2.31963595e+01] [-1.28958396e-02 1.56453255e-04 9.99916833e-01 -5.26589085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.35420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.46, Y:-23.20, Z:-5.27 [[ 9.87301242e-01 1.58341133e-01 1.28196099e-02 1.63456992e+02] [-1.58325841e-01 9.87384456e-01 -2.20554129e-03 -2.32033064e+01] [-1.30071114e-02 1.47858140e-04 9.99915393e-01 -5.26767916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.38420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.49, Y:-23.21, Z:-5.27 [[ 9.86781243e-01 1.61549171e-01 1.28313437e-02 1.63485768e+02] [-1.61534135e-01 9.86864659e-01 -2.20657823e-03 -2.32056692e+01] [-1.30192705e-02 1.04710005e-04 9.99915240e-01 -5.26617746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.41420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.51, Y:-23.21, Z:-5.27 [[ 9.86428477e-01 1.63753825e-01 1.19809921e-02 1.63512553e+02] [-1.63740876e-01 9.86501232e-01 -2.06052336e-03 -2.32080117e+01] [-1.21566820e-02 7.07807791e-05 9.99926102e-01 -5.26930934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.44420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.54, Y:-23.20, Z:-5.27 [[ 9.85510937e-01 1.69245781e-01 1.11381730e-02 1.63541605e+02] [-1.69234951e-01 9.85573876e-01 -1.91460974e-03 -2.32048419e+01] [-1.13015319e-02 1.90068037e-06 9.99936136e-01 -5.26845643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.47420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.57, Y:-23.21, Z:-5.27 [[ 9.85071640e-01 1.71765804e-01 1.14180848e-02 1.63568957e+02] [-1.71754600e-01 9.85137812e-01 -1.96201839e-03 -2.32064684e+01] [-1.15853947e-02 -2.83799177e-05 9.99932887e-01 -5.27036938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.504203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.60, Y:-23.21, Z:-5.28 [[ 9.84695974e-01 1.73924821e-01 1.11353317e-02 1.63597154e+02] [-1.73914314e-01 9.84758932e-01 -1.91252542e-03 -2.32084995e+01] [-1.12982530e-02 -5.33374835e-05 9.99936171e-01 -5.27503431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.534203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.63, Y:-23.21, Z:-5.28 [[ 9.84361447e-01 1.75835174e-01 1.07019778e-02 1.63625690e+02] [-1.75825601e-01 9.84419619e-01 -1.83634650e-03 -2.32117359e+01] [-1.08581312e-02 -7.40529846e-05 9.99941046e-01 -5.27667511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.564203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.65, Y:-23.21, Z:-5.28 [[ 9.83800133e-01 1.78968690e-01 1.03685556e-02 1.63654614e+02] [-1.78959882e-01 9.83854764e-01 -1.77872417e-03 -2.32145205e+01] [-1.05194888e-02 -1.05646411e-04 9.99944663e-01 -5.27559786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.594203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.68, Y:-23.22, Z:-5.28 [[ 9.83592659e-01 1.80104548e-01 1.03842964e-02 1.63682720e+02] [-1.80095779e-01 9.83647466e-01 -1.78114355e-03 -2.32166629e+01] [-1.05352789e-02 -1.18248235e-04 9.99944495e-01 -5.27873915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.624203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.71, Y:-23.22, Z:-5.28 [[ 9.83225902e-01 1.82045640e-01 1.12343094e-02 1.63711573e+02] [-1.82035516e-01 9.83290070e-01 -1.92582001e-03 -2.32202985e+01] [-1.13971720e-02 -1.51527191e-04 9.99935039e-01 -5.27761411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.654203822 meters Centerline goodness [0,1] 0.9999785858066726 Centerline is valid? [True, True] Translation: X:163.74, Y:-23.23, Z:-5.28 [[ 9.83116460e-01 1.82606246e-01 1.17040480e-02 1.63738824e+02] [-1.82595300e-01 9.83186112e-01 -2.00619532e-03 -2.32254073e+01] [-1.18736013e-02 -1.64780513e-04 9.99929493e-01 -5.27603172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.684203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.77, Y:-23.23, Z:-5.28 [[ 9.82993926e-01 1.83230955e-01 1.22212418e-02 1.63765562e+02] [-1.83219078e-01 9.83069878e-01 -2.09404196e-03 -2.32274347e+01] [-1.23980280e-02 -1.80734135e-04 9.99923125e-01 -5.27708483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.714203822 meters Centerline goodness [0,1] 0.9999785683669096 Centerline is valid? [True, True] Translation: X:163.79, Y:-23.23, Z:-5.28 [[ 9.83020960e-01 1.83089283e-01 1.21698804e-02 1.63793653e+02] [-1.83077510e-01 9.83096273e-01 -2.08395590e-03 -2.32305503e+01] [-1.23457141e-02 -1.79459081e-04 9.99923773e-01 -5.27848205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.744203822 meters Centerline goodness [0,1] 0.9999787138934417 Centerline is valid? [True, True] Translation: X:163.82, Y:-23.24, Z:-5.28 [[ 9.83221444e-01 1.82001684e-01 1.22873536e-02 1.63821927e+02] [-1.81989615e-01 9.83298204e-01 -2.10268071e-03 -2.32363688e+01] [-1.24648242e-02 -1.68769997e-04 9.99922297e-01 -5.27918192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.774203822 meters Centerline goodness [0,1] 0.999978700291806 Centerline is valid? [True, True] Translation: X:163.85, Y:-23.24, Z:-5.28 [[ 9.83518431e-01 1.80364277e-01 1.26579134e-02 1.63849551e+02] [-1.80351343e-01 9.83599870e-01 -2.16541216e-03 -2.32428997e+01] [-1.28408849e-02 -1.53148896e-04 9.99917541e-01 -5.28024755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.804203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.88, Y:-23.25, Z:-5.28 [[ 9.84297233e-01 1.75996697e-01 1.35690939e-02 1.63876590e+02] [-1.75981426e-01 9.84390752e-01 -2.32070004e-03 -2.32513891e+01] [-1.37657260e-02 -1.03649857e-04 9.99905243e-01 -5.27947097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.834203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.90, Y:-23.26, Z:-5.28 [[ 9.84656379e-01 1.73949883e-01 1.39015336e-02 1.63903711e+02] [-1.73933664e-01 9.84754503e-01 -2.37664862e-03 -2.32578727e+01] [-1.41030156e-02 -7.77624491e-05 9.99900545e-01 -5.28063279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.864203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.93, Y:-23.27, Z:-5.28 [[ 9.85311914e-01 1.70163463e-01 1.43118073e-02 1.63930809e+02] [-1.70145889e-01 9.85415849e-01 -2.44567724e-03 -2.32702126e+01] [-1.45192466e-02 -2.53402533e-05 9.99894590e-01 -5.28013832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.894203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.96, Y:-23.28, Z:-5.28 [[ 9.85563988e-01 1.68713985e-01 1.41144054e-02 1.63958428e+02] [-1.68696747e-01 9.85665050e-01 -2.41172749e-03 -2.32771652e+01] [-1.43189683e-02 -4.14250987e-06 9.99897478e-01 -5.27833815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.924203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.98, Y:-23.28, Z:-5.28 [[ 9.85757443e-01 1.67583416e-01 1.40734560e-02 1.63984622e+02] [-1.67566175e-01 9.85857900e-01 -2.40386966e-03 -2.32814762e+01] [-1.42772765e-02 1.13972201e-05 9.99898074e-01 -5.28044500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.954203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.01, Y:-23.29, Z:-5.28 [[ 9.85944009e-01 1.66491863e-01 1.39596376e-02 1.64013248e+02] [-1.66474816e-01 9.86042828e-01 -2.38261411e-03 -2.32854013e+01] [-1.41614864e-02 2.51960078e-05 9.99899721e-01 -5.28059979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.984203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.04, Y:-23.29, Z:-5.28 [[ 9.86021065e-01 1.66064967e-01 1.35972848e-02 1.64041171e+02] [-1.66048761e-01 9.86114814e-01 -2.32014219e-03 -2.32902589e+01] [-1.37937783e-02 2.98967871e-05 9.99904861e-01 -5.28151996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.014203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.07, Y:-23.29, Z:-5.28 [[ 9.86079612e-01 1.65736652e-01 1.33551645e-02 1.64069331e+02] [-1.65720997e-01 9.86170047e-01 -2.27818057e-03 -2.32948280e+01] [-1.35480412e-02 3.32362396e-05 9.99908221e-01 -5.28255326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.04420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.10, Y:-23.30, Z:-5.28 [[ 9.86318361e-01 1.64172501e-01 1.49492648e-02 1.64096196e+02] [-1.64152714e-01 9.86431643e-01 -2.54955110e-03 -2.33006482e+01] [-1.51649941e-02 6.07066637e-05 9.99885003e-01 -5.28404888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.07420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.12, Y:-23.31, Z:-5.28 [[ 9.86572874e-01 1.62619708e-01 1.51259587e-02 1.64124373e+02] [-1.62599291e-01 9.86688818e-01 -2.57813659e-03 -2.33076158e+01] [-1.53438701e-02 8.40494646e-05 9.99882272e-01 -5.28317167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.10420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.15, Y:-23.31, Z:-5.28 [[ 9.86844777e-01 1.60950870e-01 1.52382104e-02 1.64152028e+02] [-1.60929962e-01 9.86962413e-01 -2.59653745e-03 -2.33143467e+01] [-1.54574559e-02 1.10094795e-04 9.99880520e-01 -5.28301087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.13420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.18, Y:-23.33, Z:-5.28 [[ 9.87441747e-01 1.57163362e-01 1.60771355e-02 1.64177823e+02] [-1.57139598e-01 9.87572603e-01 -2.73877562e-03 -2.33257713e+01] [-1.63077738e-02 1.78026768e-04 9.99867004e-01 -5.28499059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.16420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.21, Y:-23.33, Z:-5.28 [[ 9.87702680e-01 1.55468390e-01 1.65225488e-02 1.64206259e+02] [-1.55443075e-01 9.87840845e-01 -2.81339549e-03 -2.33330336e+01] [-1.67590426e-02 2.10482485e-04 9.99859535e-01 -5.28395974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.19420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.23, Y:-23.34, Z:-5.29 [[ 9.87903161e-01 1.54248150e-01 1.59641200e-02 1.64232614e+02] [-1.54224364e-01 9.88032114e-01 -2.71786097e-03 -2.33419207e+01] [-1.61922882e-02 2.22927187e-04 9.99868871e-01 -5.28604680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.22420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.26, Y:-23.35, Z:-5.29 [[ 9.88126501e-01 1.52984933e-01 1.41996085e-02 1.64261106e+02] [-1.52966006e-01 9.88228498e-01 -2.41603534e-03 -2.33517029e+01] [-1.44020748e-02 2.15291155e-04 9.99896262e-01 -5.28783342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.254203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.29, Y:-23.36, Z:-5.29 [[ 9.88131441e-01 1.52966632e-01 1.40522240e-02 1.64287518e+02] [-1.52948090e-01 9.88231331e-01 -2.39121144e-03 -2.33591149e+01] [-1.42526236e-02 2.13570378e-04 9.99898403e-01 -5.29083724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.284203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.32, Y:-23.36, Z:-5.29 [[ 9.88138599e-01 1.52920366e-01 1.40524053e-02 1.64315454e+02] [-1.52901834e-01 9.88238492e-01 -2.39014576e-03 -2.33637755e+01] [-1.42526297e-02 2.13156749e-04 9.99898403e-01 -5.29170218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.314203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.34, Y:-23.37, Z:-5.29 [[ 9.88114841e-01 1.53116763e-01 1.35763585e-02 1.64343705e+02] [-1.53099493e-01 9.88208083e-01 -2.30857074e-03 -2.33689159e+01] [-1.37697481e-02 2.02599414e-04 9.99905172e-01 -5.29338986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.344203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.37, Y:-23.37, Z:-5.29 [[ 9.87902906e-01 1.54517166e-01 1.31260936e-02 1.64371843e+02] [-1.54501153e-01 9.87990088e-01 -2.23142262e-03 -2.33747372e+01] [-1.33132434e-02 1.76432300e-04 9.99911359e-01 -5.29476202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.374203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.40, Y:-23.38, Z:-5.30 [[ 9.87712614e-01 1.55731438e-01 1.30962108e-02 1.64399484e+02] [-1.55715611e-01 9.87799420e-01 -2.22591602e-03 -2.33800100e+01] [-1.32830745e-02 1.59280881e-04 9.99911763e-01 -5.29616129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.404203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.43, Y:-23.38, Z:-5.30 [[ 9.87154380e-01 1.59164979e-01 1.38830798e-02 1.64428441e+02] [-1.59147548e-01 9.87251992e-01 -2.35851865e-03 -2.33838450e+01] [-1.40814917e-02 1.18763902e-04 9.99900844e-01 -5.29545844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.434203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.46, Y:-23.39, Z:-5.30 [[ 9.86830543e-01 1.61114852e-01 1.44043091e-02 1.64456565e+02] [-1.61096306e-01 9.86935659e-01 -2.44632716e-03 -2.33879352e+01] [-1.46102660e-02 9.36293718e-05 9.99893260e-01 -5.29560234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.464203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.48, Y:-23.39, Z:-5.30 [[ 9.86513071e-01 1.63035430e-01 1.45399551e-02 1.64483942e+02] [-1.63016749e-01 9.86620213e-01 -2.46883852e-03 -2.33925012e+01] [-1.47479218e-02 6.52852611e-05 9.99891241e-01 -5.29670563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.494203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.51, Y:-23.40, Z:-5.30 [[ 9.86206194e-01 1.64891662e-01 1.44250551e-02 1.64512663e+02] [-1.64873489e-01 9.86311684e-01 -2.44831212e-03 -2.33967630e+01] [-1.46313066e-02 3.62314099e-05 9.99892956e-01 -5.29644257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.524203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.54, Y:-23.40, Z:-5.30 [[ 9.85373872e-01 1.69829984e-01 1.40039135e-02 1.64541463e+02] [-1.69813363e-01 9.85473376e-01 -2.37624159e-03 -2.33974235e+01] [-1.42040410e-02 -3.65652714e-05 9.99899117e-01 -5.29545367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.554203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.57, Y:-23.39, Z:-5.30 [[ 9.84375219e-01 1.75615120e-01 1.28358113e-02 1.64569783e+02] [-1.75601647e-01 9.84458896e-01 -2.17808197e-03 -2.33947347e+01] [-1.30188327e-02 -1.09939685e-04 9.99915245e-01 -5.30157229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.584203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.60, Y:-23.40, Z:-5.30 [[ 9.83855227e-01 1.78524292e-01 1.25685626e-02 1.64598890e+02] [-1.78511633e-01 9.83935494e-01 -2.13107511e-03 -2.33958402e+01] [-1.27471035e-02 -1.46965245e-04 9.99918742e-01 -5.30268286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.614203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.63, Y:-23.40, Z:-5.30 [[ 9.83378908e-01 1.81095661e-01 1.30492950e-02 1.64627888e+02] [-1.81082250e-01 9.83465468e-01 -2.21190644e-03 -2.33976792e+01] [-1.32340977e-02 -1.87853554e-04 9.99912408e-01 -5.30199273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.644203822 meters Centerline goodness [0,1] 0.999852186582765 Centerline is valid? [True, True] Translation: X:164.66, Y:-23.40, Z:-5.30 [[ 9.82546897e-01 1.85402839e-01 1.50792231e-02 1.64655888e+02] [-1.85385450e-01 9.82662560e-01 -2.55519876e-03 -2.33975574e+01] [-1.52915291e-02 -2.84865938e-04 9.99883037e-01 -5.30003095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.674203822 meters Centerline goodness [0,1] 0.9999784862957704 Centerline is valid? [True, True] Translation: X:164.68, Y:-23.40, Z:-5.30 [[ 9.82322848e-01 1.86574148e-01 1.52285787e-02 1.64683563e+02] [-1.86556567e-01 9.82440834e-01 -2.57960834e-03 -2.34038560e+01] [-1.54424658e-02 -3.06983136e-04 9.99880711e-01 -5.29856918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.704203822 meters Centerline goodness [0,1] 0.9999152272968104 Centerline is valid? [True, True] Translation: X:164.71, Y:-23.40, Z:-5.30 [[ 9.82232634e-01 1.87049780e-01 1.52129202e-02 1.64711608e+02] [-1.87032307e-01 9.82350386e-01 -2.57598417e-03 -2.34036104e+01] [-1.54262553e-02 -3.15091836e-04 9.99880959e-01 -5.30299113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.734203822 meters Centerline goodness [0,1] 0.9998934469898775 Centerline is valid? [True, True] Translation: X:164.74, Y:-23.41, Z:-5.30 [[ 9.82322221e-01 1.86604626e-01 1.48918500e-02 1.64739259e+02] [-1.86587848e-01 9.82435047e-01 -2.52049659e-03 -2.34122301e+01] [-1.51006117e-02 -3.02698434e-04 9.99885933e-01 -5.30299147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.764203822 meters Centerline goodness [0,1] 0.9999575839837123 Centerline is valid? [True, True] Translation: X:164.77, Y:-23.42, Z:-5.30 [[ 9.82545029e-01 1.85418459e-01 1.50087199e-02 1.64767385e+02] [-1.85401289e-01 9.82659612e-01 -2.53954252e-03 -2.34194364e+01] [-1.52193409e-02 -2.87421144e-04 9.99884138e-01 -5.30342340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.79420382200001 meters Centerline goodness [0,1] 0.9999787726336793 Centerline is valid? [True, True] Translation: X:164.79, Y:-23.43, Z:-5.30 [[ 9.83383197e-01 1.80829747e-01 1.60652141e-02 1.64794738e+02] [-1.80809483e-01 9.83514386e-01 -2.71707679e-03 -2.34331520e+01] [-1.62916975e-02 -2.32815411e-04 9.99867254e-01 -5.30384689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.82420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.82, Y:-23.45, Z:-5.30 [[ 9.83925989e-01 1.77814782e-01 1.64787951e-02 1.64822023e+02] [-1.77793040e-01 9.84063955e-01 -2.78695339e-03 -2.34461157e+01] [-1.67117498e-02 -1.87659196e-04 9.99860331e-01 -5.30232214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.85420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.85, Y:-23.46, Z:-5.30 [[ 9.84508993e-01 1.74565783e-01 1.63960528e-02 1.64848238e+02] [-1.74543818e-01 9.84645505e-01 -2.77231829e-03 -2.34569254e+01] [-1.66282516e-02 -1.32457354e-04 9.99861732e-01 -5.30388300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.88420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.87, Y:-23.47, Z:-5.30 [[ 9.85603407e-01 1.68266154e-01 1.65053418e-02 1.64873998e+02] [-1.68243031e-01 9.85741599e-01 -2.78958852e-03 -2.34745214e+01] [-1.67393953e-02 -2.74807803e-05 9.99859886e-01 -5.30410812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.91420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.90, Y:-23.48, Z:-5.30 [[ 9.86072027e-01 1.65495329e-01 1.65303894e-02 1.64900871e+02] [-1.65471763e-01 9.86210574e-01 -2.79284336e-03 -2.34849165e+01] [-1.67646473e-02 1.86320389e-05 9.99859463e-01 -5.30445859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.94420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.93, Y:-23.49, Z:-5.30 [[ 9.86414335e-01 1.63466638e-01 1.62916505e-02 1.64929544e+02] [-1.63443483e-01 9.86548861e-01 -2.75178993e-03 -2.34944980e+01] [-1.65223351e-02 5.16409322e-05 9.99863496e-01 -5.30375934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.97420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.96, Y:-23.51, Z:-5.31 [[ 9.86766324e-01 1.61512279e-01 1.43529058e-02 1.64958577e+02] [-1.61494110e-01 9.86870700e-01 -2.42365595e-03 -2.35069556e+01] [-1.45559124e-02 7.36723202e-05 9.99894054e-01 -5.30764399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.004203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.99, Y:-23.51, Z:-5.31 [[ 9.86669333e-01 1.62133858e-01 1.40085603e-02 1.64986582e+02] [-1.62116605e-01 9.86768771e-01 -2.36611092e-03 -2.35131695e+01] [-1.42068365e-02 6.35488474e-05 9.99899076e-01 -5.31129769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.034203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.01, Y:-23.52, Z:-5.31 [[ 9.86243584e-01 1.64697903e-01 1.40781513e-02 1.65014624e+02] [-1.64680746e-01 9.86344058e-01 -2.37730966e-03 -2.35164415e+01] [-1.42774388e-02 2.62059425e-05 9.99898072e-01 -5.31217817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.064203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.04, Y:-23.52, Z:-5.31 [[ 9.86013103e-01 1.66049357e-01 1.43447725e-02 1.65044122e+02] [-1.66031698e-01 9.86117443e-01 -2.42162289e-03 -2.35207309e+01] [-1.45477393e-02 6.06496609e-06 9.99894176e-01 -5.31071631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.094203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.07, Y:-23.52, Z:-5.31 [[ 9.85823520e-01 1.67162759e-01 1.44429994e-02 1.65072606e+02] [-1.67144979e-01 9.85929314e-01 -2.43803231e-03 -2.35248271e+01] [-1.46473247e-02 -1.06052435e-05 9.99892722e-01 -5.31244658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.124203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.10, Y:-23.53, Z:-5.31 [[ 9.85556301e-01 1.68686587e-01 1.49537161e-02 1.65102495e+02] [-1.68667715e-01 9.85669739e-01 -2.52346448e-03 -2.35281811e+01] [-1.51651001e-02 -3.51928059e-05 9.99885003e-01 -5.31070801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.154203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.13, Y:-23.53, Z:-5.31 [[ 9.85534444e-01 1.68815662e-01 1.49376276e-02 1.65130490e+02] [-1.68796848e-01 9.85647640e-01 -2.52056193e-03 -2.35339384e+01] [-1.51487478e-02 -3.73238694e-05 9.99885250e-01 -5.31332142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.184203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.16, Y:-23.54, Z:-5.31 [[ 9.85589946e-01 1.68514056e-01 1.46789632e-02 1.65159341e+02] [-1.68495865e-01 9.85699250e-01 -2.47617657e-03 -2.35414093e+01] [-1.48863136e-02 -3.28498776e-05 9.99889192e-01 -5.31466830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.214203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.19, Y:-23.55, Z:-5.32 [[ 9.85733882e-01 1.67737335e-01 1.38888816e-02 1.65188067e+02] [-1.67720977e-01 9.85831723e-01 -2.34261198e-03 -2.35506123e+01] [-1.40850436e-02 -2.02647981e-05 9.99900801e-01 -5.31538173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.244203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.22, Y:-23.56, Z:-5.32 [[ 9.85784652e-01 1.67463571e-01 1.35857642e-02 1.65216024e+02] [-1.67447897e-01 9.85878264e-01 -2.29117686e-03 -2.35571216e+01] [-1.37775983e-02 -1.63006560e-05 9.99905084e-01 -5.31796678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.274203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.24, Y:-23.57, Z:-5.32 [[ 9.85817278e-01 1.67247961e-01 1.38713529e-02 1.65244891e+02] [-1.67231606e-01 9.85914864e-01 -2.33896132e-03 -2.35656789e+01] [-1.40671595e-02 -1.39401422e-05 9.99901053e-01 -5.31653670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.304203822 meters Centerline goodness [0,1] 0.9999788063750424 Centerline is valid? [True, True] Translation: X:165.27, Y:-23.57, Z:-5.32 [[ 9.85809308e-01 1.67258486e-01 1.43041066e-02 1.65272648e+02] [-1.67241098e-01 9.85913079e-01 -2.41174372e-03 -2.35706917e+01] [-1.45059904e-02 -1.47150927e-05 9.99894782e-01 -5.32035009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.334203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.30, Y:-23.58, Z:-5.32 [[ 9.85764849e-01 1.67526995e-01 1.42256110e-02 1.65302263e+02] [-1.67509836e-01 9.85867489e-01 -2.39778177e-03 -2.35759250e+01] [-1.44262606e-02 -1.92807786e-05 9.99895936e-01 -5.31734943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.364203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.33, Y:-23.58, Z:-5.32 [[ 9.85659447e-01 1.68156464e-01 1.41017293e-02 1.65330926e+02] [-1.68139669e-01 9.85760317e-01 -2.37675300e-03 -2.35805319e+01] [-1.43005915e-02 -2.83910512e-05 9.99897741e-01 -5.31976693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.394203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.36, Y:-23.58, Z:-5.32 [[ 9.85285806e-01 1.70356418e-01 1.38047277e-02 1.65359553e+02] [-1.70340548e-01 9.85382508e-01 -2.32602504e-03 -2.35845480e+01] [-1.39991905e-02 -5.97054361e-05 9.99902005e-01 -5.32145732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.424203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.39, Y:-23.59, Z:-5.32 [[ 9.85010464e-01 1.71956256e-01 1.36173382e-02 1.65389467e+02] [-1.71940973e-01 9.85104583e-01 -2.29407043e-03 -2.35874359e+01] [-1.38089820e-02 -8.16949885e-05 9.99904648e-01 -5.32124134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.454203822 meters Centerline goodness [0,1] 0.9999787396887491 Centerline is valid? [True, True] Translation: X:165.42, Y:-23.59, Z:-5.33 [[ 9.84728530e-01 1.73586342e-01 1.33230663e-02 1.65418063e+02] [-1.73571862e-01 9.84818649e-01 -2.24438608e-03 -2.35874194e+01] [-1.35103990e-02 -1.02398427e-04 9.99908725e-01 -5.32534219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.484203822 meters Centerline goodness [0,1] 0.9999787523372429 Centerline is valid? [True, True] Translation: X:165.45, Y:-23.59, Z:-5.33 [[ 9.84374204e-01 1.75639903e-01 1.25718781e-02 1.65446780e+02] [-1.75627179e-01 9.84454473e-01 -2.11764972e-03 -2.35902295e+01] [-1.27483854e-02 -1.23403738e-04 9.99918728e-01 -5.32635063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.514203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.47, Y:-23.60, Z:-5.33 [[ 9.84329464e-01 1.75937307e-01 1.18982976e-02 1.65474631e+02] [-1.75925938e-01 9.84401366e-01 -2.00373430e-03 -2.35961811e+01] [-1.20652320e-02 -1.20884450e-04 9.99927205e-01 -5.32622180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.54420382200001 meters Centerline goodness [0,1] 0.9999787292876439 Centerline is valid? [True, True] Translation: X:165.50, Y:-23.60, Z:-5.33 [[ 9.84373230e-01 1.75746463e-01 1.10690812e-02 1.65502227e+02] [-1.75736614e-01 9.84435457e-01 -1.86387160e-03 -2.35987988e+01] [-1.12243648e-02 -1.10497531e-04 9.99936999e-01 -5.33071624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.57420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.53, Y:-23.61, Z:-5.33 [[ 9.84459890e-01 1.75259445e-01 1.10838688e-02 1.65530247e+02] [-1.75249549e-01 9.84522278e-01 -1.86544063e-03 -2.36052970e+01] [-1.12392519e-02 -1.05991532e-04 9.99936832e-01 -5.32892521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.60420382200002 meters Centerline goodness [0,1] 0.9999359124991989 Centerline is valid? [True, True] Translation: X:165.56, Y:-23.61, Z:-5.33 [[ 9.84596766e-01 1.74441816e-01 1.18009311e-02 1.65557275e+02] [-1.74430545e-01 9.84667478e-01 -1.98568882e-03 -2.36097649e+01] [-1.19663802e-02 -1.03340046e-04 9.99928395e-01 -5.33212542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.63420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.59, Y:-23.62, Z:-5.33 [[ 9.84973243e-01 1.72262363e-01 1.23850316e-02 1.65585715e+02] [-1.72249796e-01 9.85051101e-01 -2.08234528e-03 -2.36194091e+01] [-1.25585988e-02 -8.22647959e-05 9.99921134e-01 -5.32987269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.66420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.61, Y:-23.63, Z:-5.33 [[ 9.85173895e-01 1.71124955e-01 1.21920355e-02 1.65614523e+02] [-1.71112694e-01 9.85249332e-01 -2.04960781e-03 -2.36262999e+01] [-1.23629339e-02 -6.69919273e-05 9.99923574e-01 -5.33085007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.69420382200002 meters Centerline goodness [0,1] 0.9999786794021704 Centerline is valid? [True, True] Translation: X:165.64, Y:-23.63, Z:-5.33 [[ 9.85358197e-01 1.70091383e-01 1.17534894e-02 1.65642671e+02] [-1.70079914e-01 9.85428292e-01 -1.97584209e-03 -2.36329906e+01] [-1.19182947e-02 -5.21202722e-05 9.99928973e-01 -5.33423832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.72420382200002 meters Centerline goodness [0,1] 0.9999788193929638 Centerline is valid? [True, True] Translation: X:165.67, Y:-23.64, Z:-5.33 [[ 9.85675738e-01 1.68208089e-01 1.22220350e-02 1.65671367e+02] [-1.68195553e-01 9.85751509e-01 -2.05387381e-03 -2.36429694e+01] [-1.23933676e-02 -3.12383484e-05 9.99923199e-01 -5.33462991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.754203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.70, Y:-23.65, Z:-5.33 [[ 9.85739025e-01 1.67792531e-01 1.28156844e-02 1.65700716e+02] [-1.67778715e-01 9.85822330e-01 -2.15330201e-03 -2.36482517e+01] [-1.29952959e-02 -2.76052537e-05 9.99915557e-01 -5.33230751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.784203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.73, Y:-23.65, Z:-5.33 [[ 9.85802775e-01 1.67456197e-01 1.23008631e-02 1.65730500e+02] [-1.67443447e-01 9.85879517e-01 -2.06652260e-03 -2.36516991e+01] [-1.24732210e-02 -2.25152044e-05 9.99922206e-01 -5.33382523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.814203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.76, Y:-23.66, Z:-5.34 [[ 9.85785322e-01 1.67566687e-01 1.21944221e-02 1.65758603e+02] [-1.67554166e-01 9.85860743e-01 -2.04856248e-03 -2.36566342e+01] [-1.23652729e-02 -2.37834033e-05 9.99923547e-01 -5.33746720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.844203822 meters Centerline goodness [0,1] 0.9998928831569476 Centerline is valid? [True, True] Translation: X:165.79, Y:-23.66, Z:-5.34 [[ 9.85713506e-01 1.67998774e-01 1.20538977e-02 1.65788189e+02] [-1.67986580e-01 9.85787204e-01 -2.02428935e-03 -2.36624654e+01] [-1.22226563e-02 -2.95237101e-05 9.99925300e-01 -5.33638715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.874203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.82, Y:-23.67, Z:-5.34 [[ 9.85570471e-01 1.68785993e-01 1.27332650e-02 1.65816084e+02] [-1.68772454e-01 9.85652721e-01 -2.13823399e-03 -2.36674039e+01] [-1.29114812e-02 -4.16440896e-05 9.99916642e-01 -5.33637482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.904203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.85, Y:-23.67, Z:-5.34 [[ 9.85534781e-01 1.68996968e-01 1.26972703e-02 1.65845670e+02] [-1.68983532e-01 9.85616570e-01 -2.13149533e-03 -2.36723750e+01] [-1.28748563e-02 -4.49668038e-05 9.99917115e-01 -5.33751893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.934203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.88, Y:-23.68, Z:-5.34 [[ 9.85697681e-01 1.68078185e-01 1.22395411e-02 1.65875182e+02] [-1.68065637e-01 9.85773667e-01 -2.05395490e-03 -2.36816610e+01] [-1.24106423e-02 -3.24676957e-05 9.99922984e-01 -5.33999097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.964203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.91, Y:-23.69, Z:-5.34 [[ 9.85825257e-01 1.67348129e-01 1.19651872e-02 1.65905040e+02] [-1.67336084e-01 9.85897867e-01 -2.00791474e-03 -2.36893332e+01] [-1.21324733e-02 -2.27545171e-05 9.99926399e-01 -5.34057152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.994203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.93, Y:-23.70, Z:-5.34 [[ 9.85932710e-01 1.66676220e-01 1.24791405e-02 1.65934452e+02] [-1.66663065e-01 9.86011682e-01 -2.09416280e-03 -2.36961038e+01] [-1.26536254e-02 -1.51081848e-05 9.99919940e-01 -5.33929296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.024203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.96, Y:-23.71, Z:-5.34 [[ 9.86155656e-01 1.65241452e-01 1.38667070e-02 1.65963239e+02] [-1.65225069e-01 9.86253143e-01 -2.32681188e-03 -2.37060404e+01] [-1.40605691e-02 3.47107732e-06 9.99901145e-01 -5.33972075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.054203822 meters Centerline goodness [0,1] 0.999913976644659 Centerline is valid? [True, True] Translation: X:165.99, Y:-23.71, Z:-5.34 [[ 9.86278345e-01 1.64541813e-01 1.34542990e-02 1.65993716e+02] [-1.64526325e-01 9.86370109e-01 -2.25756931e-03 -2.37148925e+01] [-1.36423829e-02 1.30053526e-05 9.99906938e-01 -5.34102072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.084203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.02, Y:-23.72, Z:-5.34 [[ 9.86279797e-01 1.64527387e-01 1.35240763e-02 1.66024722e+02] [-1.64511767e-01 9.86372515e-01 -2.26709114e-03 -2.37237453e+01] [-1.37127757e-02 1.11165051e-05 9.99905975e-01 -5.33963985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.114203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.06, Y:-23.73, Z:-5.34 [[ 9.86134887e-01 1.65316634e-01 1.44358808e-02 1.66055164e+02] [-1.65298876e-01 9.86240544e-01 -2.42305985e-03 -2.37333695e+01] [-1.46378230e-02 3.22898516e-06 9.99892861e-01 -5.33994990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.144203822 meters Centerline goodness [0,1] 0.9999576997102431 Centerline is valid? [True, True] Translation: X:166.09, Y:-23.74, Z:-5.34 [[ 9.85937309e-01 1.66470928e-01 1.46646806e-02 1.66085403e+02] [-1.66452692e-01 9.86046363e-01 -2.46401569e-03 -2.37393862e+01] [-1.48702419e-02 -1.16105583e-05 9.99889432e-01 -5.34266792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.174203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.12, Y:-23.74, Z:-5.34 [[ 9.85448757e-01 1.69236566e-01 1.58029114e-02 1.66117052e+02] [-1.69215703e-01 9.85575457e-01 -2.65788838e-03 -2.37445034e+01] [-1.60247735e-02 -5.48879549e-05 9.99871594e-01 -5.33790661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.204203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.15, Y:-23.75, Z:-5.34 [[ 9.85416262e-01 1.69425708e-01 1.58025216e-02 1.66149062e+02] [-1.69404831e-01 9.85542960e-01 -2.66020330e-03 -2.37500935e+01] [-1.60247707e-02 -5.56159106e-05 9.99871594e-01 -5.33889925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.234203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.18, Y:-23.75, Z:-5.34 [[ 9.85171525e-01 1.70805236e-01 1.62060743e-02 1.66179906e+02] [-1.70783402e-01 9.85304808e-01 -2.73201601e-03 -2.37542030e+01] [-1.64345655e-02 -7.62241243e-05 9.99864941e-01 -5.33986413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.264203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.21, Y:-23.76, Z:-5.34 [[ 9.84960823e-01 1.72022495e-01 1.61381079e-02 1.66211942e+02] [-1.72000969e-01 9.85093017e-01 -2.72290713e-03 -2.37589937e+01] [-1.63659386e-02 -9.38133494e-05 9.99866065e-01 -5.34007003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.29420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.24, Y:-23.76, Z:-5.34 [[ 9.84593098e-01 1.74178251e-01 1.54392089e-02 1.66242624e+02] [-1.74158773e-01 9.84714132e-01 -2.60763761e-03 -2.37640867e+01] [-1.56574009e-02 -1.21411681e-04 9.99877408e-01 -5.34297993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.32420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.27, Y:-23.77, Z:-5.35 [[ 9.84409204e-01 1.75225258e-01 1.53175978e-02 1.66273034e+02] [-1.75206159e-01 9.84528360e-01 -2.59050182e-03 -2.37706787e+01] [-1.55345308e-02 -1.33623645e-04 9.99879323e-01 -5.34527168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.35420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.30, Y:-23.78, Z:-5.35 [[ 9.84135115e-01 1.76802241e-01 1.48001324e-02 1.66302947e+02] [-1.76784584e-01 9.84246384e-01 -2.50334177e-03 -2.37795910e+01] [-1.50095733e-02 -1.52808712e-04 9.99887338e-01 -5.34762474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.38420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.33, Y:-23.79, Z:-5.35 [[ 9.83989292e-01 1.77624522e-01 1.46492951e-02 1.66334107e+02] [-1.77607283e-01 9.84098320e-01 -2.47987214e-03 -2.37860695e+01] [-1.48568328e-02 -1.61653874e-04 9.99889618e-01 -5.34784786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.41420382200002 meters Centerline goodness [0,1] 0.9999783998617591 Centerline is valid? [True, True] Translation: X:166.37, Y:-23.79, Z:-5.35 [[ 9.83763424e-01 1.78884052e-01 1.44920973e-02 1.66366278e+02] [-1.78867283e-01 9.83870146e-01 -2.45564108e-03 -2.37914770e+01] [-1.46976169e-02 -1.76392193e-04 9.99891969e-01 -5.34797674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.44420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.40, Y:-23.79, Z:-5.35 [[ 9.83544106e-01 1.80056523e-01 1.48539395e-02 1.66396207e+02] [-1.80038973e-01 9.83656246e-01 -2.52142321e-03 -2.37944572e+01] [-1.50651691e-02 -1.94357078e-04 9.99886495e-01 -5.34936747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.47420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.43, Y:-23.79, Z:-5.35 [[ 9.83024884e-01 1.82867268e-01 1.48875461e-02 1.66426711e+02] [-1.82849932e-01 9.83137583e-01 -2.52897610e-03 -2.37939892e+01] [-1.50989731e-02 -2.36140368e-04 9.99885976e-01 -5.34931890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.504203822 meters Centerline goodness [0,1] 0.9999786598378148 Centerline is valid? [True, True] Translation: X:166.46, Y:-23.80, Z:-5.35 [[ 9.82724945e-01 1.84435225e-01 1.53404817e-02 1.66457418e+02] [-1.84417015e-01 9.82844635e-01 -2.60554037e-03 -2.37958982e+01] [-1.55578636e-02 -2.68516333e-04 9.99878933e-01 -5.35005426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.534203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.49, Y:-23.80, Z:-5.35 [[ 9.82142371e-01 1.87410165e-01 1.65466794e-02 1.66486845e+02] [-1.87389392e-01 9.82281688e-01 -2.81089975e-03 -2.37961241e+01] [-1.67802913e-02 -3.39968438e-04 9.99859143e-01 -5.34946351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.564203822 meters Centerline goodness [0,1] 0.9998941306004913 Centerline is valid? [True, True] Translation: X:166.52, Y:-23.80, Z:-5.35 [[ 9.81920955e-01 1.88559949e-01 1.66247950e-02 1.66515785e+02] [-1.88539155e-01 9.82061614e-01 -2.82355433e-03 -2.37981514e+01] [-1.68589823e-02 -3.61917638e-04 9.99857812e-01 -5.35062986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.594203822 meters Centerline goodness [0,1] 0.9999788323949028 Centerline is valid? [True, True] Translation: X:166.55, Y:-23.80, Z:-5.35 [[ 9.81778279e-01 1.89324251e-01 1.63627217e-02 1.66545740e+02] [-1.89304226e-01 9.81914554e-01 -2.77831515e-03 -2.38003211e+01] [-1.65927970e-02 -3.69842886e-04 9.99862262e-01 -5.35226245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.624203822 meters Centerline goodness [0,1] 0.9998722099165105 Centerline is valid? [True, True] Translation: X:166.57, Y:-23.80, Z:-5.35 [[ 9.81930792e-01 1.88554159e-01 1.61011874e-02 1.66574960e+02] [-1.88534668e-01 9.82062730e-01 -2.73370257e-03 -2.38016335e+01] [-1.63278270e-02 -3.51325292e-04 9.99866630e-01 -5.35483685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.654203822 meters Centerline goodness [0,1] 0.9999356071175599 Centerline is valid? [True, True] Translation: X:166.60, Y:-23.81, Z:-5.35 [[ 9.82194317e-01 1.87234314e-01 1.54154242e-02 1.66604232e+02] [-1.87216302e-01 9.82315230e-01 -2.61626060e-03 -2.38101192e+01] [-1.56326597e-02 -3.16342412e-04 9.99877752e-01 -5.35426004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.684203822 meters Centerline goodness [0,1] 0.9999786552828175 Centerline is valid? [True, True] Translation: X:166.63, Y:-23.82, Z:-5.36 [[ 9.82992201e-01 1.83045723e-01 1.48524733e-02 1.66633970e+02] [-1.83028524e-01 9.83104371e-01 -2.52071823e-03 -2.38170532e+01] [-1.50629382e-02 -2.40579916e-04 9.99886519e-01 -5.35684758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.714203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.66, Y:-23.82, Z:-5.36 [[ 9.83467636e-01 1.80451523e-01 1.51214092e-02 1.66663049e+02] [-1.80433394e-01 9.83583858e-01 -2.56601320e-03 -2.38220436e+01] [-1.53362150e-02 -2.04816257e-04 9.99882372e-01 -5.36058870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.744203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.69, Y:-23.83, Z:-5.36 [[ 9.83919614e-01 1.77946266e-01 1.54051505e-02 1.66692754e+02] [-1.77927135e-01 9.84040191e-01 -2.61469738e-03 -2.38324340e+01] [-1.56245629e-02 -1.68342257e-04 9.99877915e-01 -5.35888755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.774203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.72, Y:-23.84, Z:-5.36 [[ 9.84559892e-01 1.74387979e-01 1.51872589e-02 1.66721467e+02] [-1.74368958e-01 9.84677013e-01 -2.57789373e-03 -2.38420242e+01] [-1.54040984e-02 -1.10095735e-04 9.99881344e-01 -5.36072894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.804203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.75, Y:-23.85, Z:-5.36 [[ 9.84729884e-01 1.73436279e-01 1.50635913e-02 1.66752042e+02] [-1.73417456e-01 9.84845088e-01 -2.55689891e-03 -2.38476274e+01] [-1.52787630e-02 -9.44349282e-05 9.99883268e-01 -5.36145261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.834203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.78, Y:-23.85, Z:-5.36 [[ 9.84811083e-01 1.72958372e-01 1.52490127e-02 1.66781792e+02] [-1.72939016e-01 9.84929131e-01 -2.58893219e-03 -2.38509404e+01] [-1.54669744e-02 -8.75401489e-05 9.99880375e-01 -5.36313810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.864203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.81, Y:-23.85, Z:-5.36 [[ 9.84629858e-01 1.73965196e-01 1.54968918e-02 1.66813488e+02] [-1.73945331e-01 9.84751796e-01 -2.63101936e-03 -2.38519503e+01] [-1.57182978e-02 -1.05031755e-04 9.99876454e-01 -5.36079265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.894203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.84, Y:-23.85, Z:-5.36 [[ 9.84444547e-01 1.75019621e-01 1.53969785e-02 1.66844021e+02] [-1.75000142e-01 9.84564938e-01 -2.61397884e-03 -2.38529532e+01] [-1.56168227e-02 -1.21156205e-04 9.99878043e-01 -5.36397915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.924203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.87, Y:-23.86, Z:-5.36 [[ 9.84279713e-01 1.75979188e-01 1.49923723e-02 1.66874040e+02] [-1.75960802e-01 9.84393879e-01 -2.54712633e-03 -2.38557046e+01] [-1.52066407e-02 -1.30985082e-04 9.99884364e-01 -5.36370259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.954203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.91, Y:-23.86, Z:-5.37 [[ 9.83883111e-01 1.78282172e-01 1.37655668e-02 1.66905046e+02] [-1.78266903e-01 9.83979392e-01 -2.33835411e-03 -2.38555389e+01] [-1.39619209e-02 -1.53277832e-04 9.99902516e-01 -5.36609393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.984203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.93, Y:-23.86, Z:-5.37 [[ 9.83709687e-01 1.79277276e-01 1.32253702e-02 1.66933968e+02] [-1.79263263e-01 9.83798573e-01 -2.24722582e-03 -2.38557661e+01] [-1.34139769e-02 -1.60205207e-04 9.99910016e-01 -5.36978464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.014203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.96, Y:-23.85, Z:-5.37 [[ 9.83456811e-01 1.80644722e-01 1.34233185e-02 1.66963631e+02] [-1.80630418e-01 9.83548398e-01 -2.28052147e-03 -2.38531354e+01] [-1.36144476e-02 -1.81865264e-04 9.99907303e-01 -5.37024440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.04420382200001 meters Centerline goodness [0,1] 0.9999576199355823 Centerline is valid? [True, True] Translation: X:166.99, Y:-23.85, Z:-5.37 [[ 9.83408598e-01 1.80895352e-01 1.35794222e-02 1.66991182e+02] [-1.80880744e-01 9.83502332e-01 -2.30656003e-03 -2.38542538e+01] [-1.37726394e-02 -1.87965023e-04 9.99905135e-01 -5.37127997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.07420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.02, Y:-23.86, Z:-5.37 [[ 9.83441157e-01 1.80665281e-01 1.42670163e-02 1.67020079e+02] [-1.80649148e-01 9.83544619e-01 -2.42221066e-03 -2.38552221e+01] [-1.44698565e-02 -1.95222695e-04 9.99895287e-01 -5.37066906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.10420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.05, Y:-23.86, Z:-5.37 [[ 9.83505646e-01 1.80306383e-01 1.43614800e-02 1.67049032e+02] [-1.80290007e-01 9.83610478e-01 -2.43756090e-03 -2.38593682e+01] [-1.45656100e-02 -1.91876430e-04 9.99893897e-01 -5.37025714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.13420382200002 meters Centerline goodness [0,1] 0.999978627911947 Centerline is valid? [True, True] Translation: X:167.08, Y:-23.86, Z:-5.37 [[ 9.83611085e-01 1.79757612e-01 1.40155307e-02 1.67077568e+02] [-1.79741970e-01 9.83710917e-01 -2.37818580e-03 -2.38634861e+01] [-1.42147276e-02 -1.79969188e-04 9.99898949e-01 -5.37199746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.16420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.11, Y:-23.87, Z:-5.38 [[ 9.83791927e-01 1.78817606e-01 1.33307330e-02 1.67105139e+02] [-1.78803374e-01 9.83882228e-01 -2.26160208e-03 -2.38672097e+01] [-1.35202856e-02 -1.58634171e-04 9.99908584e-01 -5.37604852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.19420382200002 meters Centerline goodness [0,1] 0.9999787532401309 Centerline is valid? [True, True] Translation: X:167.13, Y:-23.87, Z:-5.38 [[ 9.84126028e-01 1.76978839e-01 1.32080272e-02 1.67133498e+02] [-1.76964716e-01 9.84214648e-01 -2.23973536e-03 -2.38722733e+01] [-1.33959196e-02 -1.33172914e-04 9.99910262e-01 -5.37709852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.22420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.16, Y:-23.88, Z:-5.38 [[ 9.84270782e-01 1.76155562e-01 1.34255461e-02 1.67161717e+02] [-1.76140903e-01 9.84362333e-01 -2.27595857e-03 -2.38759888e+01] [-1.36165246e-02 -1.24628291e-04 9.99907283e-01 -5.37675019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.254203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.19, Y:-23.88, Z:-5.38 [[ 9.84564958e-01 1.74468017e-01 1.38836330e-02 1.67189806e+02] [-1.74452182e-01 9.84662836e-01 -2.35290578e-03 -2.38806333e+01] [-1.40812042e-02 -1.05441493e-04 9.99900849e-01 -5.37608403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.284203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.22, Y:-23.89, Z:-5.38 [[ 9.84701932e-01 1.73679333e-01 1.40568007e-02 1.67218584e+02] [-1.73663034e-01 9.84802254e-01 -2.38134447e-03 -2.38864307e+01] [-1.42567593e-02 -9.62321462e-05 9.99898363e-01 -5.37549743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.314203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.25, Y:-23.89, Z:-5.38 [[ 9.84797304e-01 1.73147567e-01 1.39352315e-02 1.67246336e+02] [-1.73131497e-01 9.84895889e-01 -2.36063418e-03 -2.38898457e+01] [-1.41334903e-02 -8.78813126e-05 9.99900113e-01 -5.37930891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.344203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.27, Y:-23.89, Z:-5.38 [[ 9.84945066e-01 1.72275665e-01 1.42937771e-02 1.67274516e+02] [-1.72258682e-01 9.85048775e-01 -2.42019946e-03 -2.38945999e+01] [-1.44970091e-02 -7.84636973e-05 9.99894910e-01 -5.37945522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.374203822 meters Centerline goodness [0,1] 0.9999788090697181 Centerline is valid? [True, True] Translation: X:167.30, Y:-23.90, Z:-5.38 [[ 9.84977511e-01 1.72036529e-01 1.49243260e-02 1.67302280e+02] [-1.72017997e-01 9.85090568e-01 -2.52634811e-03 -2.38992823e+01] [-1.51364369e-02 -7.88565857e-05 9.99885434e-01 -5.38055049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.404203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.33, Y:-23.90, Z:-5.38 [[ 9.84961922e-01 1.72119901e-01 1.49917423e-02 1.67330937e+02] [-1.72101227e-01 9.85076004e-01 -2.53665463e-03 -2.39046369e+01] [-1.52046144e-02 -8.15890360e-05 9.99884400e-01 -5.38006901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.434203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.36, Y:-23.91, Z:-5.38 [[ 9.84993446e-01 1.71923072e-01 1.51778985e-02 1.67358866e+02] [-1.71903917e-01 9.85110375e-01 -2.56757360e-03 -2.39087869e+01] [-1.53933305e-02 -8.00970419e-05 9.99881512e-01 -5.38120457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.464203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.39, Y:-23.91, Z:-5.38 [[ 9.85050853e-01 1.71578051e-01 1.53554340e-02 1.67387019e+02] [-1.71558421e-01 9.85170527e-01 -2.59647650e-03 -2.39131277e+01] [-1.55732194e-02 -7.66926206e-05 9.99878727e-01 -5.38194708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.494203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.41, Y:-23.92, Z:-5.38 [[ 9.85156480e-01 1.70960478e-01 1.54669079e-02 1.67414326e+02] [-1.70940495e-01 9.85277885e-01 -2.61474289e-03 -2.39181430e+01] [-1.56862200e-02 -6.79899809e-05 9.99876961e-01 -5.38304166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.524203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.44, Y:-23.93, Z:-5.38 [[ 9.85472319e-01 1.69140235e-01 1.53587242e-02 1.67441933e+02] [-1.69120329e-01 9.85591994e-01 -2.59518343e-03 -2.39267103e+01] [-1.55763856e-02 -3.99910526e-05 9.99878680e-01 -5.38395797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.554203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.47, Y:-23.93, Z:-5.38 [[ 9.85623830e-01 1.68212374e-01 1.58197211e-02 1.67471136e+02] [-1.68191148e-01 9.85750778e-01 -2.67231178e-03 -2.39339937e+01] [-1.60438183e-02 -2.68428943e-05 9.99871289e-01 -5.38396766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.584203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.50, Y:-23.94, Z:-5.38 [[ 9.85791122e-01 1.67107648e-01 1.70557047e-02 1.67498487e+02] [-1.67082816e-01 9.85938656e-01 -2.88079144e-03 -2.39428213e+01] [-1.72972809e-02 -9.85654023e-06 9.99850391e-01 -5.38256989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.614203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.53, Y:-23.95, Z:-5.38 [[ 9.85788271e-01 1.67116762e-01 1.71310373e-02 1.67527954e+02] [-1.67091724e-01 9.85937112e-01 -2.89275503e-03 -2.39492791e+01] [-1.73735533e-02 -1.08105715e-05 9.99849068e-01 -5.38377589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.644203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.56, Y:-23.96, Z:-5.38 [[ 9.85734327e-01 1.67467533e-01 1.68065977e-02 1.67557388e+02] [-1.67443492e-01 9.85877591e-01 -2.83758914e-03 -2.39552857e+01] [-1.70444521e-02 -1.70463930e-05 9.99854733e-01 -5.38499588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.674203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.59, Y:-23.96, Z:-5.38 [[ 9.85418092e-01 1.69295176e-01 1.70389772e-02 1.67587965e+02] [-1.69270751e-01 9.85565391e-01 -2.87611168e-03 -2.39606470e+01] [-1.72799381e-02 -5.00279898e-05 9.99850689e-01 -5.38394430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.704203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.62, Y:-23.96, Z:-5.39 [[ 9.85220893e-01 1.70388795e-01 1.75342810e-02 1.67617244e+02] [-1.70363100e-01 9.85376909e-01 -2.95986857e-03 -2.39637248e+01] [-1.77822040e-02 -7.10701114e-05 9.99841882e-01 -5.38625584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.734203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.65, Y:-23.97, Z:-5.38 [[ 9.84696084e-01 1.73427081e-01 1.72240881e-02 1.67646873e+02] [-1.73402752e-01 9.84846705e-01 -2.90747291e-03 -2.39657393e+01] [-1.74673209e-02 -1.23727082e-04 9.99847427e-01 -5.38390266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.764203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.68, Y:-23.97, Z:-5.39 [[ 9.84302973e-01 1.75702713e-01 1.66196775e-02 1.67675375e+02] [-1.75680390e-01 9.84443260e-01 -2.80522383e-03 -2.39662817e+01] [-1.68540149e-02 -1.58561268e-04 9.99857948e-01 -5.38704553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.79420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.70, Y:-23.96, Z:-5.39 [[ 9.83859977e-01 1.78194609e-01 1.63164608e-02 1.67704090e+02] [-1.78173440e-01 9.83995245e-01 -2.75376727e-03 -2.39647941e+01] [-1.65460263e-02 -1.97838538e-04 9.99863086e-01 -5.39049251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.82420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.73, Y:-23.96, Z:-5.39 [[ 9.82798785e-01 1.83914480e-01 1.67932061e-02 1.67734658e+02] [-1.83892915e-01 9.82942202e-01 -2.83267867e-03 -2.39610759e+01] [-1.70277216e-02 -3.04198467e-04 9.99854972e-01 -5.38904539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.85420382200002 meters Centerline goodness [0,1] 0.9999574205360755 Centerline is valid? [True, True] Translation: X:167.76, Y:-23.96, Z:-5.39 [[ 9.82279240e-01 1.86628908e-01 1.72379232e-02 1.67763206e+02] [-1.86606603e-01 9.82430415e-01 -2.90774522e-03 -2.39625397e+01] [-1.74777294e-02 -3.60492522e-04 9.99847188e-01 -5.38841758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.88420382200002 meters Centerline goodness [0,1] 0.9999363827215472 Centerline is valid? [True, True] Translation: X:167.79, Y:-23.95, Z:-5.39 [[ 9.81339962e-01 1.91486806e-01 1.74551261e-02 1.67793806e+02] [-1.91464735e-01 9.81495082e-01 -2.94253168e-03 -2.39540626e+01] [-1.76955764e-02 -4.54417156e-04 9.99843318e-01 -5.39026229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.91420382200002 meters Centerline goodness [0,1] 0.999704260757515 Centerline is valid? [True, True] Translation: X:167.82, Y:-23.95, Z:-5.39 [[ 9.81011687e-01 1.93206670e-01 1.69485210e-02 1.67823264e+02] [-1.93186112e-01 9.81157969e-01 -2.85750114e-03 -2.39503331e+01] [-1.71812647e-02 -4.70976853e-04 9.99852280e-01 -5.39388135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.94420382200002 meters Centerline goodness [0,1] 0.999978608252936 Centerline is valid? [True, True] Translation: X:167.85, Y:-23.96, Z:-5.39 [[ 9.80879329e-01 1.93931785e-01 1.63158071e-02 1.67851096e+02] [-1.93912839e-01 9.81014906e-01 -2.75048867e-03 -2.39592184e+01] [-1.65394572e-02 -4.65946995e-04 9.99863105e-01 -5.39312181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.97420382200002 meters Centerline goodness [0,1] 0.9998502673796792 Centerline is valid? [True, True] Translation: X:167.88, Y:-23.96, Z:-5.40 [[ 9.81036388e-01 1.93261706e-01 1.47484940e-02 1.67879642e+02] [-1.93246155e-01 9.81147157e-01 -2.48586792e-03 -2.39565955e+01] [-1.49508661e-02 -4.11362883e-04 9.99888145e-01 -5.39827230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.004203822 meters Centerline goodness [0,1] 0.9998310703803028 Centerline is valid? [True, True] Translation: X:167.91, Y:-23.96, Z:-5.40 [[ 9.81335723e-01 1.91719073e-01 1.49665063e-02 1.67907063e+02] [-1.91702891e-01 9.81449765e-01 -2.52192851e-03 -2.39589258e+01] [-1.51723759e-02 -3.94263987e-04 9.99884815e-01 -5.40078403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.034203822 meters Centerline goodness [0,1] 0.9999577059719168 Centerline is valid? [True, True] Translation: X:167.94, Y:-23.98, Z:-5.40 [[ 9.82541183e-01 1.85360533e-01 1.59466989e-02 1.67935374e+02] [-1.85341367e-01 9.82670531e-01 -2.68437677e-03 -2.39755809e+01] [-1.61679286e-02 -3.18072247e-04 9.99869240e-01 -5.39858013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.064203822 meters Centerline goodness [0,1] 0.9999788864725629 Centerline is valid? [True, True] Translation: X:167.96, Y:-23.99, Z:-5.40 [[ 9.83361176e-01 1.80983340e-01 1.56788836e-02 1.67962343e+02] [-1.80964241e-01 9.83486132e-01 -2.64026687e-03 -2.39871331e+01] [-1.58978089e-02 -2.40981343e-04 9.99873593e-01 -5.39979721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.094203822 meters Centerline goodness [0,1] 0.9999788864725629 Centerline is valid? [True, True] Translation: X:167.99, Y:-23.99, Z:-5.40 [[ 9.83369573e-01 1.80937701e-01 1.56790058e-02 1.67990288e+02] [-1.80918607e-01 9.83494530e-01 -2.63954075e-03 -2.39917438e+01] [-1.58978089e-02 -2.40979840e-04 9.99873593e-01 -5.40066213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.124203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.02, Y:-24.00, Z:-5.40 [[ 9.84191941e-01 1.76402844e-01 1.57562765e-02 1.68016987e+02] [-1.76382990e-01 9.84318042e-01 -2.65195703e-03 -2.40024244e+01] [-1.59770000e-02 -1.69104411e-04 9.99872345e-01 -5.40197780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.154203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.04, Y:-24.01, Z:-5.40 [[ 9.84925969e-01 1.72241195e-01 1.59312949e-02 1.68044310e+02] [-1.72220371e-01 9.85054800e-01 -2.68029349e-03 -2.40128015e+01] [-1.61548555e-02 -1.03802858e-04 9.99869496e-01 -5.40184939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.184203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.07, Y:-24.03, Z:-5.40 [[ 9.85963714e-01 1.66150339e-01 1.64200862e-02 1.68071467e+02] [-1.66127392e-01 9.86100433e-01 -2.76128576e-03 -2.40257263e+01] [-1.66506427e-02 -5.29854356e-06 9.99861368e-01 -5.40278122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.214203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.10, Y:-24.03, Z:-5.40 [[ 9.86290622e-01 1.64184403e-01 1.65617291e-02 1.68100764e+02] [-1.64160791e-01 9.86429664e-01 -2.78453281e-03 -2.40336926e+01] [-1.67941577e-02 2.75720611e-05 9.99858968e-01 -5.40201182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.244203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.13, Y:-24.04, Z:-5.40 [[ 9.86469367e-01 1.63080264e-01 1.68230542e-02 1.68129747e+02] [-1.63055737e-01 9.86612804e-01 -2.82863325e-03 -2.40400376e+01] [-1.70591349e-02 4.72645438e-05 9.99854481e-01 -5.40331204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.274203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.16, Y:-24.04, Z:-5.40 [[ 9.86500917e-01 1.62863656e-01 1.70695836e-02 1.68160114e+02] [-1.62838379e-01 9.86648583e-01 -2.86970820e-03 -2.40449599e+01] [-1.73090516e-02 5.13864441e-05 9.99850186e-01 -5.40365028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.304203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.19, Y:-24.05, Z:-5.41 [[ 9.86413821e-01 1.63451786e-01 1.64708254e-02 1.68188712e+02] [-1.63428328e-01 9.86551323e-01 -2.76937604e-03 -2.40494318e+01] [-1.67019741e-02 3.99513436e-05 9.99860512e-01 -5.40596809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.334203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.22, Y:-24.05, Z:-5.41 [[ 9.86101992e-01 1.65365449e-01 1.60352859e-02 1.68218243e+02] [-1.65343474e-01 9.86232360e-01 -2.69579216e-03 -2.40527070e+01] [-1.62603088e-02 6.99613049e-06 9.99867792e-01 -5.40571000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.364203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.25, Y:-24.06, Z:-5.41 [[ 9.85946234e-01 1.66285047e-01 1.61029861e-02 1.68247090e+02] [-1.66263012e-01 9.86077727e-01 -2.70693766e-03 -2.40557664e+01] [-1.63289192e-02 -8.43598922e-06 9.99866674e-01 -5.40669252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.394203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.28, Y:-24.06, Z:-5.41 [[ 9.85813673e-01 1.67079951e-01 1.59903934e-02 1.68275680e+02] [-1.67058341e-01 9.85943350e-01 -2.68724373e-03 -2.40595163e+01] [-1.62146066e-02 -2.22069752e-05 9.99868534e-01 -5.40966964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.424203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.30, Y:-24.07, Z:-5.41 [[ 9.85842630e-01 1.66923407e-01 1.58393383e-02 1.68304614e+02] [-1.66902190e-01 9.85969866e-01 -2.66142851e-03 -2.40660728e+01] [-1.60613649e-02 -1.98705607e-05 9.99871008e-01 -5.41096887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.454203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.33, Y:-24.07, Z:-5.41 [[ 9.85859512e-01 1.66769547e-01 1.63993986e-02 1.68334010e+02] [-1.66746789e-01 9.85995901e-01 -2.75511508e-03 -2.40725304e+01] [-1.66292091e-02 -1.83906513e-05 9.99861725e-01 -5.41103848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.484203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.36, Y:-24.08, Z:-5.41 [[ 9.85888307e-01 1.66552917e-01 1.68633249e-02 1.68363124e+02] [-1.66528828e-01 9.86032518e-01 -2.83264135e-03 -2.40798223e+01] [-1.70995714e-02 -1.55617515e-05 9.99853792e-01 -5.40992456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.514203822 meters Centerline goodness [0,1] 0.9998712473981245 Centerline is valid? [True, True] Translation: X:168.39, Y:-24.09, Z:-5.41 [[ 9.85883636e-01 1.66538864e-01 1.72702648e-02 1.68392825e+02] [-1.66513610e-01 9.86034891e-01 -2.90022074e-03 -2.40870260e+01] [-1.75120831e-02 -1.64539680e-05 9.99846652e-01 -5.41054236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.54420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.42, Y:-24.09, Z:-5.41 [[ 9.85653418e-01 1.67901420e-01 1.72177972e-02 1.68421640e+02] [-1.67876524e-01 9.85803790e-01 -2.89157107e-03 -2.40938008e+01] [-1.74588686e-02 -4.03770356e-05 9.99847582e-01 -5.41299803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.57420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.45, Y:-24.10, Z:-5.41 [[ 9.85443481e-01 1.69148439e-01 1.70279786e-02 1.68449634e+02] [-1.69124273e-01 9.85590585e-01 -2.85978828e-03 -2.40973237e+01] [-1.72663441e-02 -6.16847886e-05 9.99850924e-01 -5.41478668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.60420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.48, Y:-24.10, Z:-5.41 [[ 9.84879249e-01 1.72411006e-01 1.69502123e-02 1.68479170e+02] [-1.72387556e-01 9.85025092e-01 -2.84598470e-03 -2.40991950e+01] [-1.71870635e-02 -1.19054392e-04 9.99852284e-01 -5.41344393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.63420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.51, Y:-24.10, Z:-5.42 [[ 9.84562818e-01 1.74150664e-01 1.75386246e-02 1.68507575e+02] [-1.74125839e-01 9.84719007e-01 -2.94446840e-03 -2.41003431e+01] [-1.77833982e-02 -1.54913616e-04 9.99841851e-01 -5.41575098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.66420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.54, Y:-24.11, Z:-5.41 [[ 9.84276926e-01 1.75703523e-01 1.80887814e-02 1.68536480e+02] [-1.75677395e-01 9.84443110e-01 -3.03597023e-03 -2.41059224e+01] [-1.83408068e-02 -1.89554534e-04 9.99831775e-01 -5.41324514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.69420382200002 meters Centerline goodness [0,1] 0.9999788449333615 Centerline is valid? [True, True] Translation: X:168.57, Y:-24.11, Z:-5.41 [[ 9.83623298e-01 1.79305280e-01 1.82981940e-02 1.68565259e+02] [-1.79279171e-01 9.83793448e-01 -3.07079531e-03 -2.41064278e+01] [-1.85522532e-02 -2.59979242e-04 9.99827858e-01 -5.41490612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.72420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.59, Y:-24.11, Z:-5.41 [[ 9.83206596e-01 1.81520654e-01 1.88425644e-02 1.68594221e+02] [-1.81493387e-01 9.83387083e-01 -3.16155476e-03 -2.41104748e+01] [-1.91034219e-02 -3.11339335e-04 9.99817465e-01 -5.41398461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.754203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.62, Y:-24.11, Z:-5.41 [[ 9.82694022e-01 1.84194489e-01 1.96175563e-02 1.68623460e+02] [-1.84165488e-01 9.82889743e-01 -3.29043721e-03 -2.41127275e+01] [-1.98879753e-02 -3.79383855e-04 9.99802143e-01 -5.41352955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.784203822 meters Centerline goodness [0,1] 0.9999788614792737 Centerline is valid? [True, True] Translation: X:168.65, Y:-24.11, Z:-5.41 [[ 9.81606349e-01 1.89805711e-01 2.05613166e-02 1.68653988e+02] [-1.89775100e-01 9.81821534e-01 -3.44779369e-03 -2.41059892e+01] [-2.08419543e-02 -5.17649730e-04 9.99782649e-01 -5.41394804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.814203822 meters Centerline goodness [0,1] 0.9999572841246449 Centerline is valid? [True, True] Translation: X:168.68, Y:-24.11, Z:-5.42 [[ 9.81110812e-01 1.92407074e-01 2.00272777e-02 1.68684171e+02] [-1.92378584e-01 9.81315039e-01 -3.35776045e-03 -2.41050936e+01] [-2.02991257e-02 -5.58484245e-04 9.99793796e-01 -5.41599693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.844203822 meters Centerline goodness [0,1] 0.9999364770152667 Centerline is valid? [True, True] Translation: X:168.72, Y:-24.10, Z:-5.42 [[ 9.80305331e-01 1.96689053e-01 1.77447058e-02 1.68715165e+02] [-1.96667395e-01 9.80465750e-01 -2.97464229e-03 -2.40991580e+01] [-1.79831559e-02 -5.73747378e-04 9.99838125e-01 -5.42094635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.874203822 meters Centerline goodness [0,1] 0.9999359590137689 Centerline is valid? [True, True] Translation: X:168.74, Y:-24.10, Z:-5.42 [[ 9.80021755e-01 1.98212239e-01 1.64093548e-02 1.68744419e+02] [-1.98193931e-01 9.80158966e-01 -2.75082363e-03 -2.41013050e+01] [-1.66290232e-02 -5.56367534e-04 9.99861573e-01 -5.42341251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.904203822 meters Centerline goodness [0,1] 0.9997656033582646 Centerline is valid? [True, True] Translation: X:168.77, Y:-24.10, Z:-5.43 [[ 9.79817801e-01 1.99289962e-01 1.55108867e-02 1.68772376e+02] [-1.99273732e-01 9.79940415e-01 -2.60058967e-03 -2.40989335e+01] [-1.57180162e-02 -5.42808231e-04 9.99876317e-01 -5.42753679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.934203822 meters Centerline goodness [0,1] 0.9993219764386813 Centerline is valid? [True, True] Translation: X:168.80, Y:-24.10, Z:-5.43 [[ 9.79748911e-01 1.99738345e-01 1.40237095e-02 1.68801189e+02] [-1.99725149e-01 9.79849144e-01 -2.34952923e-03 -2.40982616e+01] [-1.42104108e-02 -4.98938757e-04 9.99898903e-01 -5.43199194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.964203822 meters Centerline goodness [0,1] 0.9994498751639795 Centerline is valid? [True, True] Translation: X:168.83, Y:-24.10, Z:-5.43 [[ 9.79946063e-01 1.98773562e-01 1.39565110e-02 1.68830051e+02] [-1.98760411e-01 9.80045324e-01 -2.33707833e-03 -2.41029335e+01] [-1.41425627e-02 -4.83791145e-04 9.99899872e-01 -5.43332379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.994203822 meters Centerline goodness [0,1] 0.9996810749899007 Centerline is valid? [True, True] Translation: X:168.86, Y:-24.11, Z:-5.43 [[ 9.80273918e-01 1.97104081e-01 1.45954452e-02 1.68858619e+02] [-1.97089522e-01 9.80382451e-01 -2.44350405e-03 -2.41087743e+01] [-1.47907429e-02 -4.81306029e-04 9.99890495e-01 -5.43314448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.024203822 meters Centerline goodness [0,1] 0.9999153206173127 Centerline is valid? [True, True] Translation: X:168.89, Y:-24.12, Z:-5.43 [[ 9.81332813e-01 1.91583327e-01 1.67850924e-02 1.68887592e+02] [-1.91563284e-01 9.81476244e-01 -2.80888045e-03 -2.41181270e+01] [-1.70123041e-02 -4.58960867e-04 9.99855175e-01 -5.42919996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.054203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.92, Y:-24.13, Z:-5.43 [[ 9.81967871e-01 1.88230207e-01 1.75638515e-02 1.68917047e+02] [-1.88207724e-01 9.82124846e-01 -2.93928601e-03 -2.41250950e+01] [-1.78031574e-02 -4.19368093e-04 9.99841423e-01 -5.42808098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.084203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.95, Y:-24.13, Z:-5.43 [[ 9.83324139e-01 1.80884710e-01 1.88244208e-02 1.68945645e+02] [-1.80857541e-01 9.83504259e-01 -3.15002081e-03 -2.41337143e+01] [-1.90836886e-02 -3.07046946e-04 9.99817843e-01 -5.42883501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.114203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.97, Y:-24.14, Z:-5.43 [[ 9.84000503e-01 1.77142591e-01 1.90660248e-02 1.68972960e+02] [-1.77114016e-01 9.84185169e-01 -3.19051929e-03 -2.41442181e+01] [-1.93296757e-02 -2.37387628e-04 9.99813136e-01 -5.42837633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.144203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.00, Y:-24.15, Z:-5.43 [[ 9.84689954e-01 1.73220168e-01 1.95055918e-02 1.69001006e+02] [-1.73189512e-01 9.84883113e-01 -3.26299598e-03 -2.41549165e+01] [-1.97759447e-02 -1.65124545e-04 9.99804423e-01 -5.42844434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.174203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.03, Y:-24.17, Z:-5.43 [[ 9.86079712e-01 1.65054063e-01 2.00986949e-02 1.69028349e+02] [-1.65019832e-01 9.86284521e-01 -3.36133931e-03 -2.41722973e+01] [-2.03778343e-02 -2.13474817e-06 9.99792350e-01 -5.42817570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.204203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.06, Y:-24.18, Z:-5.43 [[ 9.86779562e-01 1.60832015e-01 1.99789849e-02 1.69056362e+02] [-1.60797338e-01 9.86981791e-01 -3.34069930e-03 -2.41833118e+01] [-2.02561857e-02 8.39661958e-05 9.99794819e-01 -5.43101552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.234203822 meters Centerline goodness [0,1] 0.9999786520931623 Centerline is valid? [True, True] Translation: X:169.09, Y:-24.19, Z:-5.43 [[ 9.87407221e-01 1.56946479e-01 1.98691139e-02 1.69086239e+02] [-1.56911408e-01 9.87607096e-01 -3.32170330e-03 -2.41929568e+01] [-2.01442075e-02 1.62183199e-04 9.99797072e-01 -5.43097559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.264203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.11, Y:-24.21, Z:-5.44 [[ 9.88496386e-01 1.50077896e-01 1.87488654e-02 1.69112864e+02] [-1.50045432e-01 9.88674134e-01 -3.13444128e-03 -2.42134585e+01] [-1.90069286e-02 2.85202285e-04 9.99819311e-01 -5.43548657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.29420382200001 meters Centerline goodness [0,1] 0.999936106319085 Centerline is valid? [True, True] Translation: X:169.14, Y:-24.22, Z:-5.44 [[ 9.88846698e-01 1.47770605e-01 1.86025956e-02 1.69143886e+02] [-1.47738238e-01 9.89021608e-01 -3.10992499e-03 -2.42238524e+01] [-1.88579245e-02 3.26924375e-04 9.99822120e-01 -5.43612658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.32420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.17, Y:-24.23, Z:-5.44 [[ 9.89164841e-01 1.45632573e-01 1.85491488e-02 1.69174467e+02] [-1.45599957e-01 9.89338677e-01 -3.10408946e-03 -2.42334878e+01] [-1.88034469e-02 3.69700873e-04 9.99823131e-01 -5.43642884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.35420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.21, Y:-24.24, Z:-5.44 [[ 9.89079797e-01 1.46280660e-01 1.79756444e-02 1.69206614e+02] [-1.46250098e-01 9.89243068e-01 -3.01027053e-03 -2.42393213e+01] [-1.82226260e-02 3.48458003e-04 9.99833893e-01 -5.43794549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.38420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.24, Y:-24.24, Z:-5.44 [[ 9.88881197e-01 1.47721009e-01 1.71020686e-02 1.69238312e+02] [-1.47693506e-01 9.89029023e-01 -2.86717800e-03 -2.42423926e+01] [-1.73379847e-02 3.09433946e-04 9.99849638e-01 -5.43868130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.41420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.27, Y:-24.24, Z:-5.44 [[ 9.88078761e-01 1.52960267e-01 1.74217643e-02 1.69270162e+02] [-1.52932451e-01 9.88232313e-01 -2.92576612e-03 -2.42410145e+01] [-1.76642764e-02 2.26534246e-04 9.99843949e-01 -5.43882002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.44420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.30, Y:-24.24, Z:-5.44 [[ 9.87530129e-01 1.56420613e-01 1.77998949e-02 1.69301427e+02] [-1.56392160e-01 9.87690520e-01 -2.98803400e-03 -2.42441870e+01] [-1.80481775e-02 1.67009596e-04 9.99837104e-01 -5.44122195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.47420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.33, Y:-24.24, Z:-5.44 [[ 9.86464142e-01 1.62926657e-01 1.85310728e-02 1.69332249e+02] [-1.62896864e-01 9.86638182e-01 -3.11618557e-03 -2.42407822e+01] [-1.87911737e-02 5.53516879e-05 9.99823429e-01 -5.44000435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.504203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.36, Y:-24.24, Z:-5.44 [[ 9.85933780e-01 1.66033301e-01 1.91709469e-02 1.69362121e+02] [-1.66002010e-01 9.86120146e-01 -3.22329677e-03 -2.42414952e+01] [-1.94400316e-02 -4.45855289e-06 9.99811025e-01 -5.43995402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.534203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.39, Y:-24.24, Z:-5.44 [[ 9.85452801e-01 1.68823005e-01 1.95338300e-02 1.69391220e+02] [-1.68791076e-01 9.85646381e-01 -3.28382290e-03 -2.42421194e+01] [-1.98078337e-02 -6.10837093e-05 9.99803804e-01 -5.44100248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.564203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.42, Y:-24.24, Z:-5.44 [[ 9.85030596e-01 1.71342385e-01 1.88815117e-02 1.69420756e+02] [-1.71313024e-01 9.85211538e-01 -3.17372805e-03 -2.42442507e+01] [-1.91460773e-02 -1.08429630e-04 9.99816691e-01 -5.44171894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.594203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.45, Y:-24.24, Z:-5.45 [[ 9.84323152e-01 1.75405849e-01 1.84586407e-02 1.69449972e+02] [-1.75378508e-01 9.84496193e-01 -3.10234978e-03 -2.42437154e+01] [-1.87166318e-02 -1.83534145e-04 9.99824812e-01 -5.44564258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.624203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.48, Y:-24.25, Z:-5.45 [[ 9.83773758e-01 1.78407604e-01 1.89715593e-02 1.69478510e+02] [-1.78379291e-01 9.83956638e-01 -3.18793991e-03 -2.42474647e+01] [-1.92359444e-02 -2.47921686e-04 9.99814941e-01 -5.44551717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.654203822 meters Centerline goodness [0,1] 0.9999786730363198 Centerline is valid? [True, True] Translation: X:169.51, Y:-24.25, Z:-5.45 [[ 9.83509667e-01 1.79855193e-01 1.89959152e-02 1.69506745e+02] [-1.79827093e-01 9.83693058e-01 -3.19124577e-03 -2.42493765e+01] [-1.92601120e-02 -2.77359154e-04 9.99814468e-01 -5.44652450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.684203822 meters Centerline goodness [0,1] 0.999978815354631 Centerline is valid? [True, True] Translation: X:169.54, Y:-24.25, Z:-5.45 [[ 9.83192476e-01 1.81569143e-01 1.91102596e-02 1.69535528e+02] [-1.81541052e-01 9.83378131e-01 -3.20917429e-03 -2.42513410e+01] [-1.93752984e-02 -3.14060608e-04 9.99812232e-01 -5.44650913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.714203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.56, Y:-24.25, Z:-5.45 [[ 9.82797665e-01 1.83710874e-01 1.89489882e-02 1.69564163e+02] [-1.83683667e-01 9.82980259e-01 -3.18133332e-03 -2.42525906e+01] [-1.92109268e-02 -3.54012685e-04 9.99815390e-01 -5.44727035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.744203822 meters Centerline goodness [0,1] 0.9999788122126406 Centerline is valid? [True, True] Translation: X:169.59, Y:-24.25, Z:-5.45 [[ 9.82065548e-01 1.87697786e-01 1.77989147e-02 1.69594514e+02] [-1.87674461e-01 9.82226743e-01 -2.98683652e-03 -2.42519469e+01] [-1.80431926e-02 -4.07132479e-04 9.99837125e-01 -5.45025092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.774203822 meters Centerline goodness [0,1] 0.9999362651370299 Centerline is valid? [True, True] Translation: X:169.62, Y:-24.25, Z:-5.45 [[ 9.81709672e-01 1.89589087e-01 1.73809857e-02 1.69622798e+02] [-1.89567140e-01 9.81863428e-01 -2.91677251e-03 -2.42541998e+01] [-1.76187425e-02 -4.31439966e-04 9.99844685e-01 -5.45111653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.804203822 meters Centerline goodness [0,1] 0.99995699202202 Centerline is valid? [True, True] Translation: X:169.65, Y:-24.26, Z:-5.45 [[ 9.81396892e-01 1.91195107e-01 1.74519476e-02 1.69651318e+02] [-1.91173256e-01 9.81551943e-01 -2.92745996e-03 -2.42573077e+01] [-1.76897091e-02 -4.63345530e-04 9.99843417e-01 -5.45058755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.834203822 meters Centerline goodness [0,1] 0.9999572512557444 Centerline is valid? [True, True] Translation: X:169.68, Y:-24.25, Z:-5.45 [[ 9.80836880e-01 1.93962612e-01 1.83716965e-02 1.69680722e+02] [-1.93938903e-01 9.81008773e-01 -3.08058124e-03 -2.42542647e+01] [-1.86203131e-02 -5.41438983e-04 9.99826480e-01 -5.45044810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.864203822 meters Centerline goodness [0,1] 0.99989385640895 Centerline is valid? [True, True] Translation: X:169.71, Y:-24.25, Z:-5.45 [[ 9.80736598e-01 1.94465059e-01 1.84137764e-02 1.69709500e+02] [-1.94441337e-01 9.80909290e-01 -3.08722237e-03 -2.42527318e+01] [-1.86626012e-02 -5.52647343e-04 9.99825686e-01 -5.45236603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.894203822 meters Centerline goodness [0,1] 0.9999573624405739 Centerline is valid? [True, True] Translation: X:169.74, Y:-24.26, Z:-5.45 [[ 9.80714056e-01 1.94608276e-01 1.80986237e-02 1.69737918e+02] [-1.94585406e-01 9.80880890e-01 -3.03314904e-03 -2.42560841e+01] [-1.83428700e-02 -5.47076148e-04 9.99831606e-01 -5.45285916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.924203822 meters Centerline goodness [0,1] 0.9998927682937291 Centerline is valid? [True, True] Translation: X:169.77, Y:-24.26, Z:-5.46 [[ 9.80822411e-01 1.94121162e-01 1.74462743e-02 1.69765961e+02] [-1.94099846e-01 9.80977423e-01 -2.92317550e-03 -2.42559480e+01] [-1.76818514e-02 -5.19203111e-04 9.99843529e-01 -5.45555216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.954203822 meters Centerline goodness [0,1] 0.9999785550384938 Centerline is valid? [True, True] Translation: X:169.79, Y:-24.26, Z:-5.46 [[ 9.80937404e-01 1.93542252e-01 1.74127917e-02 1.69793860e+02] [-1.93520947e-01 9.81091809e-01 -2.91639007e-03 -2.42620262e+01] [-1.76479920e-02 -5.08943838e-04 9.99844133e-01 -5.45552034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.984203822 meters Centerline goodness [0,1] 0.9999576055621503 Centerline is valid? [True, True] Translation: X:169.82, Y:-24.26, Z:-5.46 [[ 9.81295107e-01 1.91642060e-01 1.82546981e-02 1.69822132e+02] [-1.91618332e-01 9.81464759e-01 -3.05655819e-03 -2.42618238e+01] [-1.85021080e-02 -4.98549210e-04 9.99828697e-01 -5.45641520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.014203822 meters Centerline goodness [0,1] 0.9999576055621503 Centerline is valid? [True, True] Translation: X:169.85, Y:-24.27, Z:-5.46 [[ 9.81308638e-01 1.91572746e-01 1.82548644e-02 1.69849268e+02] [-1.91549025e-01 9.81478290e-01 -3.05556441e-03 -2.42662290e+01] [-1.85021160e-02 -4.98249731e-04 9.99828697e-01 -5.45725479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.04420382200001 meters Centerline goodness [0,1] 0.999914998512474 Centerline is valid? [True, True] Translation: X:169.88, Y:-24.27, Z:-5.46 [[ 9.81583177e-01 1.90148659e-01 1.83835285e-02 1.69876899e+02] [-1.90124380e-01 9.81755194e-01 -3.07560505e-03 -2.42689903e+01] [-1.86329468e-02 -4.76194780e-04 9.99826278e-01 -5.45864579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.07420382200002 meters Centerline goodness [0,1] 0.9998298487781015 Centerline is valid? [True, True] Translation: X:169.91, Y:-24.27, Z:-5.46 [[ 9.81884191e-01 1.88619983e-01 1.80537564e-02 1.69905177e+02] [-1.88596331e-01 9.82050054e-01 -3.01923491e-03 -2.42744810e+01] [-1.82991805e-02 -4.40333196e-04 9.99832459e-01 -5.45948149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.10420382200002 meters Centerline goodness [0,1] 0.9999577193835486 Centerline is valid? [True, True] Translation: X:169.93, Y:-24.28, Z:-5.46 [[ 9.82563263e-01 1.85063057e-01 1.79192533e-02 1.69933492e+02] [-1.85039183e-01 9.82726578e-01 -2.99573838e-03 -2.42773074e+01] [-1.81641269e-02 -3.72261505e-04 9.99834949e-01 -5.46122571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.13420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.96, Y:-24.28, Z:-5.46 [[ 9.82952485e-01 1.82909074e-01 1.86730614e-02 1.69962105e+02] [-1.82882771e-01 9.83129773e-01 -3.12117881e-03 -2.42825034e+01] [-1.89289346e-02 -3.47010761e-04 9.99820771e-01 -5.46094494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.16420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.99, Y:-24.29, Z:-5.46 [[ 9.83367703e-01 1.80557861e-01 1.96677546e-02 1.69990547e+02] [-1.80528231e-01 9.83564313e-01 -3.28642243e-03 -2.42885916e+01] [-1.99378910e-02 -3.18823272e-04 9.99801170e-01 -5.46014577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.19420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.02, Y:-24.30, Z:-5.46 [[ 9.84274436e-01 1.75493854e-01 2.01430539e-02 1.70018015e+02] [-1.75461734e-01 9.84480501e-01 -3.36485952e-03 -2.42993149e+01] [-2.04209560e-02 -2.22389951e-04 9.99791446e-01 -5.45920658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.22420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.05, Y:-24.31, Z:-5.46 [[ 9.84721250e-01 1.72973211e-01 2.01079113e-02 1.70045709e+02] [-1.72940697e-01 9.84926515e-01 -3.35800765e-03 -2.43061163e+01] [-2.03856603e-02 -1.70774693e-04 9.99792176e-01 -5.45935141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.254203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.07, Y:-24.31, Z:-5.46 [[ 9.85470524e-01 1.68661236e-01 2.00308302e-02 1.70073890e+02] [-1.68628100e-01 9.85674074e-01 -3.34412865e-03 -2.43130110e+01] [-2.03078949e-02 -8.22206161e-05 9.99793770e-01 -5.46086279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.284203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.10, Y:-24.32, Z:-5.46 [[ 9.85763392e-01 1.66969067e-01 1.97956092e-02 1.70102032e+02] [-1.66936382e-01 9.85962133e-01 -3.30388630e-03 -2.43190220e+01] [-2.00693679e-02 -4.77572246e-05 9.99798589e-01 -5.46188631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.314203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.13, Y:-24.33, Z:-5.46 [[ 9.86021245e-01 1.65507082e-01 1.92226377e-02 1.70128877e+02] [-1.65476001e-01 9.86208601e-01 -3.20746103e-03 -2.43252824e+01] [-1.94883881e-02 -1.82604776e-05 9.99810083e-01 -5.46378972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.344203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.16, Y:-24.33, Z:-5.47 [[ 9.86210617e-01 1.64397946e-01 1.90245585e-02 1.70156161e+02] [-1.64367318e-01 9.86394097e-01 -3.17322738e-03 -2.43312551e+01] [-1.92873843e-02 2.45487097e-06 9.99813981e-01 -5.46810938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.374203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.18, Y:-24.34, Z:-5.47 [[ 9.86410663e-01 1.63329156e-01 1.78210772e-02 1.70184195e+02] [-1.63302127e-01 9.86571633e-01 -2.97133237e-03 -2.43369657e+01] [-1.80670745e-02 2.07341186e-05 9.99836777e-01 -5.46885387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.404203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.21, Y:-24.34, Z:-5.47 [[ 9.86366155e-01 1.63657672e-01 1.72619634e-02 1.70212623e+02] [-1.63632378e-01 9.86517190e-01 -2.87731298e-03 -2.43409137e+01] [-1.75001180e-02 1.34680198e-05 9.99846861e-01 -5.46988454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.434203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.24, Y:-24.34, Z:-5.47 [[ 9.85970714e-01 1.65985544e-01 1.76224367e-02 1.70241350e+02] [-1.65959567e-01 9.86128186e-01 -2.93663265e-03 -2.43401995e+01] [-1.78654201e-02 -2.91781559e-05 9.99840400e-01 -5.47077211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.464203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.27, Y:-24.34, Z:-5.47 [[ 9.85697580e-01 1.67518707e-01 1.83783670e-02 1.70270690e+02] [-1.67490746e-01 9.85868896e-01 -3.06120684e-03 -2.43413966e+01] [-1.86314698e-02 -6.07822189e-05 9.99826417e-01 -5.47090661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.494203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.30, Y:-24.34, Z:-5.47 [[ 9.85429529e-01 1.69071836e-01 1.85299161e-02 1.70299052e+02] [-1.69043699e-01 9.85603727e-01 -3.08575784e-03 -2.43431978e+01] [-1.87848692e-02 -9.15686789e-05 9.99823545e-01 -5.47187718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.524203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.33, Y:-24.34, Z:-5.47 [[ 9.84923911e-01 1.72051729e-01 1.79747486e-02 1.70327724e+02] [-1.72025774e-01 9.85087905e-01 -2.99192018e-03 -2.43438973e+01] [-1.82214725e-02 -1.45306321e-04 9.99833965e-01 -5.47402684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.554203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.36, Y:-24.35, Z:-5.48 [[ 9.84683490e-01 1.73406223e-01 1.81302680e-02 1.70355197e+02] [-1.73380060e-01 9.84850370e-01 -3.01705718e-03 -2.43457077e+01] [-1.83787776e-02 -1.72580563e-04 9.99831081e-01 -5.47524088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.584203822 meters Centerline goodness [0,1] 0.9999786907603136 Centerline is valid? [True, True] Translation: X:170.38, Y:-24.35, Z:-5.48 [[ 9.84451018e-01 1.74685728e-01 1.84686370e-02 1.70383756e+02] [-1.74658829e-01 9.84624221e-01 -3.07206501e-03 -2.43485761e+01] [-1.87213132e-02 -2.01412981e-04 9.99824721e-01 -5.47543395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.614203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.41, Y:-24.35, Z:-5.48 [[ 9.83985110e-01 1.77356896e-01 1.78279496e-02 1.70413554e+02] [-1.77332283e-01 9.84146570e-01 -2.96469883e-03 -2.43473582e+01] [-1.80711252e-02 -2.44251506e-04 9.99836674e-01 -5.47653189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.644203822 meters Centerline goodness [0,1] 0.9999783535727428 Centerline is valid? [True, True] Translation: X:170.44, Y:-24.35, Z:-5.48 [[ 9.83768434e-01 1.78635970e-01 1.69958535e-02 1.70442063e+02] [-1.78613802e-01 9.83915202e-01 -2.82574909e-03 -2.43489180e+01] [-1.72272590e-02 -2.55811250e-04 9.99851567e-01 -5.47694930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.674203822 meters Centerline goodness [0,1] 0.999978916742215 Centerline is valid? [True, True] Translation: X:170.47, Y:-24.34, Z:-5.48 [[ 9.83388524e-01 1.80660214e-01 1.75755134e-02 1.70471308e+02] [-1.80636852e-01 9.83545523e-01 -2.92095032e-03 -2.43444385e+01] [-1.78140170e-02 -3.02356388e-04 9.99841272e-01 -5.47967278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.704203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.50, Y:-24.35, Z:-5.48 [[ 9.83383172e-01 1.80663098e-01 1.78432902e-02 1.70498672e+02] [-1.80639038e-01 9.83544991e-01 -2.96442282e-03 -2.43484469e+01] [-1.80852405e-02 -3.08031264e-04 9.99836401e-01 -5.47992361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.734203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.53, Y:-24.35, Z:-5.48 [[ 9.83412207e-01 1.80498596e-01 1.79077809e-02 1.70525765e+02] [-1.80474358e-01 9.83575194e-01 -2.97386798e-03 -2.43542345e+01] [-1.81504281e-02 -3.07357191e-04 9.99835220e-01 -5.47946877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.764203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.55, Y:-24.36, Z:-5.48 [[ 9.83628113e-01 1.79364938e-01 1.74342688e-02 1.70553449e+02] [-1.79341812e-01 9.83782568e-01 -2.89381721e-03 -2.43568926e+01] [-1.76705790e-02 -2.80253378e-04 9.99843824e-01 -5.48263930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.79420382200001 meters Centerline goodness [0,1] 0.9999786557384047 Centerline is valid? [True, True] Translation: X:170.58, Y:-24.36, Z:-5.48 [[ 9.83798913e-01 1.78428578e-01 1.74051945e-02 1.70581680e+02] [-1.78405405e-01 9.83952830e-01 -2.88773267e-03 -2.43632433e+01] [-1.76411444e-02 -2.64232503e-04 9.99844348e-01 -5.48352103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.82420382200002 meters Centerline goodness [0,1] 0.9998504017780817 Centerline is valid? [True, True] Translation: X:170.61, Y:-24.37, Z:-5.49 [[ 9.84277832e-01 1.75820646e-01 1.68597085e-02 1.70609293e+02] [-1.75798532e-01 9.84422194e-01 -2.79645937e-03 -2.43709929e+01] [-1.70887465e-02 -2.11419039e-04 9.99853954e-01 -5.48639046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.85420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.64, Y:-24.38, Z:-5.49 [[ 9.84581168e-01 1.74107661e-01 1.69246998e-02 1.70637239e+02] [-1.74085138e-01 9.84726606e-01 -2.80642570e-03 -2.43777134e+01] [-1.71548224e-02 -1.83184806e-04 9.99852828e-01 -5.48585353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.88420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.66, Y:-24.38, Z:-5.49 [[ 9.84849623e-01 1.72514340e-01 1.76074419e-02 1.70664909e+02] [-1.72489722e-01 9.85006993e-01 -2.91886828e-03 -2.43834367e+01] [-1.78470001e-02 -1.62456433e-04 9.99840716e-01 -5.48643767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.91420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.69, Y:-24.39, Z:-5.49 [[ 9.85417083e-01 1.69198602e-01 1.80278935e-02 1.70692446e+02] [-1.69172263e-01 9.85581971e-01 -2.98728093e-03 -2.43940605e+01] [-1.82734106e-02 -1.06101870e-04 9.99833022e-01 -5.48560155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.94420382200002 meters Centerline goodness [0,1] 0.9999147066976566 Centerline is valid? [True, True] Translation: X:170.72, Y:-24.40, Z:-5.49 [[ 9.85577217e-01 1.68258837e-01 1.80696794e-02 1.70720907e+02] [-1.68232235e-01 9.85742845e-01 -2.99320247e-03 -2.44017472e+01] [-1.83156899e-02 -8.98703905e-05 9.99832250e-01 -5.48582020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.97420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.75, Y:-24.41, Z:-5.49 [[ 9.85659030e-01 1.67799044e-01 1.78817794e-02 1.70746991e+02] [-1.67772918e-01 9.85821218e-01 -2.96202466e-03 -2.44065783e+01] [-1.81252624e-02 -8.05319566e-05 9.99835721e-01 -5.48663033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.004203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.77, Y:-24.41, Z:-5.49 [[ 9.85524988e-01 1.68570983e-01 1.80089576e-02 1.70774912e+02] [-1.68544648e-01 9.85689512e-01 -2.98119246e-03 -2.44088887e+01] [-1.82537832e-02 -9.72737554e-05 9.99833381e-01 -5.48712528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.034203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.80, Y:-24.41, Z:-5.49 [[ 9.85391161e-01 1.69329973e-01 1.82104159e-02 1.70803964e+02] [-1.69303198e-01 9.85559408e-01 -3.01326110e-03 -2.44127411e+01] [-1.84576821e-02 -1.13840796e-04 9.99829636e-01 -5.48685055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.064203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.83, Y:-24.42, Z:-5.49 [[ 9.85242234e-01 1.70207373e-01 1.80884259e-02 1.70832695e+02] [-1.70181121e-01 9.85408257e-01 -2.99217649e-03 -2.44153141e+01] [-1.83337747e-02 -1.30289941e-04 9.99831914e-01 -5.48756304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.094203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.86, Y:-24.41, Z:-5.49 [[ 9.84933617e-01 1.72056902e-01 1.73837000e-02 1.70860679e+02] [-1.72032951e-01 9.85087000e-01 -2.87510332e-03 -2.44137249e+01] [-1.76191382e-02 -1.58783297e-04 9.99844758e-01 -5.48951870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.124203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.89, Y:-24.42, Z:-5.49 [[ 9.84882542e-01 1.72397173e-01 1.68995299e-02 1.70888794e+02] [-1.72374606e-01 9.85027507e-01 -2.79397556e-03 -2.44172210e+01] [-1.71281753e-02 -1.61312070e-04 9.99853289e-01 -5.49110158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.154203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.92, Y:-24.42, Z:-5.49 [[ 9.84886791e-01 1.72406253e-01 1.65557746e-02 1.70916469e+02] [-1.72384620e-01 9.85025918e-01 -2.73575599e-03 -2.44207101e+01] [-1.67795285e-02 -1.59550958e-04 9.99859201e-01 -5.49405880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.184203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.94, Y:-24.43, Z:-5.49 [[ 9.84958421e-01 1.72020153e-01 1.63087694e-02 1.70943966e+02] [-1.71999133e-01 9.85093419e-01 -2.69342022e-03 -2.44263580e+01] [-1.65289840e-02 -1.52187275e-04 9.99863375e-01 -5.49418019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.214203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.97, Y:-24.43, Z:-5.50 [[ 9.85101512e-01 1.71195193e-01 1.63467984e-02 1.70970933e+02] [-1.71173985e-01 9.85237122e-01 -2.69829102e-03 -2.44306954e+01] [-1.65674070e-02 -1.40056054e-04 9.99862741e-01 -5.49688908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.244203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.00, Y:-24.44, Z:-5.50 [[ 9.85269079e-01 1.70232692e-01 1.62994728e-02 1.70999512e+02] [-1.70211497e-01 9.85403884e-01 -2.68914236e-03 -2.44377820e+01] [-1.65193437e-02 -1.24828841e-04 9.99863539e-01 -5.49635334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.274203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.03, Y:-24.44, Z:-5.50 [[ 9.85457143e-01 1.69039789e-01 1.73138340e-02 1.71027302e+02] [-1.69015696e-01 9.85609221e-01 -2.85608399e-03 -2.44420345e+01] [-1.75474663e-02 -1.11761333e-04 9.99846025e-01 -5.49595557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.304203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.06, Y:-24.45, Z:-5.50 [[ 9.85537763e-01 1.68516278e-01 1.78208485e-02 1.71056282e+02] [-1.68490691e-01 9.85698865e-01 -2.93838633e-03 -2.44459418e+01] [-1.80611560e-02 -1.06756389e-04 9.99836878e-01 -5.49565565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.334203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.08, Y:-24.45, Z:-5.50 [[ 9.85695632e-01 1.67609790e-01 1.76374197e-02 1.71083159e+02] [-1.67584590e-01 9.85853412e-01 -2.90773705e-03 -2.44508274e+01] [-1.78752756e-02 -8.96160489e-05 9.99840220e-01 -5.49721653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.364203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.11, Y:-24.46, Z:-5.50 [[ 9.85849622e-01 1.66737434e-01 1.72959956e-02 1.71110888e+02] [-1.66713094e-01 9.86001330e-01 -2.84984310e-03 -2.44564164e+01] [-1.75290502e-02 -7.39522020e-05 9.99846352e-01 -5.49887014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.394203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.14, Y:-24.46, Z:-5.50 [[ 9.86032232e-01 1.65672848e-01 1.71156014e-02 1.71137728e+02] [-1.65648867e-01 9.86180767e-01 -2.81934136e-03 -2.44618240e+01] [-1.73461652e-02 -5.52185221e-05 9.99849542e-01 -5.50178966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.424203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.17, Y:-24.47, Z:-5.50 [[ 9.86562671e-01 1.62593243e-01 1.60478629e-02 1.71165429e+02] [-1.62571792e-01 9.86693183e-01 -2.64102557e-03 -2.44725338e+01] [-1.62637298e-02 -3.39258862e-06 9.99867737e-01 -5.50306918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.454203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.19, Y:-24.48, Z:-5.50 [[ 9.86867877e-01 1.60755132e-01 1.57981229e-02 1.71193053e+02] [-1.60734121e-01 9.86994320e-01 -2.59915400e-03 -2.44798393e+01] [-1.60104849e-02 2.57241907e-05 9.99871824e-01 -5.50433150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.484203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.22, Y:-24.49, Z:-5.51 [[ 9.87166977e-01 1.58913084e-01 1.57477211e-02 1.71221446e+02] [-1.58891985e-01 9.87292575e-01 -2.59007323e-03 -2.44875980e+01] [-1.59592046e-02 5.46481039e-05 9.99872642e-01 -5.50548589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.514203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.25, Y:-24.50, Z:-5.51 [[ 9.87556319e-01 1.56539667e-01 1.50947148e-02 1.71247836e+02] [-1.56520012e-01 9.87671669e-01 -2.48216724e-03 -2.44994579e+01] [-1.52971798e-02 8.86550065e-05 9.99882987e-01 -5.50880471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.54420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.28, Y:-24.51, Z:-5.51 [[ 9.87627614e-01 1.56076461e-01 1.52260853e-02 1.71276427e+02] [-1.56056424e-01 9.87744972e-01 -2.50262125e-03 -2.45059142e+01] [-1.54300895e-02 9.55294225e-05 9.99880945e-01 -5.50863377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.57420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.31, Y:-24.51, Z:-5.51 [[ 9.87356794e-01 1.57754888e-01 1.54905053e-02 1.71305748e+02] [-1.57734369e-01 9.87478299e-01 -2.54530026e-03 -2.45082304e+01] [-1.56980714e-02 6.97344267e-05 9.99876775e-01 -5.50768030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.60420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.33, Y:-24.51, Z:-5.51 [[ 9.87065910e-01 1.59525260e-01 1.58927645e-02 1.71333824e+02] [-1.59503900e-01 9.87193846e-01 -2.61075289e-03 -2.45104767e+01] [-1.61057204e-02 4.20272527e-05 9.99870294e-01 -5.50904500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.63420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.36, Y:-24.51, Z:-5.51 [[ 9.86248191e-01 1.64421246e-01 1.67379589e-02 1.71362966e+02] [-1.64398280e-01 9.86390213e-01 -2.74833517e-03 -2.45085982e+01] [-1.69620435e-02 -4.11510485e-05 9.99856133e-01 -5.50732318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.66420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.39, Y:-24.51, Z:-5.51 [[ 9.85756026e-01 1.67281891e-01 1.73731372e-02 1.71391986e+02] [-1.67257609e-01 9.85909103e-01 -2.85173406e-03 -2.45091127e+01] [-1.76053776e-02 -9.46753414e-05 9.99845009e-01 -5.50623832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.69420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.42, Y:-24.51, Z:-5.51 [[ 9.85246498e-01 1.70190089e-01 1.80186727e-02 1.71420159e+02] [-1.70164469e-01 9.85411239e-01 -2.95688038e-03 -2.45079156e+01] [-1.82590343e-02 -1.52881827e-04 9.99833278e-01 -5.50788810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.72420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.45, Y:-24.51, Z:-5.51 [[ 9.84789838e-01 1.72787283e-01 1.82627882e-02 1.71449569e+02] [-1.72761435e-01 9.84959143e-01 -2.99560869e-03 -2.45082867e+01] [-1.85057033e-02 -2.05060492e-04 9.99828734e-01 -5.50836344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.754203822 meters Centerline goodness [0,1] 0.9999786880354631 Centerline is valid? [True, True] Translation: X:171.48, Y:-24.50, Z:-5.51 [[ 9.83962350e-01 1.77386874e-01 1.87614093e-02 1.71480004e+02] [-1.77360451e-01 9.84141152e-01 -3.07631651e-03 -2.45034863e+01] [-1.90095731e-02 -3.00552396e-04 9.99819257e-01 -5.50805150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.784203822 meters Centerline goodness [0,1] 0.9999786142001711 Centerline is valid? [True, True] Translation: X:171.51, Y:-24.50, Z:-5.51 [[ 9.83623430e-01 1.79272632e-01 1.86083895e-02 1.71509428e+02] [-1.79246986e-01 9.83799376e-01 -3.05070518e-03 -2.45038075e+01] [-1.88538299e-02 -3.34752640e-04 9.99822195e-01 -5.50898898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.814203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.54, Y:-24.50, Z:-5.51 [[ 9.83149229e-01 1.81940228e-01 1.77580251e-02 1.71539833e+02] [-1.81917327e-01 9.83309522e-01 -2.91021065e-03 -2.45025092e+01] [-1.79911196e-02 -3.69321104e-04 9.99838078e-01 -5.51075629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.844203822 meters Centerline goodness [0,1] 0.9999358618035661 Centerline is valid? [True, True] Translation: X:171.57, Y:-24.50, Z:-5.51 [[ 9.82977566e-01 1.82906537e-01 1.73292804e-02 1.71568282e+02] [-1.82884877e-01 9.83130234e-01 -2.84000726e-03 -2.45034576e+01] [-1.75563953e-02 -3.77599883e-04 9.99845803e-01 -5.51241664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.874203822 meters Centerline goodness [0,1] 0.999978646166987 Centerline is valid? [True, True] Translation: X:171.60, Y:-24.51, Z:-5.51 [[ 9.82855717e-01 1.83562499e-01 1.73046125e-02 1.71597534e+02] [-1.83541023e-01 9.83007964e-01 -2.83473648e-03 -2.45050145e+01] [-1.75309232e-02 -3.89969333e-04 9.99846246e-01 -5.51392341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.904203822 meters Centerline goodness [0,1] 0.999978646166987 Centerline is valid? [True, True] Translation: X:171.62, Y:-24.51, Z:-5.51 [[ 9.82868953e-01 1.83491603e-01 1.73046985e-02 1.71624679e+02] [-1.83470126e-01 9.83021200e-01 -2.83421151e-03 -2.45093224e+01] [-1.75309395e-02 -3.89236716e-04 9.99846246e-01 -5.51476287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.934203822 meters Centerline goodness [0,1] 0.9999784180425164 Centerline is valid? [True, True] Translation: X:171.65, Y:-24.51, Z:-5.51 [[ 9.82797960e-01 1.83845552e-01 1.75778843e-02 1.71653586e+02] [-1.83823477e-01 9.82955060e-01 -2.87732002e-03 -2.45112527e+01] [-1.78072529e-02 -4.03403574e-04 9.99841357e-01 -5.51477516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.964203822 meters Centerline goodness [0,1] 0.9999361362426823 Centerline is valid? [True, True] Translation: X:171.68, Y:-24.51, Z:-5.52 [[ 9.82940319e-01 1.83082422e-01 1.75828473e-02 1.71681406e+02] [-1.83060219e-01 9.83097490e-01 -2.87778693e-03 -2.45135285e+01] [-1.78125253e-02 -3.90027081e-04 9.99841268e-01 -5.51617447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.994203822 meters Centerline goodness [0,1] 0.9999575443661374 Centerline is valid? [True, True] Translation: X:171.71, Y:-24.52, Z:-5.52 [[ 9.83211344e-01 1.81632957e-01 1.74620074e-02 1.71708947e+02] [-1.81610866e-01 9.83366329e-01 -2.85599463e-03 -2.45158958e+01] [-1.76902928e-02 -3.63243952e-04 9.99843449e-01 -5.51841324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.024203822 meters Centerline goodness [0,1] 0.9999786206011887 Centerline is valid? [True, True] Translation: X:171.74, Y:-24.52, Z:-5.52 [[ 9.84036556e-01 1.77151612e-01 1.70106824e-02 1.71736213e+02] [-1.77129996e-01 9.84183535e-01 -2.78114503e-03 -2.45227596e+01] [-1.72343178e-02 -2.76353718e-04 9.99851440e-01 -5.52051090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.054203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.76, Y:-24.53, Z:-5.52 [[ 9.84552477e-01 1.74300411e-01 1.66068421e-02 1.71764102e+02] [-1.74279421e-01 9.84692499e-01 -2.71403072e-03 -2.45314360e+01] [-1.68256895e-02 -2.22125161e-04 9.99858413e-01 -5.52082169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.084203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.79, Y:-24.54, Z:-5.52 [[ 9.85793711e-01 1.67128636e-01 1.66966509e-02 1.71790391e+02] [-1.67106400e-01 9.85935094e-01 -2.72804253e-03 -2.45435400e+01] [-1.69177481e-02 -1.00830041e-04 9.99856880e-01 -5.52256600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.114203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.82, Y:-24.55, Z:-5.52 [[ 9.86428582e-01 1.63293920e-01 1.71390665e-02 1.71818391e+02] [-1.63269935e-01 9.86577465e-01 -2.79892967e-03 -2.45538017e+01] [-1.73660649e-02 -3.73500416e-05 9.99849198e-01 -5.52215226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.144203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.85, Y:-24.56, Z:-5.52 [[ 9.86999510e-01 1.59781991e-01 1.73689944e-02 1.71846419e+02] [-1.59756823e-01 9.87152326e-01 -2.83599258e-03 -2.45638076e+01] [-1.75989838e-02 2.43079160e-05 9.99845126e-01 -5.52183200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.174203822 meters Centerline goodness [0,1] 0.9998922738828802 Centerline is valid? [True, True] Translation: X:171.87, Y:-24.57, Z:-5.52 [[ 9.87450092e-01 1.56981428e-01 1.72958462e-02 1.71873746e+02] [-1.56956056e-01 9.87601552e-01 -2.82319873e-03 -2.45724244e+01] [-1.75245943e-02 7.30800384e-05 9.99846430e-01 -5.52329386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.204203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.90, Y:-24.58, Z:-5.52 [[ 9.87880091e-01 1.54137206e-01 1.82934019e-02 1.71901808e+02] [-1.54108353e-01 9.88049445e-01 -2.98505307e-03 -2.45810211e+01] [-1.85348934e-02 1.29708452e-04 9.99828206e-01 -5.52081818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.234203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.93, Y:-24.59, Z:-5.52 [[ 9.87987139e-01 1.53411164e-01 1.86125477e-02 1.71928599e+02] [-1.53381182e-01 9.88162433e-01 -3.03631382e-03 -2.45865243e+01] [-1.88580248e-02 1.45024430e-04 9.99822161e-01 -5.52193569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.264203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.96, Y:-24.59, Z:-5.52 [[ 9.88152958e-01 1.52436878e-01 1.77969007e-02 1.71955051e+02] [-1.52409325e-01 9.88313196e-01 -2.90236090e-03 -2.45935020e+01] [-1.80313387e-02 1.55562895e-04 9.99837410e-01 -5.52458936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.29420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.98, Y:-24.60, Z:-5.52 [[ 9.88211625e-01 1.52027955e-01 1.80356554e-02 1.71983760e+02] [-1.51999619e-01 9.88376180e-01 -2.93969573e-03 -2.45985413e+01] [-1.82729281e-02 1.63628755e-04 9.99833023e-01 -5.52384405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.32420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.01, Y:-24.61, Z:-5.52 [[ 9.88173954e-01 1.52180415e-01 1.87978418e-02 1.72011149e+02] [-1.52149677e-01 9.88352717e-01 -3.06306025e-03 -2.46052974e+01] [-1.90450358e-02 1.66750807e-04 9.99818613e-01 -5.52451914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.35420382200002 meters Centerline goodness [0,1] 0.9999787234042553 Centerline is valid? [True, True] Translation: X:172.04, Y:-24.61, Z:-5.53 [[ 9.88065209e-01 1.52832636e-01 1.92178937e-02 1.72038422e+02] [-1.52800657e-01 9.88252074e-01 -3.13025262e-03 -2.46098618e+01] [-1.94705280e-02 1.56386934e-04 9.99810419e-01 -5.52501518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.38420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.07, Y:-24.61, Z:-5.53 [[ 9.87908111e-01 1.53835908e-01 1.92893016e-02 1.72067205e+02] [-1.53803907e-01 9.88096400e-01 -3.14058784e-03 -2.46138487e+01] [-1.95428247e-02 1.35842241e-04 9.99809012e-01 -5.52547353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.41420382200002 meters Centerline goodness [0,1] 0.9999133448873484 Centerline is valid? [True, True] Translation: X:172.10, Y:-24.62, Z:-5.52 [[ 9.87495040e-01 1.56431080e-01 1.95668982e-02 1.72096004e+02] [-1.56398681e-01 9.87688873e-01 -3.18472768e-03 -2.46175960e+01] [-1.98241980e-02 8.46657134e-05 9.99803478e-01 -5.52470763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.44420382200002 meters Centerline goodness [0,1] 0.9999784659115379 Centerline is valid? [True, True] Translation: X:172.12, Y:-24.62, Z:-5.53 [[ 9.87225451e-01 1.58159997e-01 1.92697562e-02 1.72124671e+02] [-1.58128915e-01 9.87413496e-01 -3.13580277e-03 -2.46215429e+01] [-1.95231759e-02 4.86386655e-05 9.99809403e-01 -5.52592574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.47420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.15, Y:-24.62, Z:-5.53 [[ 9.86339786e-01 1.63808336e-01 1.73394492e-02 1.72152585e+02] [-1.63784051e-01 9.86492182e-01 -2.82111406e-03 -2.46194168e+01] [-1.75673531e-02 -5.73482009e-05 9.99845681e-01 -5.53302730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.504203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.18, Y:-24.62, Z:-5.53 [[ 9.85787166e-01 1.67142943e-01 1.69381366e-02 1.72181598e+02] [-1.67120283e-01 9.85932667e-01 -2.75458522e-03 -2.46180396e+01] [-1.71602717e-02 -1.15271432e-04 9.99852745e-01 -5.53481373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.534203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.21, Y:-24.62, Z:-5.53 [[ 9.85196248e-01 1.70606847e-01 1.67826373e-02 1.72210746e+02] [-1.70585115e-01 9.85339167e-01 -2.72858491e-03 -2.46179836e+01] [-1.70021052e-02 -1.74676505e-04 9.99855439e-01 -5.53326043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.564203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.24, Y:-24.62, Z:-5.54 [[ 9.84649849e-01 1.73787591e-01 1.62033634e-02 1.72239974e+02] [-1.73767776e-01 9.84783135e-01 -2.63365586e-03 -2.46170426e+01] [-1.64144957e-02 -2.22393575e-04 9.99865248e-01 -5.53506626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.594203822 meters Centerline goodness [0,1] 0.9999573369739115 Centerline is valid? [True, True] Translation: X:172.27, Y:-24.61, Z:-5.54 [[ 9.83794863e-01 1.78711748e-01 1.44837435e-02 1.72269406e+02] [-1.78696460e-01 9.83901436e-01 -2.35338854e-03 -2.46133343e+01] [-1.46711542e-02 -2.72942139e-04 9.99892336e-01 -5.53944427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.624203822 meters Centerline goodness [0,1] 0.9999356140275572 Centerline is valid? [True, True] Translation: X:172.30, Y:-24.62, Z:-5.54 [[ 9.83567727e-01 1.79983429e-01 1.41595191e-02 1.72297509e+02] [-1.79968952e-01 9.83669601e-01 -2.30059883e-03 -2.46153873e+01] [-1.43423582e-02 -2.85479051e-04 9.99897102e-01 -5.54214952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.654203822 meters Centerline goodness [0,1] 0.9999572512557444 Centerline is valid? [True, True] Translation: X:172.33, Y:-24.62, Z:-5.54 [[ 9.83544965e-01 1.80141621e-01 1.37222105e-02 1.72325446e+02] [-1.80128053e-01 9.83640645e-01 -2.22854442e-03 -2.46207927e+01] [-1.38991776e-02 -2.79881414e-04 9.99903363e-01 -5.54358370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.684203822 meters Centerline goodness [0,1] 0.9999571917808219 Centerline is valid? [True, True] Translation: X:172.35, Y:-24.63, Z:-5.54 [[ 9.83781716e-01 1.78869717e-01 1.33850521e-02 1.72353909e+02] [-1.78856698e-01 9.83872735e-01 -2.17316622e-03 -2.46266838e+01] [-1.35579014e-02 -2.56085031e-04 9.99908055e-01 -5.54475039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.714203822 meters Centerline goodness [0,1] 0.9999578103575573 Centerline is valid? [True, True] Translation: X:172.38, Y:-24.63, Z:-5.55 [[ 9.84188437e-01 1.76605985e-01 1.35442535e-02 1.72381687e+02] [-1.76592450e-01 9.84281603e-01 -2.19832279e-03 -2.46322958e+01] [-1.37195965e-02 -2.28249029e-04 9.99905856e-01 -5.54701452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.744203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.41, Y:-24.65, Z:-5.55 [[ 9.85154976e-01 1.71073076e-01 1.42715365e-02 1.72409525e+02] [-1.71057485e-01 9.85258330e-01 -2.31520072e-03 -2.46454602e+01] [-1.44572187e-02 -1.60421627e-04 9.99895476e-01 -5.54527532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.774203822 meters Centerline goodness [0,1] 0.9999787039206082 Centerline is valid? [True, True] Translation: X:172.44, Y:-24.65, Z:-5.54 [[ 9.85620266e-01 1.68263305e-01 1.54968326e-02 1.72436800e+02] [-1.68244574e-01 9.85742078e-01 -2.51388317e-03 -2.46540088e+01] [-1.56988743e-02 -1.29523808e-04 9.99876757e-01 -5.54431520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.804203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.46, Y:-24.66, Z:-5.54 [[ 9.86026133e-01 1.65782622e-01 1.63886539e-02 1.72464466e+02] [-1.65761346e-01 9.86162316e-01 -2.65766927e-03 -2.46633322e+01] [-1.66024683e-02 -9.60739743e-05 9.99862165e-01 -5.54303337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.834203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.49, Y:-24.68, Z:-5.54 [[ 9.86711276e-01 1.61524838e-01 1.76233877e-02 1.72491693e+02] [-1.61499573e-01 9.86868647e-01 -2.85694050e-03 -2.46751837e+01] [-1.78534356e-02 -2.71941748e-05 9.99840614e-01 -5.54032638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.864203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.52, Y:-24.68, Z:-5.54 [[ 9.86964314e-01 1.59933518e-01 1.79642190e-02 1.72518557e+02] [-1.59907017e-01 9.87127788e-01 -2.91141652e-03 -2.46813682e+01] [-1.81986129e-02 8.59537162e-07 9.99834392e-01 -5.54114741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.894203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.55, Y:-24.69, Z:-5.54 [[ 9.87264363e-01 1.58150993e-01 1.72435711e-02 1.72546478e+02] [-1.58126322e-01 9.87414939e-01 -2.79349613e-03 -2.46866104e+01] [-1.74683539e-02 3.12566919e-05 9.99847416e-01 -5.54153535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.924203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.57, Y:-24.69, Z:-5.55 [[ 9.87326794e-01 1.57831425e-01 1.65844298e-02 1.72573411e+02] [-1.57808568e-01 9.87466070e-01 -2.68627293e-03 -2.46904798e+01] [-1.68005400e-02 3.50641314e-05 9.99858860e-01 -5.54628099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.954203822 meters Centerline goodness [0,1] 0.9999782844733984 Centerline is valid? [True, True] Translation: X:172.60, Y:-24.69, Z:-5.55 [[ 9.87275301e-01 1.58208988e-01 1.60435429e-02 1.72602517e+02] [-1.58187671e-01 9.87405649e-01 -2.59718089e-03 -2.46932256e+01] [-1.62523823e-02 2.62418563e-05 9.99867921e-01 -5.54604391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.984203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.63, Y:-24.69, Z:-5.55 [[ 9.87076435e-01 1.59449828e-01 1.59957719e-02 1.72629992e+02] [-1.59428805e-01 9.87206033e-01 -2.58918197e-03 -2.46938778e+01] [-1.62039672e-02 5.53371260e-06 9.99868707e-01 -5.54857617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.014203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.66, Y:-24.70, Z:-5.55 [[ 9.86921659e-01 1.60424638e-01 1.57979194e-02 1.72658906e+02] [-1.60404286e-01 9.87048092e-01 -2.55528929e-03 -2.46964739e+01] [-1.60032375e-02 -1.21836408e-05 9.99871940e-01 -5.54974013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.04420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.69, Y:-24.70, Z:-5.55 [[ 9.86777797e-01 1.61354992e-01 1.53018465e-02 1.72686370e+02] [-1.61336018e-01 9.86896431e-01 -2.47453093e-03 -2.46979876e+01] [-1.55006156e-02 -2.69268083e-05 9.99879858e-01 -5.55249917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.07420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.72, Y:-24.70, Z:-5.55 [[ 9.86511916e-01 1.62980583e-01 1.52174225e-02 1.72715649e+02] [-1.62962028e-01 9.86629275e-01 -2.45979261e-03 -2.46950702e+01] [-1.54148530e-02 -5.32473142e-05 9.99881183e-01 -5.55270153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.10420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.74, Y:-24.70, Z:-5.55 [[ 9.86460303e-01 1.63279928e-01 1.53536891e-02 1.72742440e+02] [-1.63261079e-01 9.86579780e-01 -2.48159758e-03 -2.46960263e+01] [-1.55528343e-02 -5.86623557e-05 9.99879046e-01 -5.55349403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.13420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.77, Y:-24.70, Z:-5.55 [[ 9.86611424e-01 1.62342872e-01 1.55784956e-02 1.72771487e+02] [-1.62323379e-01 9.86734407e-01 -2.51611583e-03 -2.46991657e+01] [-1.57803111e-02 -4.63254172e-05 9.99875482e-01 -5.55273353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.16420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.80, Y:-24.71, Z:-5.55 [[ 9.86916146e-01 1.60456121e-01 1.58226027e-02 1.72799305e+02] [-1.60435783e-01 9.87042974e-01 -2.55474750e-03 -2.47055441e+01] [-1.60275137e-02 -1.71901022e-05 9.99871551e-01 -5.55282193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.19420382200002 meters Centerline goodness [0,1] 0.999850641176094 Centerline is valid? [True, True] Translation: X:172.83, Y:-24.71, Z:-5.56 [[ 9.87292103e-01 1.58036490e-01 1.66964703e-02 1.72826578e+02] [-1.58013509e-01 9.87433272e-01 -2.69508765e-03 -2.47134031e+01] [-1.69125725e-02 2.25708841e-05 9.99856972e-01 -5.55526048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.22420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.85, Y:-24.73, Z:-5.55 [[ 9.88372686e-01 1.51046834e-01 1.74438521e-02 1.72852894e+02] [-1.51020681e-01 9.88526597e-01 -2.81454360e-03 -2.47284969e+01] [-1.76688397e-02 1.47435595e-04 9.99843883e-01 -5.55292248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.254203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.88, Y:-24.74, Z:-5.55 [[ 9.88942564e-01 1.47285175e-01 1.73113444e-02 1.72878824e+02] [-1.47258858e-01 9.89094046e-01 -2.79225493e-03 -2.47387369e+01] [-1.75338054e-02 2.12130943e-04 9.99846249e-01 -5.55405156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.284203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.91, Y:-24.75, Z:-5.55 [[ 9.89925480e-01 1.40436699e-01 1.80298945e-02 1.72906834e+02] [-1.40407051e-01 9.90089599e-01 -2.90615662e-03 -2.47527618e+01] [-1.82593421e-02 3.45354169e-04 9.99833225e-01 -5.55207944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.314203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.93, Y:-24.77, Z:-5.55 [[ 9.90297963e-01 1.37693588e-01 1.87195008e-02 1.72933672e+02] [-1.37661145e-01 9.90474789e-01 -3.01694881e-03 -2.47670166e+01] [-1.89566081e-02 4.10730341e-04 9.99820223e-01 -5.55417697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.344203822 meters Centerline goodness [0,1] 0.9999786748555222 Centerline is valid? [True, True] Translation: X:172.96, Y:-24.78, Z:-5.56 [[ 9.90593994e-01 1.35596511e-01 1.83609901e-02 1.72962013e+02] [-1.35564954e-01 9.90764044e-01 -2.95833377e-03 -2.47767629e+01] [-1.85925486e-02 4.41400874e-04 9.99827046e-01 -5.55508672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.374203822 meters Centerline goodness [0,1] 0.9998717674716819 Centerline is valid? [True, True] Translation: X:172.99, Y:-24.79, Z:-5.56 [[ 9.90810674e-01 1.34079781e-01 1.77994417e-02 1.72989737e+02] [-1.34049891e-01 9.90970436e-01 -2.86730406e-03 -2.47882535e+01] [-1.80231680e-02 4.54942243e-04 9.99837466e-01 -5.55755479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.404203822 meters Centerline goodness [0,1] 0.9998494073101994 Centerline is valid? [True, True] Translation: X:173.02, Y:-24.79, Z:-5.56 [[ 9.90726540e-01 1.34657323e-01 1.81198147e-02 1.73019972e+02] [-1.34626450e-01 9.90892124e-01 -2.91854821e-03 -2.47946913e+01] [-1.83477855e-02 4.52076843e-04 9.99831563e-01 -5.55831726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.434203822 meters Centerline goodness [0,1] 0.9999783765082385 Centerline is valid? [True, True] Translation: X:173.05, Y:-24.80, Z:-5.56 [[ 9.90554879e-01 1.35956072e-01 1.78039026e-02 1.73050028e+02] [-1.35926476e-01 9.90714777e-01 -2.86766443e-03 -2.47991847e+01] [-1.80284657e-02 4.20557252e-04 9.99837386e-01 -5.55830001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.464203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.08, Y:-24.80, Z:-5.56 [[ 9.89944112e-01 1.40404461e-01 1.72406931e-02 1.73078431e+02] [-1.40377374e-01 9.90094177e-01 -2.77741085e-03 -2.48012029e+01] [-1.74598707e-02 3.29278304e-04 9.99847511e-01 -5.56058372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.494203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.11, Y:-24.80, Z:-5.56 [[ 9.89566281e-01 1.43060496e-01 1.70959336e-02 1.73107246e+02] [-1.43034268e-01 9.89713906e-01 -2.75348537e-03 -2.48039523e+01] [-1.73139982e-02 2.79451922e-04 9.99850062e-01 -5.56226417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.524203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.14, Y:-24.80, Z:-5.56 [[ 9.88855985e-01 1.47877901e-01 1.72036906e-02 1.73136592e+02] [-1.47852081e-01 9.89005606e-01 -2.77023088e-03 -2.48049272e+01] [-1.74242024e-02 1.95757933e-04 9.99848168e-01 -5.56236130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.554203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.17, Y:-24.81, Z:-5.56 [[ 9.88530073e-01 1.50081871e-01 1.68442044e-02 1.73165525e+02] [-1.50057445e-01 9.88673560e-01 -2.71192685e-03 -2.48075565e+01] [-1.70604305e-02 1.53222981e-04 9.99854449e-01 -5.56298325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.584203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.19, Y:-24.81, Z:-5.57 [[ 9.88268307e-01 1.51843021e-01 1.64149324e-02 1.73192576e+02] [-1.51820078e-01 9.88404615e-01 -2.64219953e-03 -2.48111720e+01] [-1.66257945e-02 1.19085748e-04 9.99861775e-01 -5.56588418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.614203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.22, Y:-24.81, Z:-5.57 [[ 9.88016553e-01 1.53527195e-01 1.58962509e-02 1.73220436e+02] [-1.53505912e-01 9.88144419e-01 -2.55775161e-03 -2.48141512e+01] [-1.61004761e-02 8.69324304e-05 9.99870375e-01 -5.56847186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.644203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.25, Y:-24.82, Z:-5.57 [[ 9.87589709e-01 1.56339434e-01 1.49849030e-02 1.73249192e+02] [-1.56320860e-01 9.87703387e-01 -2.41013236e-03 -2.48192704e+01] [-1.51774382e-02 3.77689816e-05 9.99884815e-01 -5.57092276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.674203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.28, Y:-24.82, Z:-5.57 [[ 9.87351000e-01 1.57815615e-01 1.52392604e-02 1.73277295e+02] [-1.57796592e-01 9.87468598e-01 -2.45030267e-03 -2.48247621e+01] [-1.54349871e-02 1.46054267e-05 9.99880873e-01 -5.57043146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.704203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.30, Y:-24.83, Z:-5.57 [[ 9.86690052e-01 1.61843227e-01 1.57959554e-02 1.73304972e+02] [-1.61823315e-01 9.86816481e-01 -2.53915626e-03 -2.48262503e+01] [-1.59986543e-02 -5.07936340e-05 9.99872012e-01 -5.57078563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.734203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.33, Y:-24.83, Z:-5.57 [[ 9.86305541e-01 1.64138767e-01 1.61197243e-02 1.73333931e+02] [-1.64118356e-01 9.86437254e-01 -2.58999329e-03 -2.48280669e+01] [-1.63262149e-02 -9.10179208e-05 9.99866714e-01 -5.56991076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.764203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.36, Y:-24.83, Z:-5.57 [[ 9.85941475e-01 1.66272819e-01 1.65154061e-02 1.73362493e+02] [-1.66251707e-01 9.86079780e-01 -2.65274011e-03 -2.48298991e+01] [-1.67265866e-02 -1.30267966e-04 9.99860092e-01 -5.57019252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.79420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.39, Y:-24.83, Z:-5.57 [[ 9.85230781e-01 1.70341862e-01 1.74344029e-02 1.73391377e+02] [-1.70318989e-01 9.85385004e-01 -2.79944085e-03 -2.48300707e+01] [-1.76564611e-02 -2.11314579e-04 9.99844090e-01 -5.56905918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.82420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.42, Y:-24.83, Z:-5.57 [[ 9.85242945e-01 1.70271482e-01 1.74344880e-02 1.73418534e+02] [-1.70248606e-01 9.85397168e-01 -2.79891084e-03 -2.48342911e+01] [-1.76564698e-02 -2.10590125e-04 9.99844090e-01 -5.56989851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.85420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.45, Y:-24.84, Z:-5.57 [[ 9.84965458e-01 1.71803493e-01 1.80722296e-02 1.73446808e+02] [-1.71779201e-01 9.85131209e-01 -2.89961345e-03 -2.48385174e+01] [-1.83016811e-02 -2.48414075e-04 9.99832479e-01 -5.56917399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.88420382200002 meters Centerline goodness [0,1] 0.9999788045782111 Centerline is valid? [True, True] Translation: X:173.47, Y:-24.84, Z:-5.57 [[ 9.84570018e-01 1.74047041e-01 1.81523555e-02 1.73474283e+02] [-1.74022929e-01 9.84737296e-01 -2.91169266e-03 -2.48407686e+01] [-1.83820729e-02 -2.92160783e-04 9.99830993e-01 -5.57254224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.91420382200002 meters Centerline goodness [0,1] 0.9999364527950179 Centerline is valid? [True, True] Translation: X:173.50, Y:-24.85, Z:-5.57 [[ 9.84458739e-01 1.74742365e-01 1.74956534e-02 1.73502385e+02] [-1.74720098e-01 9.84614147e-01 -2.80514935e-03 -2.48459363e+01] [-1.77166463e-02 -2.95288475e-04 9.99843004e-01 -5.57465597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.94420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.53, Y:-24.85, Z:-5.58 [[ 9.84416258e-01 1.75073778e-01 1.65469813e-02 1.73530755e+02] [-1.75053919e-01 9.84555276e-01 -2.65233762e-03 -2.48517329e+01] [-1.67557725e-02 -2.85609642e-04 9.99859571e-01 -5.57584389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.97420382200002 meters Centerline goodness [0,1] 0.9999785977227977 Centerline is valid? [True, True] Translation: X:173.56, Y:-24.85, Z:-5.58 [[ 9.84538050e-01 1.74500005e-01 1.53158562e-02 1.73557948e+02] [-1.74482929e-01 9.84657140e-01 -2.45452819e-03 -2.48537030e+01] [-1.55091824e-02 -2.55779057e-04 9.99879693e-01 -5.58160653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.004203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.59, Y:-24.86, Z:-5.58 [[ 9.84724548e-01 1.73490704e-01 1.47830774e-02 1.73586006e+02] [-1.73474698e-01 9.84835479e-01 -2.36806773e-03 -2.48622285e+01] [-1.49697368e-02 -2.32595447e-04 9.99887920e-01 -5.58118206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.034203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.61, Y:-24.87, Z:-5.59 [[ 9.85343010e-01 1.69939832e-01 1.48191251e-02 1.73612601e+02] [-1.69923355e-01 9.85454424e-01 -2.37328024e-03 -2.48713953e+01] [-1.50068873e-02 -1.79620362e-04 9.99887374e-01 -5.58549433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.064203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.64, Y:-24.88, Z:-5.59 [[ 9.85734821e-01 1.67694798e-01 1.43289063e-02 1.73639729e+02] [-1.67679170e-01 9.85838950e-01 -2.29370420e-03 -2.48811949e+01] [-1.45106362e-02 -1.41675012e-04 9.99894705e-01 -5.58695504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.094203822 meters Centerline goodness [0,1] 0.9998710758718494 Centerline is valid? [True, True] Translation: X:173.67, Y:-24.89, Z:-5.59 [[ 9.86479906e-01 1.63327301e-01 1.34754741e-02 1.73666755e+02] [-1.63313079e-01 9.86571937e-01 -2.15657546e-03 -2.48949767e+01] [-1.36467523e-02 -7.33028283e-05 9.99906876e-01 -5.58761429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.124203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.69, Y:-24.90, Z:-5.59 [[ 9.86769185e-01 1.61604240e-01 1.30631013e-02 1.73694133e+02] [-1.61590730e-01 9.86855647e-01 -2.09017715e-03 -2.49019859e+01] [-1.32291768e-02 -4.83536633e-05 9.99912489e-01 -5.59101387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.154203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.72, Y:-24.91, Z:-5.59 [[ 9.87084165e-01 1.59684691e-01 1.28705093e-02 1.73721808e+02] [-1.59671426e-01 9.87168070e-01 -2.05834113e-03 -2.49097740e+01] [-1.30340414e-02 -2.32966441e-05 9.99915053e-01 -5.59213771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.184203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.75, Y:-24.92, Z:-5.59 [[ 9.87459859e-01 1.57404340e-01 1.21202245e-02 1.73749803e+02] [-1.57392411e-01 9.87534239e-01 -1.93787638e-03 -2.49180222e+01] [-1.22741669e-02 5.94377258e-06 9.99924670e-01 -5.59158713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.214203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.78, Y:-24.92, Z:-5.59 [[ 9.87546203e-01 1.56875791e-01 1.19366462e-02 1.73776924e+02] [-1.56864186e-01 9.87618340e-01 -1.90817154e-03 -2.49233320e+01] [-1.20881966e-02 1.19752670e-05 9.99926935e-01 -5.59316117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.244203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.80, Y:-24.93, Z:-5.59 [[ 9.87614522e-01 1.56422075e-01 1.22347952e-02 1.73804681e+02] [-1.56409861e-01 9.87690303e-01 -1.95478663e-03 -2.49293390e+01] [-1.23899603e-02 1.69330564e-05 9.99923241e-01 -5.59328168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.274203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.83, Y:-24.94, Z:-5.59 [[ 9.87764205e-01 1.55335544e-01 1.38832277e-02 1.73831240e+02] [-1.55319720e-01 9.87861765e-01 -2.21746225e-03 -2.49395636e+01] [-1.40591605e-02 3.39908075e-05 9.99901165e-01 -5.59074435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.304203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.86, Y:-24.95, Z:-5.59 [[ 9.87898653e-01 1.54416176e-01 1.45566202e-02 1.73858744e+02] [-1.54398699e-01 9.88005892e-01 -2.32363448e-03 -2.49468026e+01] [-1.47408333e-02 4.79921451e-05 9.99891347e-01 -5.59105110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.334203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.89, Y:-24.96, Z:-5.59 [[ 9.88217302e-01 1.52224258e-01 1.59480304e-02 1.73887711e+02] [-1.52203009e-01 9.88345976e-01 -2.54487560e-03 -2.49550416e+01] [-1.61495635e-02 8.75518869e-05 9.99869583e-01 -5.58774916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.364203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.92, Y:-24.96, Z:-5.59 [[ 9.88380034e-01 1.51120015e-01 1.63600114e-02 1.73915669e+02] [-1.51097519e-01 9.88515417e-01 -2.60967628e-03 -2.49636306e+01] [-1.65664978e-02 1.07394810e-04 9.99862760e-01 -5.58965308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.394203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.94, Y:-24.97, Z:-5.59 [[ 9.88580898e-01 1.49744679e-01 1.68623396e-02 1.73944424e+02] [-1.49720571e-01 9.88724690e-01 -2.69034181e-03 -2.49734922e+01] [-1.70750759e-02 1.34981415e-04 9.99854201e-01 -5.59011123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.424203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.97, Y:-24.99, Z:-5.59 [[ 9.88965836e-01 1.47029545e-01 1.81352574e-02 1.73974260e+02] [-1.47001215e-01 9.89132082e-01 -2.89275685e-03 -2.49884312e+01] [-1.83634856e-02 1.94932820e-04 9.99831358e-01 -5.58789848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.454203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.01, Y:-25.00, Z:-5.59 [[ 9.89019402e-01 1.46655524e-01 1.82422411e-02 1.74005601e+02] [-1.46626818e-01 9.89187604e-01 -2.90854651e-03 -2.49971000e+01] [-1.84715532e-02 2.01807158e-04 9.99829366e-01 -5.58819052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.484203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.04, Y:-25.01, Z:-5.59 [[ 9.88874964e-01 1.47677001e-01 1.78271829e-02 1.74037773e+02] [-1.47649707e-01 9.89035627e-01 -2.84486311e-03 -2.50064908e+01] [-1.80518398e-02 1.81035576e-04 9.99837036e-01 -5.58827223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.514203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.07, Y:-25.01, Z:-5.59 [[ 9.88636108e-01 1.49301309e-01 1.75432398e-02 1.74067979e+02] [-1.49275064e-01 9.88791735e-01 -2.80345435e-03 -2.50121940e+01] [-1.77651699e-02 1.52827955e-04 9.99842175e-01 -5.59006408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.54420382200001 meters Centerline goodness [0,1] 0.9999787622647921 Centerline is valid? [True, True] Translation: X:174.10, Y:-25.02, Z:-5.59 [[ 9.88332282e-01 1.51400090e-01 1.66526886e-02 1.74098707e+02] [-1.51376699e-01 9.88472559e-01 -2.66360753e-03 -2.50171046e+01] [-1.68639961e-02 1.11700287e-04 9.99857786e-01 -5.59446462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.57420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.13, Y:-25.02, Z:-5.60 [[ 9.87966221e-01 1.53927135e-01 1.51387847e-02 1.74130112e+02] [-1.53908039e-01 9.88082199e-01 -2.42549437e-03 -2.50199524e+01] [-1.53317131e-02 6.63258453e-05 9.99882460e-01 -5.59784108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.60420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.16, Y:-25.02, Z:-5.60 [[ 9.87054952e-01 1.59852169e-01 1.30309317e-02 1.74160961e+02] [-1.59838531e-01 9.87140964e-01 -2.08819260e-03 -2.50205784e+01] [-1.31971686e-02 -2.16841314e-05 9.99912913e-01 -5.60105634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.63420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.19, Y:-25.02, Z:-5.60 [[ 9.86520175e-01 1.63105979e-01 1.32054729e-02 1.74189528e+02] [-1.63092251e-01 9.86608552e-01 -2.11717784e-03 -2.50220503e+01] [-1.33739569e-02 -6.50716420e-05 9.99910563e-01 -5.60272212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.66420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.22, Y:-25.02, Z:-5.60 [[ 9.85382184e-01 1.69824837e-01 1.34713225e-02 1.74218870e+02] [-1.69811186e-01 9.85474251e-01 -2.15918743e-03 -2.50180306e+01] [-1.36423251e-02 -1.59956430e-04 9.99906926e-01 -5.60265462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.69420382200002 meters Centerline goodness [0,1] 0.9999786055069425 Centerline is valid? [True, True] Translation: X:174.25, Y:-25.02, Z:-5.60 [[ 9.84891811e-01 1.72683154e-01 1.29865027e-02 1.74248010e+02] [-1.72670717e-01 9.84977407e-01 -2.08136522e-03 -2.50186989e+01] [-1.31508284e-02 -1.92469169e-04 9.99913506e-01 -5.60362411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.72420382200002 meters Centerline goodness [0,1] 0.9999148845621875 Centerline is valid? [True, True] Translation: X:174.28, Y:-25.02, Z:-5.61 [[ 9.84007057e-01 1.77704156e-01 1.23021891e-02 1.74277155e+02] [-1.77693397e-01 9.84083925e-01 -1.97095672e-03 -2.50169723e+01] [-1.24566337e-02 -2.46582444e-04 9.99922383e-01 -5.60586718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.75420382200002 meters Centerline goodness [0,1] 0.9998731501057082 Centerline is valid? [True, True] Translation: X:174.31, Y:-25.02, Z:-5.61 [[ 9.83604954e-01 1.79895623e-01 1.26039429e-02 1.74306393e+02] [-1.79884512e-01 9.83685664e-01 -2.01903186e-03 -2.50190123e+01] [-1.27615330e-02 -2.81324390e-04 9.99918529e-01 -5.60602140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.784203822 meters Centerline goodness [0,1] 0.9999360068259385 Centerline is valid? [True, True] Translation: X:174.34, Y:-25.02, Z:-5.61 [[ 9.83285761e-01 1.81600945e-01 1.30463894e-02 1.74335222e+02] [-1.81589200e-01 9.83372258e-01 -2.08923312e-03 -2.50209583e+01] [-1.32088642e-02 -3.14770237e-04 9.99912710e-01 -5.60611192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.814203822 meters Centerline goodness [0,1] 0.9999151283683428 Centerline is valid? [True, True] Translation: X:174.36, Y:-25.02, Z:-5.61 [[ 9.83087342e-01 1.82639383e-01 1.34957125e-02 1.74362650e+02] [-1.82626919e-01 9.83179912e-01 -2.16071689e-03 -2.50226532e+01] [-1.36633455e-02 -3.40506967e-04 9.99906594e-01 -5.60668612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.844203822 meters Centerline goodness [0,1] 0.9998492354081413 Centerline is valid? [True, True] Translation: X:174.39, Y:-25.03, Z:-5.61 [[ 9.83114825e-01 1.82512544e-01 1.32064971e-02 1.74390222e+02] [-1.82500610e-01 9.83203469e-01 -2.11342173e-03 -2.50299044e+01] [-1.33703998e-02 -3.32457546e-04 9.99910557e-01 -5.60740838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.874203822 meters Centerline goodness [0,1] 0.9998935536064039 Centerline is valid? [True, True] Translation: X:174.42, Y:-25.04, Z:-5.61 [[ 9.83240963e-01 1.81839086e-01 1.31055596e-02 1.74418104e+02] [-1.81827282e-01 9.83328248e-01 -2.09665754e-03 -2.50363715e+01] [-1.32683212e-02 -3.21428707e-04 9.99911920e-01 -5.60870017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.904203822 meters Centerline goodness [0,1] 0.999914216474726 Centerline is valid? [True, True] Translation: X:174.45, Y:-25.04, Z:-5.61 [[ 9.83551749e-01 1.80220586e-01 1.21036107e-02 1.74446268e+02] [-1.80210401e-01 9.83626181e-01 -1.93589975e-03 -2.50433704e+01] [-1.22543174e-02 -2.77138959e-04 9.99924875e-01 -5.61177856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.934203822 meters Centerline goodness [0,1] 0.999935809654228 Centerline is valid? [True, True] Translation: X:174.47, Y:-25.05, Z:-5.62 [[ 9.83726262e-01 1.79282389e-01 1.18518864e-02 1.74473833e+02] [-1.79272559e-01 9.83797620e-01 -1.89538561e-03 -2.50454107e+01] [-1.19996669e-02 -2.60177397e-04 9.99927968e-01 -5.61623516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.964203822 meters Centerline goodness [0,1] 0.9999784751818848 Centerline is valid? [True, True] Translation: X:174.50, Y:-25.06, Z:-5.61 [[ 9.83857648e-01 1.78567927e-01 1.17313066e-02 1.74501257e+02] [-1.78558256e-01 9.83927555e-01 -1.87512357e-03 -2.50554983e+01] [-1.18775928e-02 -2.49866983e-04 9.99929428e-01 -5.61241625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.994203822 meters Centerline goodness [0,1] 0.9999783268313828 Centerline is valid? [True, True] Translation: X:174.53, Y:-25.06, Z:-5.61 [[ 9.84138167e-01 1.76995384e-01 1.20292295e-02 1.74529932e+02] [-1.76985109e-01 9.84211653e-01 -1.92187944e-03 -2.50616337e+01] [-1.21794716e-02 -2.37599588e-04 9.99925799e-01 -5.61203810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.024203822 meters Centerline goodness [0,1] 0.9999365991800161 Centerline is valid? [True, True] Translation: X:174.56, Y:-25.06, Z:-5.62 [[ 9.84273740e-01 1.76219811e-01 1.23200392e-02 1.74557814e+02] [-1.76208973e-01 9.84350813e-01 -1.96828946e-03 -2.50621140e+01] [-1.24740922e-02 -2.33565832e-04 9.99922168e-01 -5.61624676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.054203822 meters Centerline goodness [0,1] 0.9999783540413005 Centerline is valid? [True, True] Translation: X:174.59, Y:-25.07, Z:-5.61 [[ 9.84443583e-01 1.75288816e-01 1.20275985e-02 1.74585496e+02] [-1.75278422e-01 9.84517031e-01 -1.92111084e-03 -2.50712099e+01] [-1.21781248e-02 -2.16953246e-04 9.99925820e-01 -5.61270982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.084203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.61, Y:-25.07, Z:-5.61 [[ 9.84812538e-01 1.73103303e-01 1.33981647e-02 1.74613323e+02] [-1.73090224e-01 9.84903651e-01 -2.13846122e-03 -2.50734120e+01] [-1.35660760e-02 -2.13107904e-04 9.99907954e-01 -5.61386033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.114203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.64, Y:-25.08, Z:-5.61 [[ 9.85046258e-01 1.71797724e-01 1.30158652e-02 1.74641447e+02] [-1.71785278e-01 9.85132228e-01 -2.07657892e-03 -2.50794264e+01] [-1.31790999e-02 -1.90407745e-04 9.99913134e-01 -5.61462639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.144203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.67, Y:-25.09, Z:-5.62 [[ 9.85672929e-01 1.68195451e-01 1.26161155e-02 1.74668259e+02] [-1.68183468e-01 9.85753656e-01 -2.01244386e-03 -2.50882328e+01] [-1.27748659e-02 -1.38210621e-04 9.99918389e-01 -5.61688473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.174203822 meters Centerline goodness [0,1] 0.9997873019249176 Centerline is valid? [True, True] Translation: X:174.70, Y:-25.10, Z:-5.62 [[ 9.86000349e-01 1.66251956e-01 1.27905742e-02 1.74696369e+02] [-1.66239489e-01 9.86083300e-01 -2.03926163e-03 -2.50952611e+01] [-1.29516028e-02 -1.15585832e-04 9.99916118e-01 -5.61818179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.204203822 meters Centerline goodness [0,1] 0.9999136367561966 Centerline is valid? [True, True] Translation: X:174.73, Y:-25.10, Z:-5.62 [[ 9.86364314e-01 1.64112624e-01 1.23485902e-02 1.74725208e+02] [-1.64100848e-01 9.86441605e-01 -1.96782816e-03 -2.51034157e+01] [-1.25041086e-02 -8.54186552e-05 9.99921817e-01 -5.61893987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.234203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.75, Y:-25.11, Z:-5.62 [[ 9.86986404e-01 1.60426228e-01 1.10120068e-02 1.74752824e+02] [-1.60416633e-01 9.87047833e-01 -1.75487778e-03 -2.51131119e+01] [-1.11509058e-02 -3.44685366e-05 9.99937826e-01 -5.62351777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.264203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.78, Y:-25.12, Z:-5.63 [[ 9.87154311e-01 1.59444456e-01 1.01897787e-02 1.74781978e+02] [-1.59436194e-01 9.87206901e-01 -1.62330620e-03 -2.51195491e+01] [-1.03182470e-02 -2.21658155e-05 9.99946765e-01 -5.62511499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.29420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.81, Y:-25.12, Z:-5.63 [[ 9.87221681e-01 1.59028128e-01 1.01689516e-02 1.74810183e+02] [-1.59019878e-01 9.87274052e-01 -1.61998105e-03 -2.51245016e+01] [-1.02971646e-02 -1.77850257e-05 9.99946983e-01 -5.62574085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.32420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.84, Y:-25.13, Z:-5.62 [[ 9.87130987e-01 1.59538307e-01 1.09518918e-02 1.74840129e+02] [-1.59528776e-01 9.87191738e-01 -1.74401995e-03 -2.51268830e+01] [-1.10898551e-02 -2.55657681e-05 9.99938505e-01 -5.62232355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.35420382200002 meters Centerline goodness [0,1] 0.9999566499046297 Centerline is valid? [True, True] Translation: X:174.87, Y:-25.13, Z:-5.62 [[ 9.86959187e-01 1.60591617e-01 1.10405999e-02 1.74869284e+02] [-1.60581995e-01 9.87020938e-01 -1.75835127e-03 -2.51284664e+01] [-1.11796797e-02 -3.75006074e-05 9.99937505e-01 -5.62219663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.38420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.90, Y:-25.13, Z:-5.63 [[ 9.86643657e-01 1.62493414e-01 1.14098685e-02 1.74897609e+02] [-1.62483268e-01 9.86709626e-01 -1.81686597e-03 -2.51273064e+01] [-1.15534559e-02 -6.13134316e-05 9.99933255e-01 -5.62596241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.41420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.93, Y:-25.13, Z:-5.63 [[ 9.86522114e-01 1.63241373e-01 1.12415338e-02 1.74926538e+02] [-1.63231585e-01 9.86586159e-01 -1.78895469e-03 -2.51307988e+01] [-1.13827731e-02 -7.01300226e-05 9.99935212e-01 -5.62590498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.44420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.95, Y:-25.13, Z:-5.63 [[ 9.86430187e-01 1.63788088e-01 1.13555274e-02 1.74954991e+02] [-1.63778144e-01 9.86495543e-01 -1.80652959e-03 -2.51346793e+01] [-1.14980652e-02 -7.77718802e-05 9.99933892e-01 -5.62641766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.47420382200002 meters Centerline goodness [0,1] 0.9998719535618251 Centerline is valid? [True, True] Translation: X:174.98, Y:-25.14, Z:-5.63 [[ 9.86375501e-01 1.64103701e-01 1.15475678e-02 1.74982308e+02] [-1.64093443e-01 9.86443089e-01 -1.83671575e-03 -2.51375829e+01] [-1.16924303e-02 -8.31887453e-05 9.99931638e-01 -5.62730922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.50420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.01, Y:-25.14, Z:-5.63 [[ 9.86448080e-01 1.63659484e-01 1.16515535e-02 1.75011067e+02] [-1.63649020e-01 9.86516886e-01 -1.85232687e-03 -2.51426355e+01] [-1.17976051e-02 -7.95410251e-05 9.99930403e-01 -5.62633652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.534203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.04, Y:-25.15, Z:-5.62 [[ 9.86893452e-01 1.60822812e-01 1.33167870e-02 1.75039165e+02] [-1.60808900e-01 9.86983293e-01 -2.11599767e-03 -2.51499591e+01] [-1.34837470e-02 -5.31936166e-05 9.99909089e-01 -5.62499677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.564203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.07, Y:-25.16, Z:-5.62 [[ 9.87167411e-01 1.59124868e-01 1.34082042e-02 1.75068018e+02] [-1.59110617e-01 9.87258464e-01 -2.12984531e-03 -2.51584146e+01] [-1.35762745e-02 -3.08737649e-05 9.99907838e-01 -5.62365836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.594203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.10, Y:-25.17, Z:-5.63 [[ 9.87421424e-01 1.57527037e-01 1.35707182e-02 1.75096587e+02] [-1.57512300e-01 9.87514675e-01 -2.15466617e-03 -2.51672400e+01] [-1.37407015e-02 -9.99149805e-06 9.99905592e-01 -5.62640511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.624203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.13, Y:-25.18, Z:-5.63 [[ 9.87783916e-01 1.55265117e-01 1.32543941e-02 1.75125286e+02] [-1.55250851e-01 9.87872837e-01 -2.10484483e-03 -2.51787129e+01] [-1.34204649e-02 2.13759074e-05 9.99909941e-01 -5.62710841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.654203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.16, Y:-25.19, Z:-5.63 [[ 9.87899850e-01 1.54577005e-01 1.26425915e-02 1.75155498e+02] [-1.54563969e-01 9.87980743e-01 -2.00768840e-03 -2.51851688e+01] [-1.28009794e-02 2.93059511e-05 9.99918064e-01 -5.62675353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.684203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.19, Y:-25.19, Z:-5.63 [[ 9.87949506e-01 1.54271745e-01 1.24900896e-02 1.75185248e+02] [-1.54258997e-01 9.88028455e-01 -1.98347056e-03 -2.51921929e+01] [-1.26465573e-02 3.28600643e-05 9.99920029e-01 -5.62792440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.714203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.21, Y:-25.20, Z:-5.63 [[ 9.87949506e-01 1.54271745e-01 1.24900896e-02 1.75214867e+02] [-1.54258997e-01 9.88028455e-01 -1.98347056e-03 -2.51968966e+01] [-1.26465573e-02 3.28600643e-05 9.99920029e-01 -5.62884027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.744203822 meters Centerline goodness [0,1] 0.999957127545552 Centerline is valid? [True, True] Translation: X:175.24, Y:-25.21, Z:-5.63 [[ 9.87991293e-01 1.54055824e-01 1.18324922e-02 1.75244216e+02] [-1.54044371e-01 9.88062145e-01 -1.87881505e-03 -2.52053849e+01] [-1.19806800e-02 3.35241028e-05 9.99928229e-01 -5.63121177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.774203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.27, Y:-25.21, Z:-5.63 [[ 9.87953282e-01 1.54331841e-01 1.14015575e-02 1.75274456e+02] [-1.54321221e-01 9.88019070e-01 -1.81074898e-03 -2.52107671e+01] [-1.15444125e-02 2.94331280e-05 9.99933361e-01 -5.63229030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.804203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.30, Y:-25.22, Z:-5.63 [[ 9.87813977e-01 1.55252122e-01 1.09693222e-02 1.75303800e+02] [-1.55242346e-01 9.87874880e-01 -1.74233830e-03 -2.52162572e+01] [-1.11068195e-02 1.82028223e-05 9.99938317e-01 -5.63470129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.834203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.33, Y:-25.22, Z:-5.63 [[ 9.87708301e-01 1.55887492e-01 1.14630910e-02 1.75333755e+02] [-1.55876863e-01 9.87774817e-01 -1.82038086e-03 -2.52216087e+01] [-1.16067272e-02 1.11746199e-05 9.99932640e-01 -5.63346570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.864203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.36, Y:-25.23, Z:-5.63 [[ 9.87585291e-01 1.56592283e-01 1.24157071e-02 1.75363640e+02] [-1.56579869e-01 9.87663332e-01 -1.97165979e-03 -2.52271661e+01] [-1.25712854e-02 3.13240951e-06 9.99920978e-01 -5.63241835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.894203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.39, Y:-25.23, Z:-5.63 [[ 9.87359142e-01 1.57888871e-01 1.38934606e-02 1.75392901e+02] [-1.57873458e-01 9.87456887e-01 -2.20612976e-03 -2.52342128e+01] [-1.40675167e-02 -1.51662921e-05 9.99901047e-01 -5.63335864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.924203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.42, Y:-25.24, Z:-5.63 [[ 9.87256886e-01 1.58507163e-01 1.41180697e-02 1.75423280e+02] [-1.58491306e-01 9.87357827e-01 -2.24217733e-03 -2.52406335e+01] [-1.42949878e-02 -2.39862891e-05 9.99897821e-01 -5.63289263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.954203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.45, Y:-25.25, Z:-5.63 [[ 9.86956230e-01 1.60388734e-01 1.38871799e-02 1.75453130e+02] [-1.60373577e-01 9.87053925e-01 -2.20550831e-03 -2.52456200e+01] [-1.40611341e-02 -5.03965451e-05 9.99901136e-01 -5.63413738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.984203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.48, Y:-25.25, Z:-5.63 [[ 9.86729562e-01 1.61814366e-01 1.34492320e-02 1.75484269e+02] [-1.61800288e-01 9.86821213e-01 -2.13553795e-03 -2.52505978e+01] [-1.36175482e-02 -6.88911859e-05 9.99907275e-01 -5.63357915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.014203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.51, Y:-25.25, Z:-5.64 [[ 9.86488496e-01 1.63301823e-01 1.31514984e-02 1.75514435e+02] [-1.63288486e-01 9.86576154e-01 -2.08878739e-03 -2.52542228e+01] [-1.33160575e-02 -8.69235349e-05 9.99911334e-01 -5.63751684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.04420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.54, Y:-25.26, Z:-5.64 [[ 9.86188841e-01 1.65105744e-01 1.31020423e-02 1.75544324e+02] [-1.65092662e-01 9.86275865e-01 -2.08130632e-03 -2.52584768e+01] [-1.32658638e-02 -1.10489984e-04 9.99911998e-01 -5.63741580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.07420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.57, Y:-25.26, Z:-5.64 [[ 9.85643129e-01 1.68391633e-01 1.23239327e-02 1.75574998e+02] [-1.68380316e-01 9.85720161e-01 -1.95770083e-03 -2.52607490e+01] [-1.24776094e-02 -1.45513319e-04 9.99922141e-01 -5.63882568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.10420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.61, Y:-25.27, Z:-5.64 [[ 9.85404806e-01 1.69817585e-01 1.18048767e-02 1.75605237e+02] [-1.69807303e-01 9.85475501e-01 -1.87524692e-03 -2.52655832e+01] [-1.19518667e-02 -1.56676955e-04 9.99928562e-01 -5.63927478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.13420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.63, Y:-25.27, Z:-5.64 [[ 9.85022462e-01 1.71947528e-01 1.28373433e-02 1.75633677e+02] [-1.71935541e-01 9.85106090e-01 -2.03990619e-03 -2.52670639e+01] [-1.29969019e-02 -1.97842142e-04 9.99915517e-01 -5.64218953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.16420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.66, Y:-25.27, Z:-5.64 [[ 9.84899134e-01 1.72656514e-01 1.27837476e-02 1.75662273e+02] [-1.72644696e-01 9.84982074e-01 -2.03069693e-03 -2.52748238e+01] [-1.29423753e-02 -2.07014569e-04 9.99916223e-01 -5.63946663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.19420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.69, Y:-25.28, Z:-5.64 [[ 9.84802758e-01 1.73274918e-01 1.18038368e-02 1.75691823e+02] [-1.73264893e-01 9.84873476e-01 -1.87457270e-03 -2.52775573e+01] [-1.19501022e-02 -1.99106152e-04 9.99928575e-01 -5.64421449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.22420382200002 meters Centerline goodness [0,1] 0.9999576028660463 Centerline is valid? [True, True] Translation: X:175.72, Y:-25.28, Z:-5.65 [[ 9.84773380e-01 1.73477392e-01 1.12687651e-02 1.75719810e+02] [-1.73468266e-01 9.84837833e-01 -1.78974666e-03 -2.52819712e+01] [-1.14083868e-02 -1.92278282e-04 9.99934904e-01 -5.64729269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.25420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.75, Y:-25.29, Z:-5.65 [[ 9.84755933e-01 1.73602110e-01 1.08655068e-02 1.75748626e+02] [-1.73593637e-01 9.84815857e-01 -1.72538484e-03 -2.52879145e+01] [-1.10000538e-02 -1.87099883e-04 9.99939480e-01 -5.64914426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.284203822 meters Centerline goodness [0,1] 0.9999786775837438 Centerline is valid? [True, True] Translation: X:175.78, Y:-25.29, Z:-5.65 [[ 9.84726200e-01 1.73775466e-01 1.07888299e-02 1.75777561e+02] [-1.73767125e-01 9.84785282e-01 -1.71295571e-03 -2.52940748e+01] [-1.09223506e-02 -1.87951595e-04 9.99940332e-01 -5.65028195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.314203822 meters Centerline goodness [0,1] 0.9998719754192805 Centerline is valid? [True, True] Translation: X:175.81, Y:-25.30, Z:-5.65 [[ 9.84576665e-01 1.74585211e-01 1.13488104e-02 1.75805498e+02] [-1.74576037e-01 9.84642047e-01 -1.80177738e-03 -2.52988814e+01] [-1.14890796e-02 -2.07242382e-04 9.99933977e-01 -5.65073768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.344203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.83, Y:-25.31, Z:-5.65 [[ 9.84521156e-01 1.74914105e-01 1.10972638e-02 1.75834846e+02] [-1.74905365e-01 9.84583675e-01 -1.76078273e-03 -2.53065711e+01] [-1.12341705e-02 -2.07443129e-04 9.99936873e-01 -5.64880170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.374203822 meters Centerline goodness [0,1] 0.9999784955485785 Centerline is valid? [True, True] Translation: X:175.86, Y:-25.31, Z:-5.65 [[ 9.84474366e-01 1.75200500e-01 1.07241635e-02 1.75863701e+02] [-1.75192347e-01 9.84532754e-01 -1.70231168e-03 -2.53095793e+01] [-1.08565361e-02 -2.02909162e-04 9.99941045e-01 -5.65296612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.404203822 meters Centerline goodness [0,1] 0.9999785476777862 Centerline is valid? [True, True] Translation: X:175.89, Y:-25.32, Z:-5.65 [[ 9.84495249e-01 1.75050741e-01 1.12402182e-02 1.75892668e+02] [-1.75041783e-01 9.84559390e-01 -1.78350599e-03 -2.53156634e+01] [-1.13788664e-02 -2.11654659e-04 9.99935236e-01 -5.65203888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.434203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.92, Y:-25.32, Z:-5.65 [[ 9.84598997e-01 1.74412464e-01 1.20460912e-02 1.75921662e+02] [-1.74402132e-01 9.84672658e-01 -1.91103019e-03 -2.53210236e+01] [-1.21947642e-02 -2.19265583e-04 9.99925617e-01 -5.65151809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.464203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.95, Y:-25.33, Z:-5.65 [[ 9.85001854e-01 1.72072310e-01 1.27462473e-02 1.75950258e+02] [-1.72060554e-01 9.85084301e-01 -2.02153395e-03 -2.53287623e+01] [-1.29039781e-02 -2.01911673e-04 9.99916720e-01 -5.65299826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.494203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.98, Y:-25.34, Z:-5.65 [[ 9.85337761e-01 1.70139058e-01 1.27357056e-02 1.75979252e+02] [-1.70127164e-01 9.85420047e-01 -2.01949263e-03 -2.53384687e+01] [-1.28936142e-02 -1.76807135e-04 9.99916858e-01 -5.65332684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.524203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.01, Y:-25.35, Z:-5.66 [[ 9.86080964e-01 1.65828378e-01 1.20532911e-02 1.76007772e+02] [-1.65817424e-01 9.86154621e-01 -1.90952262e-03 -2.53547721e+01] [-1.22030618e-02 -1.15701782e-04 9.99925533e-01 -5.65692024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.554203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.04, Y:-25.37, Z:-5.66 [[ 9.86392332e-01 1.63992390e-01 1.16903239e-02 1.76039067e+02] [-1.63981961e-01 9.86461600e-01 -1.85168470e-03 -2.53658963e+01] [-1.18357178e-02 -9.05146440e-05 9.99929951e-01 -5.65688942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.584203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.07, Y:-25.38, Z:-5.66 [[ 9.86628510e-01 1.62562880e-01 1.17257448e-02 1.76070173e+02] [-1.62552263e-01 9.86698183e-01 -1.85927037e-03 -2.53752700e+01] [-1.18720195e-02 -7.16372042e-05 9.99929523e-01 -5.65705198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.614203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.10, Y:-25.38, Z:-5.66 [[ 9.86746693e-01 1.61801824e-01 1.22936203e-02 1.76100946e+02] [-1.61790062e-01 9.86823270e-01 -1.95197152e-03 -2.53826616e+01] [-1.24474632e-02 -6.28841515e-05 9.99922525e-01 -5.65884854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.644203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.13, Y:-25.39, Z:-5.66 [[ 9.86565354e-01 1.62873343e-01 1.26915475e-02 1.76133742e+02] [-1.62860876e-01 9.86646982e-01 -2.01673284e-03 -2.53875873e+01] [-1.28505491e-02 -7.73177935e-05 9.99917425e-01 -5.65705571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.674203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.17, Y:-25.39, Z:-5.66 [[ 9.86021064e-01 1.66069307e-01 1.35442451e-02 1.76166245e+02] [-1.66055363e-01 9.86114076e-01 -2.15554784e-03 -2.53892801e+01] [-1.37141411e-02 -1.23678963e-04 9.99905949e-01 -5.65645610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.704203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.20, Y:-25.39, Z:-5.66 [[ 9.85738923e-01 1.67687415e-01 1.41317528e-02 1.76197929e+02] [-1.67672359e-01 9.85840204e-01 -2.25194653e-03 -2.53934812e+01] [-1.43092731e-02 -1.49672987e-04 9.99897606e-01 -5.65768368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.734203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.23, Y:-25.40, Z:-5.66 [[ 9.85505742e-01 1.69017898e-01 1.45389958e-02 1.76230239e+02] [-1.69002069e-01 9.85612967e-01 -2.31945695e-03 -2.54006610e+01] [-1.47218525e-02 -1.71282222e-04 9.99891613e-01 -5.65643274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.764203822 meters Centerline goodness [0,1] 0.9999787865931269 Centerline is valid? [True, True] Translation: X:176.26, Y:-25.41, Z:-5.66 [[ 9.85377300e-01 1.69726496e-01 1.49830714e-02 1.76262169e+02] [-1.69709717e-01 9.85491189e-01 -2.39362715e-03 -2.54059586e+01] [-1.51719468e-02 -1.84146948e-04 9.99884882e-01 -5.65896325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.79420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.29, Y:-25.41, Z:-5.66 [[ 9.85458127e-01 1.69254048e-01 1.50115655e-02 1.76293247e+02] [-1.69237105e-01 9.85572441e-01 -2.40113567e-03 -2.54145770e+01] [-1.52013872e-02 -1.74295232e-04 9.99884437e-01 -5.65810428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.82420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.32, Y:-25.42, Z:-5.66 [[ 9.85539368e-01 1.68746361e-01 1.53889180e-02 1.76324857e+02] [-1.68728451e-01 9.85659494e-01 -2.46422640e-03 -2.54210537e+01] [-1.55840624e-02 -1.67956175e-04 9.99878547e-01 -5.65865847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.85420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.36, Y:-25.43, Z:-5.66 [[ 9.85796967e-01 1.67229617e-01 1.54465280e-02 1.76355360e+02] [-1.67211345e-01 9.85917966e-01 -2.47605917e-03 -2.54319517e+01] [-1.56430798e-02 -1.41943102e-04 9.99877629e-01 -5.66040277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.88420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.39, Y:-25.44, Z:-5.66 [[ 9.85944391e-01 1.66386426e-01 1.51398564e-02 1.76387196e+02] [-1.66368742e-01 9.86060618e-01 -2.42895957e-03 -2.54411010e+01] [-1.53329621e-02 -1.23979796e-04 9.99882436e-01 -5.66168922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.91420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.42, Y:-25.45, Z:-5.66 [[ 9.86051910e-01 1.65707237e-01 1.55802157e-02 1.76418170e+02] [-1.65688372e-01 9.86174984e-01 -2.50295481e-03 -2.54504384e+01] [-1.57795767e-02 -1.13417195e-04 9.99875488e-01 -5.65980821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.94420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.45, Y:-25.46, Z:-5.66 [[ 9.86251769e-01 1.64387829e-01 1.68549885e-02 1.76448457e+02] [-1.64365496e-01 9.86395779e-01 -2.71132389e-03 -2.54603680e+01] [-1.70713981e-02 -9.63305541e-05 9.99854268e-01 -5.65851527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.97420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.48, Y:-25.47, Z:-5.66 [[ 9.86339127e-01 1.63838921e-01 1.70860712e-02 1.76479840e+02] [-1.63815843e-01 9.86487101e-01 -2.75117432e-03 -2.54679135e+01] [-1.73059383e-02 -8.53782790e-05 9.99850237e-01 -5.65874091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.00420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.51, Y:-25.48, Z:-5.66 [[ 9.86529599e-01 1.62733986e-01 1.66433391e-02 1.76511810e+02] [-1.62711891e-01 9.86669978e-01 -2.68226506e-03 -2.54771103e+01] [-1.68579787e-02 -6.19353199e-05 9.99857892e-01 -5.65985187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.034203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.54, Y:-25.48, Z:-5.66 [[ 9.86608360e-01 1.62293640e-01 1.62701854e-02 1.76542792e+02] [-1.62272409e-01 9.86742505e-01 -2.62554480e-03 -2.54844534e+01] [-1.64805927e-02 -4.98177276e-05 9.99864185e-01 -5.66282578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.064203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.57, Y:-25.49, Z:-5.66 [[ 9.86689222e-01 1.61853994e-01 1.57373449e-02 1.76574903e+02] [-1.61834032e-01 9.86814716e-01 -2.54223543e-03 -2.54925360e+01] [-1.59413145e-02 -3.84416758e-05 9.99872928e-01 -5.66417415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.094203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.61, Y:-25.50, Z:-5.67 [[ 9.86734814e-01 1.61619514e-01 1.52819892e-02 1.76605940e+02] [-1.61600614e-01 9.86853146e-01 -2.47184067e-03 -2.54999843e+01] [-1.54805768e-02 -3.05275840e-05 9.99880168e-01 -5.66657684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.124203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.64, Y:-25.51, Z:-5.67 [[ 9.86748749e-01 1.61624799e-01 1.42944421e-02 1.76636100e+02] [-1.61608223e-01 9.86852281e-01 -2.31490874e-03 -2.55084836e+01] [-1.44806495e-02 -2.58660773e-05 9.99895150e-01 -5.67184480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.154203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.67, Y:-25.52, Z:-5.67 [[ 9.86550335e-01 1.62897363e-01 1.35234923e-02 1.76667724e+02] [-1.62882622e-01 9.86643019e-01 -2.19183720e-03 -2.55168132e+01] [-1.36999037e-02 -4.03841502e-05 9.99906151e-01 -5.67388942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.184203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.70, Y:-25.52, Z:-5.68 [[ 9.86291022e-01 1.64424702e-01 1.39476579e-02 1.76699332e+02] [-1.64409140e-01 9.86389636e-01 -2.26296953e-03 -2.55211980e+01] [-1.41299133e-02 -6.11759067e-05 9.99900166e-01 -5.67537233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.214203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.73, Y:-25.53, Z:-5.67 [[ 9.85985971e-01 1.66204482e-01 1.44130274e-02 1.76732237e+02] [-1.66188016e-01 9.86091305e-01 -2.34105584e-03 -2.55250567e+01] [-1.46016550e-02 -8.70242165e-05 9.99893386e-01 -5.67420056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.244203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.76, Y:-25.53, Z:-5.68 [[ 9.85621175e-01 1.68353021e-01 1.44277295e-02 1.76763031e+02] [-1.68336701e-01 9.85726761e-01 -2.34690786e-03 -2.55271000e+01] [-1.46169081e-02 -1.15554300e-04 9.99893161e-01 -5.67580386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.274203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.80, Y:-25.53, Z:-5.68 [[ 9.84870329e-01 1.72795531e-01 1.31201806e-02 1.76795611e+02] [-1.72782382e-01 9.84957704e-01 -2.13776229e-03 -2.55266195e+01] [-1.32922187e-02 -1.61517405e-04 9.99911642e-01 -5.67939011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.304203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.83, Y:-25.53, Z:-5.68 [[ 9.84424849e-01 1.75301032e-01 1.33141202e-02 1.76828142e+02] [-1.75287739e-01 9.84514859e-01 -2.16798524e-03 -2.55291269e+01] [-1.34879992e-02 -1.99583479e-04 9.99909013e-01 -5.68033382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.334203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.86, Y:-25.53, Z:-5.68 [[ 9.83607513e-01 1.79773619e-01 1.40608216e-02 1.76859512e+02] [-1.79759178e-01 9.83707971e-01 -2.29460712e-03 -2.55281741e+01] [-1.42442521e-02 -2.70568942e-04 9.99898509e-01 -5.68126150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.364203822 meters Centerline goodness [0,1] 0.999978653460274 Centerline is valid? [True, True] Translation: X:176.89, Y:-25.53, Z:-5.68 [[ 9.83242745e-01 1.81746861e-01 1.42050050e-02 1.76891414e+02] [-1.81732357e-01 9.83345303e-01 -2.31613327e-03 -2.55331371e+01] [-1.43893749e-02 -3.04187800e-04 9.99896421e-01 -5.68049225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.394203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.92, Y:-25.53, Z:-5.68 [[ 9.82651822e-01 1.84846357e-01 1.50738596e-02 1.76922673e+02] [-1.84830311e-01 9.82767363e-01 -2.46293882e-03 -2.55317043e+01] [-1.52693625e-02 -3.65894831e-04 9.99883350e-01 -5.68045930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.424203822 meters Centerline goodness [0,1] 0.9999360600183295 Centerline is valid? [True, True] Translation: X:176.95, Y:-25.53, Z:-5.68 [[ 9.82343137e-01 1.86460305e-01 1.53138854e-02 1.76953724e+02] [-1.86443963e-01 9.82462414e-01 -2.50060115e-03 -2.55331127e+01] [-1.55115797e-02 -3.98733110e-04 9.99879609e-01 -5.68097449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.454203822 meters Centerline goodness [0,1] 0.9998731152325163 Centerline is valid? [True, True] Translation: X:176.99, Y:-25.54, Z:-5.68 [[ 9.82044599e-01 1.88011859e-01 1.54902321e-02 1.76986050e+02] [-1.87995295e-01 9.82166666e-01 -2.53168109e-03 -2.55360940e+01] [-1.56899756e-02 -4.25867010e-04 9.99876814e-01 -5.68175260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.484203822 meters Centerline goodness [0,1] 0.9999786219723368 Centerline is valid? [True, True] Translation: X:177.02, Y:-25.54, Z:-5.68 [[ 9.81514291e-01 1.90715743e-01 1.60375093e-02 1.77018453e+02] [-1.90698274e-01 9.81645187e-01 -2.62570742e-03 -2.55362355e+01] [-1.62439076e-02 -4.81155991e-04 9.99867943e-01 -5.68237695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.514203822 meters Centerline goodness [0,1] 0.9999352513327434 Centerline is valid? [True, True] Translation: X:177.05, Y:-25.54, Z:-5.68 [[ 9.81164668e-01 1.92511782e-01 1.59720875e-02 1.77050587e+02] [-1.92494708e-01 9.81294530e-01 -2.61408435e-03 -2.55398879e+01] [-1.61765641e-02 -5.09695121e-04 9.99869021e-01 -5.68260444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.54420382200001 meters Centerline goodness [0,1] 0.9998506316148856 Centerline is valid? [True, True] Translation: X:177.08, Y:-25.54, Z:-5.68 [[ 9.80805725e-01 1.94327065e-01 1.60349978e-02 1.77082043e+02] [-1.94310022e-01 9.80936646e-01 -2.62907371e-03 -2.55383719e+01] [-1.62402171e-02 -5.37150223e-04 9.99867975e-01 -5.68469523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.57420382200002 meters Centerline goodness [0,1] 0.9998501423647534 Centerline is valid? [True, True] Translation: X:177.11, Y:-25.54, Z:-5.68 [[ 9.80264496e-01 1.97012812e-01 1.63545128e-02 1.77113761e+02] [-1.96995446e-01 9.80400735e-01 -2.68205005e-03 -2.55364966e+01] [-1.65623746e-02 -5.92646095e-04 9.99862659e-01 -5.68429120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.60420382200002 meters Centerline goodness [0,1] 0.9998300656371476 Centerline is valid? [True, True] Translation: X:177.14, Y:-25.53, Z:-5.69 [[ 9.80127982e-01 1.97652691e-01 1.68092847e-02 1.77144286e+02] [-1.97634431e-01 9.80271916e-01 -2.75716527e-03 -2.55348965e+01] [-1.70226309e-02 -6.19718592e-04 9.99854912e-01 -5.68572899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.63420382200002 meters Centerline goodness [0,1] 0.9998300656371476 Centerline is valid? [True, True] Translation: X:177.17, Y:-25.54, Z:-5.69 [[ 9.80132544e-01 1.97630070e-01 1.68092922e-02 1.77173083e+02] [-1.97611807e-01 9.80276477e-01 -2.75711958e-03 -2.55395745e+01] [-1.70226435e-02 -6.19371982e-04 9.99854912e-01 -5.68661990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.66420382200002 meters Centerline goodness [0,1] 0.99972348073937 Centerline is valid? [True, True] Translation: X:177.20, Y:-25.54, Z:-5.69 [[ 9.80112792e-01 1.97720543e-01 1.68967997e-02 1.77203128e+02] [-1.97702110e-01 9.80258230e-01 -2.77107001e-03 -2.55415594e+01] [-1.71111244e-02 -6.24571785e-04 9.99853399e-01 -5.68734528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.69420382200002 meters Centerline goodness [0,1] 0.9998713633342624 Centerline is valid? [True, True] Translation: X:177.23, Y:-25.54, Z:-5.69 [[ 9.80564476e-01 1.95512406e-01 1.63770464e-02 1.77232605e+02] [-1.95494788e-01 9.80701064e-01 -2.68546303e-03 -2.55438938e+01] [-1.65860282e-02 -5.68357572e-04 9.99862281e-01 -5.68969806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.72420382200002 meters Centerline goodness [0,1] 0.9997863978127136 Centerline is valid? [True, True] Translation: X:177.26, Y:-25.55, Z:-5.69 [[ 9.81023740e-01 1.93192979e-01 1.63980249e-02 1.77261425e+02] [-1.93175001e-01 9.81160635e-01 -2.68834708e-03 -2.55487695e+01] [-1.66084663e-02 -5.30356183e-04 9.99861929e-01 -5.69140127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.75420382200002 meters Centerline goodness [0,1] 0.9999359015447727 Centerline is valid? [True, True] Translation: X:177.29, Y:-25.56, Z:-5.69 [[ 9.82138982e-01 1.87421216e-01 1.66224892e-02 1.77291418e+02] [-1.87401923e-01 9.82279540e-01 -2.72473918e-03 -2.55579520e+01] [-1.68386049e-02 -4.39013867e-04 9.99858124e-01 -5.69200486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.784203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.32, Y:-25.57, Z:-5.69 [[ 9.82817518e-01 1.83821060e-01 1.67195563e-02 1.77321660e+02] [-1.83801024e-01 9.82959650e-01 -2.74041971e-03 -2.55667248e+01] [-1.69383961e-02 -3.79739074e-04 9.99856463e-01 -5.69252189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.814203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.35, Y:-25.58, Z:-5.69 [[ 9.83523695e-01 1.80046842e-01 1.62565887e-02 1.77351681e+02] [-1.80027378e-01 9.83657990e-01 -2.66490886e-03 -2.55757566e+01] [-1.64707318e-02 -3.05630040e-04 9.99864302e-01 -5.69330674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.844203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.38, Y:-25.58, Z:-5.70 [[ 9.84811307e-01 1.72953810e-01 1.52862402e-02 1.77381300e+02] [-1.72935743e-01 9.84929921e-01 -2.50599798e-03 -2.55847320e+01] [-1.54892972e-02 -1.75602154e-04 9.99880018e-01 -5.69825214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.874203822 meters Centerline goodness [0,1] 0.9999358535750941 Centerline is valid? [True, True] Translation: X:177.41, Y:-25.59, Z:-5.70 [[ 9.85300996e-01 1.70173362e-01 1.49323287e-02 1.77412590e+02] [-1.70155825e-01 9.85414131e-01 -2.44651211e-03 -2.55930471e+01] [-1.51308589e-02 -1.30271873e-04 9.99885514e-01 -5.69947321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.904203822 meters Centerline goodness [0,1] 0.9998920645885502 Centerline is valid? [True, True] Translation: X:177.44, Y:-25.60, Z:-5.70 [[ 9.85950076e-01 1.66345598e-01 1.52180496e-02 1.77444297e+02] [-1.66326861e-01 9.86067512e-01 -2.49756608e-03 -2.56022887e+01] [-1.54214834e-02 -6.86949553e-05 9.99881079e-01 -5.69658209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.934203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.47, Y:-25.61, Z:-5.70 [[ 9.86099228e-01 1.65436621e-01 1.54608050e-02 1.77474621e+02] [-1.65417177e-01 9.86220422e-01 -2.53693357e-03 -2.56081054e+01] [-1.56674634e-02 -5.58144918e-05 9.99877256e-01 -5.69780289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.964203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.51, Y:-25.61, Z:-5.70 [[ 9.86191650e-01 1.64909378e-01 1.51962443e-02 1.77505864e+02] [-1.64890485e-01 9.86308722e-01 -2.49653566e-03 -2.56130258e+01] [-1.53998905e-02 -4.36534757e-05 9.99881414e-01 -5.70172398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.994203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.54, Y:-25.62, Z:-5.70 [[ 9.86201901e-01 1.64851114e-01 1.51631515e-02 1.77538904e+02] [-1.64832283e-01 9.86318462e-01 -2.49198918e-03 -2.56158703e+01] [-1.53665035e-02 -4.17724204e-05 9.99881927e-01 -5.70159720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.024203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.57, Y:-25.62, Z:-5.70 [[ 9.86126929e-01 1.65300561e-01 1.51461029e-02 1.77570476e+02] [-1.65281777e-01 9.86243237e-01 -2.49232008e-03 -2.56196391e+01] [-1.53497235e-02 -4.56308581e-05 9.99882185e-01 -5.70315412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.054203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.60, Y:-25.63, Z:-5.70 [[ 9.85969056e-01 1.66225357e-01 1.53020031e-02 1.77603085e+02] [-1.66206256e-01 9.86087789e-01 -2.52053673e-03 -2.56253780e+01] [-1.55080955e-02 -5.81174332e-05 9.99879741e-01 -5.70222188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.084203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.64, Y:-25.63, Z:-5.70 [[ 9.85802802e-01 1.67193383e-01 1.54663463e-02 1.77635751e+02] [-1.67173939e-01 9.85924119e-01 -2.55075640e-03 -2.56304489e+01] [-1.56751134e-02 -7.10272231e-05 9.99877135e-01 -5.70262493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.114203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.67, Y:-25.63, Z:-5.70 [[ 9.85595166e-01 1.68449873e-01 1.50601749e-02 1.77667311e+02] [-1.68431516e-01 9.85710218e-01 -2.48821407e-03 -2.56338956e+01] [-1.52641076e-02 -8.42363264e-05 9.99883493e-01 -5.70319991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.144203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.70, Y:-25.63, Z:-5.70 [[ 9.85058581e-01 1.71565920e-01 1.49909166e-02 1.77699941e+02] [-1.71548089e-01 9.85172633e-01 -2.47699405e-03 -2.56334106e+01] [-1.51936086e-02 -1.31678853e-04 9.99884562e-01 -5.70445510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.174203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.73, Y:-25.64, Z:-5.70 [[ 9.84682964e-01 1.73690009e-01 1.52066422e-02 1.77732068e+02] [-1.73671872e-01 9.84800362e-01 -2.51540688e-03 -2.56353543e+01] [-1.54124078e-02 -1.64087717e-04 9.99881208e-01 -5.70493280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.204203822 meters Centerline goodness [0,1] 0.9999784598815293 Centerline is valid? [True, True] Translation: X:177.76, Y:-25.63, Z:-5.71 [[ 9.83912046e-01 1.78036263e-01 1.48382665e-02 1.77763022e+02] [-1.78019409e-01 9.84023902e-01 -2.45966559e-03 -2.56310244e+01] [-1.50391185e-02 -2.21404823e-04 9.99886882e-01 -5.70771465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.234203822 meters Centerline goodness [0,1] 0.9999572219964494 Centerline is valid? [True, True] Translation: X:177.79, Y:-25.63, Z:-5.71 [[ 9.83501355e-01 1.80336211e-01 1.42806154e-02 1.77793296e+02] [-1.80320843e-01 9.83604997e-01 -2.36722655e-03 -2.56345588e+01] [-1.44733813e-02 -2.46922091e-04 9.99895225e-01 -5.70717152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.264203822 meters Centerline goodness [0,1] 0.9999573751625072 Centerline is valid? [True, True] Translation: X:177.82, Y:-25.63, Z:-5.71 [[ 9.83155028e-01 1.82248762e-01 1.38412454e-02 1.77823384e+02] [-1.82234511e-01 9.83252418e-01 -2.29459802e-03 -2.56326668e+01] [-1.40276256e-02 -2.66406989e-04 9.99901573e-01 -5.71192854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.29420382200001 meters Centerline goodness [0,1] 0.999978621515307 Centerline is valid? [True, True] Translation: X:177.85, Y:-25.63, Z:-5.71 [[ 9.82855270e-01 1.83885410e-01 1.34786944e-02 1.77852688e+02] [-1.83872047e-01 9.82947647e-01 -2.23472190e-03 -2.56339858e+01] [-1.36597837e-02 -2.81946929e-04 9.99906661e-01 -5.71339445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.32420382200002 meters Centerline goodness [0,1] 0.9999149930931889 Centerline is valid? [True, True] Translation: X:177.88, Y:-25.63, Z:-5.71 [[ 9.82345414e-01 1.86653179e-01 1.25729390e-02 1.77882609e+02] [-1.86641785e-01 9.82425825e-01 -2.08396888e-03 -2.56337893e+01] [-1.27409594e-02 -2.99458502e-04 9.99918786e-01 -5.71497044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.35420382200002 meters Centerline goodness [0,1] 0.9999358453445105 Centerline is valid? [True, True] Translation: X:177.91, Y:-25.64, Z:-5.72 [[ 9.82161047e-01 1.87650734e-01 1.21193732e-02 1.77910473e+02] [-1.87640219e-01 9.82235772e-01 -2.00916895e-03 -2.56352340e+01] [-1.22811039e-02 -3.00754367e-04 9.99924539e-01 -5.71659700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.38420382200002 meters Centerline goodness [0,1] 0.9999787039206082 Centerline is valid? [True, True] Translation: X:177.94, Y:-25.64, Z:-5.71 [[ 9.81935947e-01 1.88772785e-01 1.29085497e-02 1.77939884e+02] [-1.88760967e-01 9.82020734e-01 -2.13893533e-03 -2.56354338e+01] [-1.30802363e-02 -3.36332832e-04 9.99914393e-01 -5.71453655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.41420382200002 meters Centerline goodness [0,1] 0.9999785711224446 Centerline is valid? [True, True] Translation: X:177.97, Y:-25.64, Z:-5.72 [[ 9.81956820e-01 1.88670725e-01 1.28125667e-02 1.77967701e+02] [-1.88659079e-01 9.82040349e-01 -2.12261427e-03 -2.56376785e+01] [-1.29829326e-02 -3.32891471e-04 9.99915663e-01 -5.71607395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.44420382200002 meters Centerline goodness [0,1] 0.9999787066413985 Centerline is valid? [True, True] Translation: X:178.00, Y:-25.64, Z:-5.72 [[ 9.82026330e-01 1.88328177e-01 1.25214129e-02 1.77995249e+02] [-1.88317035e-01 9.82106101e-01 -2.07363164e-03 -2.56405165e+01] [-1.26878792e-02 -3.21634475e-04 9.99919454e-01 -5.71829049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.47420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.02, Y:-25.64, Z:-5.72 [[ 9.82147305e-01 1.87603477e-01 1.38421824e-02 1.78023183e+02] [-1.87589804e-01 9.82244784e-01 -2.29129839e-03 -2.56429461e+01] [-1.40262670e-02 -3.46259743e-04 9.99901567e-01 -5.71630768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.50420382200002 meters Centerline goodness [0,1] 0.9998942604576407 Centerline is valid? [True, True] Translation: X:178.05, Y:-25.64, Z:-5.72 [[ 9.82103814e-01 1.87727475e-01 1.51820085e-02 1.78051967e+02] [-1.87711061e-01 9.82221079e-01 -2.51181669e-03 -2.56435305e+01] [-1.53836258e-02 -3.82966177e-04 9.99881592e-01 -5.71519006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.534203822 meters Centerline goodness [0,1] 0.9999785531987904 Centerline is valid? [True, True] Translation: X:178.08, Y:-25.64, Z:-5.71 [[ 9.81936133e-01 1.88620927e-01 1.49524702e-02 1.78080969e+02] [-1.88605119e-01 9.82049893e-01 -2.47319065e-03 -2.56428760e+01] [-1.51505673e-02 -3.91597153e-04 9.99885147e-01 -5.71438277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.564203822 meters Centerline goodness [0,1] 0.9999573724370178 Centerline is valid? [True, True] Translation: X:178.11, Y:-25.64, Z:-5.72 [[ 9.81845824e-01 1.89138586e-01 1.43308296e-02 1.78109184e+02] [-1.89124125e-01 9.81950329e-01 -2.37003509e-03 -2.56397300e+01] [-1.45204279e-02 -3.83296550e-04 9.99894500e-01 -5.71796276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.594203822 meters Centerline goodness [0,1] 0.9999575821845175 Centerline is valid? [True, True] Translation: X:178.14, Y:-25.64, Z:-5.72 [[ 9.81721382e-01 1.89782628e-01 1.43416476e-02 1.78137561e+02] [-1.89768228e-01 9.81826053e-01 -2.37083430e-03 -2.56356334e+01] [-1.45309464e-02 -3.94090338e-04 9.99894343e-01 -5.71993284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.624203822 meters Centerline goodness [0,1] 0.9999571642750054 Centerline is valid? [True, True] Translation: X:178.17, Y:-25.64, Z:-5.72 [[ 9.81716518e-01 1.89823625e-01 1.41304494e-02 1.78165955e+02] [-1.89809669e-01 9.81818129e-01 -2.33457592e-03 -2.56407459e+01] [-1.43166891e-02 -3.90204183e-04 9.99897435e-01 -5.71933671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.654203822 meters Centerline goodness [0,1] 0.9998511050135069 Centerline is valid? [True, True] Translation: X:178.19, Y:-25.64, Z:-5.72 [[ 9.81801501e-01 1.89372066e-01 1.42840248e-02 1.78193979e+02] [-1.89357766e-01 9.81905326e-01 -2.35941645e-03 -2.56405857e+01] [-1.44723676e-02 -3.88312402e-04 9.99895194e-01 -5.72177545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.684203822 meters Centerline goodness [0,1] 0.9999357298941686 Centerline is valid? [True, True] Translation: X:178.22, Y:-25.64, Z:-5.72 [[ 9.82202750e-01 1.87200498e-01 1.52882809e-02 1.78222367e+02] [-1.87183872e-01 9.82321652e-01 -2.52405972e-03 -2.56443237e+01] [-1.54905146e-02 -3.82581226e-04 9.99879942e-01 -5.71856337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.714203822 meters Centerline goodness [0,1] 0.9999570179020438 Centerline is valid? [True, True] Translation: X:178.25, Y:-25.65, Z:-5.72 [[ 9.82527784e-01 1.85459524e-01 1.56178683e-02 1.78250013e+02] [-1.85441963e-01 9.82651837e-01 -2.57784329e-03 -2.56454397e+01] [-1.58250126e-02 -3.63405506e-04 9.99874711e-01 -5.71988715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.744203822 meters Centerline goodness [0,1] 0.999978621515307 Centerline is valid? [True, True] Translation: X:178.28, Y:-25.65, Z:-5.72 [[ 9.83335096e-01 1.81092227e-01 1.60528443e-02 1.78279568e+02] [-1.81073118e-01 9.83466071e-01 -2.64807468e-03 -2.56497310e+01] [-1.62669734e-02 -3.02793793e-04 9.99867638e-01 -5.71934647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.774203822 meters Centerline goodness [0,1] 0.9999145335669416 Centerline is valid? [True, True] Translation: X:178.31, Y:-25.66, Z:-5.72 [[ 9.83837307e-01 1.78368047e-01 1.57794911e-02 1.78307890e+02] [-1.78349233e-01 9.83963808e-01 -2.60296675e-03 -2.56553931e+01] [-1.59907342e-02 -2.53364341e-04 9.99872108e-01 -5.72137767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.804203822 meters Centerline goodness [0,1] 0.9999570843078772 Centerline is valid? [True, True] Translation: X:178.34, Y:-25.66, Z:-5.72 [[ 9.84347980e-01 1.75556336e-01 1.54604993e-02 1.78335273e+02] [-1.75537937e-01 9.84469365e-01 -2.54978125e-03 -2.56605373e+01] [-1.56680182e-02 -2.04032120e-04 9.99877228e-01 -5.72431954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.834203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.36, Y:-25.67, Z:-5.72 [[ 9.85203214e-01 1.70711741e-01 1.52357533e-02 1.78362621e+02] [-1.70693310e-01 9.85321006e-01 -2.51159778e-03 -2.56706369e+01] [-1.54408670e-02 -1.26206963e-04 9.99880775e-01 -5.72444734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.864203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.39, Y:-25.68, Z:-5.73 [[ 9.85570264e-01 1.68611220e-01 1.48832625e-02 1.78390539e+02] [-1.68593404e-01 9.85682630e-01 -2.45278296e-03 -2.56752819e+01] [-1.50837401e-02 -9.18299415e-05 9.99886230e-01 -5.72644366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.894203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.42, Y:-25.68, Z:-5.73 [[ 9.86086684e-01 1.65722406e-01 1.30052340e-02 1.78419506e+02] [-1.65708557e-01 9.86172440e-01 -2.14281993e-03 -2.56786490e+01] [-1.31805166e-02 -4.20723631e-05 9.99913132e-01 -5.72929691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.924203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.45, Y:-25.68, Z:-5.73 [[ 9.86248352e-01 1.64777351e-01 1.27519600e-02 1.78446839e+02] [-1.64763963e-01 9.86330788e-01 -2.10070074e-03 -2.56826009e+01] [-1.29237986e-02 -2.92508148e-05 9.99916484e-01 -5.73219148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.954203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.47, Y:-25.69, Z:-5.73 [[ 9.86414686e-01 1.63798614e-01 1.24932600e-02 1.78474735e+02] [-1.63785697e-01 9.86493798e-01 -2.05712858e-03 -2.56883856e+01] [-1.26614783e-02 -1.70354416e-05 9.99919840e-01 -5.73287136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.984203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.50, Y:-25.69, Z:-5.73 [[ 9.86539163e-01 1.62999687e-01 1.30989257e-02 1.78503453e+02] [-1.62985428e-01 9.86626121e-01 -2.15595423e-03 -2.56945787e+01] [-1.32751621e-02 -8.00073009e-06 9.99911881e-01 -5.73230723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.014203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.53, Y:-25.70, Z:-5.73 [[ 9.86662521e-01 1.62165918e-01 1.41168594e-02 1.78530900e+02] [-1.62149274e-01 9.86763505e-01 -2.32328034e-03 -2.56991311e+01] [-1.43067585e-02 3.25513407e-06 9.99897653e-01 -5.73153213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.04420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.56, Y:-25.70, Z:-5.73 [[ 9.86675576e-01 1.62048827e-01 1.45425141e-02 1.78558821e+02] [-1.62031165e-01 9.86782741e-01 -2.39245064e-03 -2.57032242e+01] [-1.47379957e-02 4.23210417e-06 9.99891390e-01 -5.73170548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.07420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.59, Y:-25.71, Z:-5.73 [[ 9.86667926e-01 1.61990554e-01 1.56673251e-02 1.78587925e+02] [-1.61970069e-01 9.86792309e-01 -2.57612616e-03 -2.57052720e+01] [-1.58777040e-02 4.14332721e-06 9.99873941e-01 -5.72960705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.10420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.62, Y:-25.71, Z:-5.73 [[ 9.86607932e-01 1.62310923e-01 1.61230432e-02 1.78616592e+02] [-1.62289284e-01 9.86739664e-01 -2.65027484e-03 -2.57072767e+01] [-1.63394148e-02 -1.81495007e-06 9.99866503e-01 -5.72740394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.13420382200002 meters Centerline goodness [0,1] 0.9999786055069425 Centerline is valid? [True, True] Translation: X:178.64, Y:-25.71, Z:-5.73 [[ 9.86564867e-01 1.62603296e-01 1.58092141e-02 1.78644544e+02] [-1.62582538e-01 9.86691526e-01 -2.59809333e-03 -2.57094256e+01] [-1.60212761e-02 -7.11454863e-06 9.99871651e-01 -5.73063634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.16420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.67, Y:-25.71, Z:-5.73 [[ 9.86347220e-01 1.63880992e-01 1.61920475e-02 1.78673591e+02] [-1.63859410e-01 9.86480116e-01 -2.65975019e-03 -2.57119668e+01] [-1.64090154e-02 -2.97821327e-05 9.99865363e-01 -5.73111333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.19420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.70, Y:-25.72, Z:-5.73 [[ 9.86210076e-01 1.64713337e-01 1.60997752e-02 1.78702133e+02] [-1.64692123e-01 9.86341480e-01 -2.64384732e-03 -2.57159209e+01] [-1.63153530e-02 -4.41172874e-05 9.99866895e-01 -5.73005724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.22420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.73, Y:-25.72, Z:-5.73 [[ 9.85942275e-01 1.66194951e-01 1.72357004e-02 1.78729982e+02] [-1.66170879e-01 9.86092913e-01 -2.82956934e-03 -2.57177649e+01] [-1.74662621e-02 -7.42794433e-05 9.99847450e-01 -5.73118313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.25420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.76, Y:-25.72, Z:-5.73 [[ 9.85892517e-01 1.66552714e-01 1.66174287e-02 1.78758827e+02] [-1.66530408e-01 9.86032549e-01 -2.72692333e-03 -2.57221009e+01] [-1.68395021e-02 -7.88538826e-05 9.99858202e-01 -5.73166178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.284203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.79, Y:-25.72, Z:-5.74 [[ 9.85854696e-01 1.66796502e-01 1.64147627e-02 1.78786212e+02] [-1.66774779e-01 9.85991339e-01 -2.69310996e-03 -2.57249664e+01] [-1.66340151e-02 -8.25533232e-05 9.99861642e-01 -5.73566374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.314203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.81, Y:-25.73, Z:-5.74 [[ 9.85923042e-01 1.66494679e-01 1.53387512e-02 1.78814492e+02] [-1.66475693e-01 9.86042350e-01 -2.51539101e-03 -2.57313643e+01] [-1.55434575e-02 -7.35472833e-05 9.99879190e-01 -5.73621031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.344203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.84, Y:-25.74, Z:-5.74 [[ 9.86047802e-01 1.65840079e-01 1.43805492e-02 1.78841952e+02] [-1.65823328e-01 9.86152658e-01 -2.35783591e-03 -2.57371895e+01] [-1.45724405e-02 -5.96916028e-05 9.99893815e-01 -5.73915544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.374203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.87, Y:-25.75, Z:-5.74 [[ 9.86379129e-01 1.63939810e-01 1.34146397e-02 1.78869241e+02] [-1.63925070e-01 9.86470343e-01 -2.19856542e-03 -2.57457097e+01] [-1.35935766e-02 -3.03767049e-05 9.99907603e-01 -5.74149362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.404203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.90, Y:-25.75, Z:-5.74 [[ 9.86605306e-01 1.62563030e-01 1.35362733e-02 1.78896780e+02] [-1.62547901e-01 9.86698161e-01 -2.21783827e-03 -2.57534657e+01] [-1.37167545e-02 -1.21617971e-05 9.99905921e-01 -5.74202976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.434203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.92, Y:-25.76, Z:-5.74 [[ 9.86757118e-01 1.61618085e-01 1.37835013e-02 1.78924789e+02] [-1.61602315e-01 9.86853381e-01 -2.25768504e-03 -2.57616390e+01] [-1.39671776e-02 3.41067959e-07 9.99902454e-01 -5.74054749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.464203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.95, Y:-25.77, Z:-5.74 [[ 9.86827016e-01 1.61137417e-01 1.43935327e-02 1.78951851e+02] [-1.61120177e-01 9.86931980e-01 -2.35705901e-03 -2.57711712e+01] [-1.45852481e-02 6.92097051e-06 9.99893630e-01 -5.74185439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.494203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.98, Y:-25.78, Z:-5.74 [[ 9.86702477e-01 1.61869151e-01 1.47173322e-02 1.78980757e+02] [-1.61851227e-01 9.86812230e-01 -2.40882620e-03 -2.57760150e+01] [-1.49131581e-02 -5.22349298e-06 9.99888793e-01 -5.74000162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.524203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.01, Y:-25.77, Z:-5.74 [[ 9.86135686e-01 1.65350727e-01 1.39837708e-02 1.79009112e+02] [-1.65334901e-01 9.86234827e-01 -2.28832952e-03 -2.57736045e+01] [-1.41696588e-02 -5.54019753e-05 9.99899604e-01 -5.74336832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.554203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.04, Y:-25.78, Z:-5.74 [[ 9.86143544e-01 1.65303842e-01 1.39839471e-02 1.79037075e+02] [-1.65288027e-01 9.86242687e-01 -2.28725170e-03 -2.57780841e+01] [-1.41696570e-02 -5.58205227e-05 9.99899604e-01 -5.74423317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.584203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.06, Y:-25.78, Z:-5.75 [[ 9.85731932e-01 1.67812194e-01 1.31006342e-02 1.79064937e+02] [-1.67798538e-01 9.85818979e-01 -2.14257619e-03 -2.57773532e+01] [-1.32744042e-02 -8.62614876e-05 9.99911887e-01 -5.74723106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.614203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.09, Y:-25.78, Z:-5.75 [[ 9.85320119e-01 1.70260524e-01 1.24746615e-02 1.79094090e+02] [-1.70248352e-01 9.85399077e-01 -2.03907586e-03 -2.57779985e+01] [-1.26396941e-02 -1.14648095e-04 9.99920109e-01 -5.74916412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.644203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.12, Y:-25.78, Z:-5.75 [[ 9.84574406e-01 1.74604290e-01 1.12508450e-02 1.79123610e+02] [-1.74594677e-01 9.84638674e-01 -1.83868925e-03 -2.57773999e+01] [-1.13990601e-02 -1.54011266e-04 9.99935017e-01 -5.75001464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.674203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.15, Y:-25.78, Z:-5.75 [[ 9.84270934e-01 1.76299254e-01 1.13710430e-02 1.79151513e+02] [-1.76289555e-01 9.84336600e-01 -1.85767926e-03 -2.57776702e+01] [-1.15204413e-02 -1.76136408e-04 9.99933622e-01 -5.75170668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.704203822 meters Centerline goodness [0,1] 0.999978868179705 Centerline is valid? [True, True] Translation: X:179.18, Y:-25.78, Z:-5.75 [[ 9.83826045e-01 1.78677329e-01 1.26777196e-02 1.79180008e+02] [-1.78665477e-01 9.83907699e-01 -2.07055655e-03 -2.57750793e+01] [-1.28436674e-02 -2.28003358e-04 9.99917491e-01 -5.75142603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.734203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.21, Y:-25.78, Z:-5.75 [[ 9.83759597e-01 1.79016761e-01 1.30405197e-02 1.79207799e+02] [-1.79004259e-01 9.83845995e-01 -2.12919028e-03 -2.57797797e+01] [-1.32110239e-02 -2.39697199e-04 9.99912702e-01 -5.74934983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.764203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.24, Y:-25.78, Z:-5.75 [[ 9.83784019e-01 1.78847089e-01 1.35175014e-02 1.79235856e+02] [-1.78833658e-01 9.83876851e-01 -2.20575060e-03 -2.57826399e+01] [-1.36940488e-02 -2.47402040e-04 9.99906202e-01 -5.74956222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.79420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.26, Y:-25.79, Z:-5.75 [[ 9.84021855e-01 1.77516692e-01 1.37409262e-02 1.79263517e+02] [-1.77502691e-01 9.84117762e-01 -2.24163397e-03 -2.57863485e+01] [-1.39206170e-02 -2.33234560e-04 9.99903076e-01 -5.75139541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.82420382200002 meters Centerline goodness [0,1] 0.9999786238002608 Centerline is valid? [True, True] Translation: X:179.29, Y:-25.79, Z:-5.75 [[ 9.84276835e-01 1.76105008e-01 1.36432340e-02 1.79291087e+02] [-1.76091085e-01 9.84371363e-01 -2.22457207e-03 -2.57916843e+01] [-1.38217671e-02 -2.12857124e-04 9.99904452e-01 -5.75327387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.85420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.32, Y:-25.80, Z:-5.75 [[ 9.84824164e-01 1.73007932e-01 1.37703332e-02 1.79319498e+02] [-1.72993471e-01 9.84920416e-01 -2.24347579e-03 -2.57994873e+01] [-1.39508214e-02 -1.72748581e-04 9.99902668e-01 -5.75367175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.88420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.35, Y:-25.81, Z:-5.76 [[ 9.85169142e-01 1.71033999e-01 1.37525514e-02 1.79347400e+02] [-1.71019388e-01 9.85265117e-01 -2.24027599e-03 -2.58062292e+01] [-1.39330725e-02 -1.44902137e-04 9.99902920e-01 -5.75500902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.91420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.37, Y:-25.81, Z:-5.76 [[ 9.85523475e-01 1.69025489e-01 1.31857979e-02 1.79374005e+02] [-1.69011882e-01 9.85611674e-01 -2.14757284e-03 -2.58132235e+01] [-1.33590709e-02 -1.12073074e-04 9.99910757e-01 -5.75728888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.94420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.40, Y:-25.82, Z:-5.76 [[ 9.86197907e-01 1.65147622e-01 1.18300615e-02 1.79401936e+02] [-1.65136399e-01 9.86268858e-01 -1.92607154e-03 -2.58237181e+01] [-1.19857074e-02 -5.40860470e-05 9.99928167e-01 -5.75700206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.97420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.43, Y:-25.83, Z:-5.76 [[ 9.86485387e-01 1.63371008e-01 1.25097992e-02 1.79429173e+02] [-1.63358322e-01 9.86564703e-01 -2.03622744e-03 -2.58301279e+01] [-1.26743869e-02 -3.48711960e-05 9.99919676e-01 -5.76049998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.00420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.46, Y:-25.84, Z:-5.76 [[ 9.86956672e-01 1.60522424e-01 1.22097574e-02 1.79456094e+02] [-1.60510131e-01 9.87032194e-01 -1.98659309e-03 -2.58405056e+01] [-1.23703163e-02 8.91554612e-07 9.99923485e-01 -5.76208973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.034203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.48, Y:-25.85, Z:-5.76 [[ 9.87110461e-01 1.59627996e-01 1.14822163e-02 1.79484267e+02] [-1.59617065e-01 9.87177240e-01 -1.86808201e-03 -2.58463536e+01] [-1.16331807e-02 1.12456342e-05 9.99932332e-01 -5.76081354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.064203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.51, Y:-25.85, Z:-5.76 [[ 9.87172593e-01 1.59242397e-01 1.14948131e-02 1.79513065e+02] [-1.59231435e-01 9.87239514e-01 -1.86854449e-03 -2.58504822e+01] [-1.16456852e-02 1.42403201e-05 9.99932187e-01 -5.76166461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.094203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.54, Y:-25.85, Z:-5.76 [[ 9.87042279e-01 1.60038088e-01 1.16339703e-02 1.79541770e+02] [-1.60026921e-01 9.87110840e-01 -1.89055423e-03 -2.58547616e+01] [-1.17865788e-02 4.30850785e-06 9.99930536e-01 -5.76278945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.124203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.57, Y:-25.86, Z:-5.76 [[ 9.86915815e-01 1.60812174e-01 1.16884192e-02 1.79570168e+02] [-1.60800963e-01 9.86985028e-01 -1.89881469e-03 -2.58595766e+01] [-1.18416472e-02 -5.53881478e-06 9.99929885e-01 -5.76322321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.154203822 meters Centerline goodness [0,1] 0.9999357257632565 Centerline is valid? [True, True] Translation: X:179.60, Y:-25.86, Z:-5.76 [[ 9.86763696e-01 1.61746856e-01 1.16345688e-02 1.79598582e+02] [-1.61735820e-01 9.86832283e-01 -1.88948393e-03 -2.58635327e+01] [-1.17869862e-02 -1.72523855e-05 9.99930531e-01 -5.76401748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.184203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.63, Y:-25.87, Z:-5.77 [[ 9.86485939e-01 1.63402737e-01 1.20431963e-02 1.79625938e+02] [-1.63391040e-01 9.86559448e-01 -1.95549198e-03 -2.58667034e+01] [-1.22008618e-02 -3.86850367e-05 9.99925566e-01 -5.76561690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.214203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.65, Y:-25.87, Z:-5.76 [[ 9.86380839e-01 1.64031382e-01 1.21056270e-02 1.79654856e+02] [-1.64019624e-01 9.86455120e-01 -1.96451849e-03 -2.58717990e+01] [-1.22639004e-02 -4.77969864e-05 9.99924794e-01 -5.76449250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.244203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.68, Y:-25.88, Z:-5.77 [[ 9.85987681e-01 1.66336517e-01 1.26670813e-02 1.79682946e+02] [-1.66323841e-01 9.86069042e-01 -2.05513303e-03 -2.58750025e+01] [-1.28324604e-02 -8.05017610e-05 9.99917657e-01 -5.76603725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.274203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.71, Y:-25.88, Z:-5.77 [[ 9.85713634e-01 1.67961713e-01 1.25496949e-02 1.79711858e+02] [-1.67949415e-01 9.85793514e-01 -2.03505998e-03 -2.58779489e+01] [-1.27132200e-02 -1.01727544e-04 9.99919179e-01 -5.76691228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.304203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.74, Y:-25.88, Z:-5.77 [[ 9.85374766e-01 1.69959569e-01 1.22603254e-02 1.79740288e+02] [-1.69947993e-01 9.85451028e-01 -1.98758351e-03 -2.58805649e+01] [-1.24197591e-02 -1.25103068e-04 9.99922864e-01 -5.76793479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.334203822 meters Centerline goodness [0,1] 0.9999577435030635 Centerline is valid? [True, True] Translation: X:179.77, Y:-25.88, Z:-5.77 [[ 9.84566832e-01 1.74583336e-01 1.21988823e-02 1.79769797e+02] [-1.74572240e-01 9.84642384e-01 -1.97680576e-03 -2.58795387e+01] [-1.23566539e-02 -1.83288822e-04 9.99923637e-01 -5.76978359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.364203822 meters Centerline goodness [0,1] 0.9999577006048813 Centerline is valid? [True, True] Translation: X:179.80, Y:-25.88, Z:-5.77 [[ 9.84195785e-01 1.76675412e-01 1.20189522e-02 1.79799056e+02] [-1.76664800e-01 9.84269148e-01 -1.94742671e-03 -2.58811006e+01] [-1.21739463e-02 -2.06676631e-04 9.99925873e-01 -5.77095464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.394203822 meters Centerline goodness [0,1] 0.9999787897427196 Centerline is valid? [True, True] Translation: X:179.83, Y:-25.88, Z:-5.77 [[ 9.83522596e-01 1.80473058e-01 1.06197109e-02 1.79829157e+02] [-1.80465003e-01 9.83579903e-01 -1.71990614e-03 -2.58810632e+01] [-1.07557309e-02 -2.24919597e-04 9.99942130e-01 -5.77287430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.424203822 meters Centerline goodness [0,1] 0.9999786247141056 Centerline is valid? [True, True] Translation: X:179.86, Y:-25.88, Z:-5.77 [[ 9.83224965e-01 1.82111607e-01 1.01995752e-02 1.79857282e+02] [-1.82104259e-01 9.83277839e-01 -1.65238804e-03 -2.58843184e+01] [-1.03299353e-02 -2.32716909e-04 9.99946618e-01 -5.77404888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.454203822 meters Centerline goodness [0,1] 0.9998719699556162 Centerline is valid? [True, True] Translation: X:179.89, Y:-25.88, Z:-5.78 [[ 9.83013440e-01 1.83251681e-01 1.01685018e-02 1.79885749e+02] [-1.83244440e-01 9.83066001e-01 -1.64729152e-03 -2.58843858e+01] [-1.02981774e-02 -2.44011719e-04 9.99946943e-01 -5.77755463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.484203822 meters Centerline goodness [0,1] 0.9999578770008425 Centerline is valid? [True, True] Translation: X:179.91, Y:-25.89, Z:-5.78 [[ 9.82889659e-01 1.83880540e-01 1.07640437e-02 1.79914520e+02] [-1.83872484e-01 9.82948562e-01 -1.74184036e-03 -2.58898967e+01] [-1.09007918e-02 -2.67174564e-04 9.99940549e-01 -5.77596041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.514203822 meters Centerline goodness [0,1] 0.999914693964598 Centerline is valid? [True, True] Translation: X:179.94, Y:-25.89, Z:-5.78 [[ 9.82777825e-01 1.84438575e-01 1.14087117e-02 1.79943909e+02] [-1.84429570e-01 9.82844000e-01 -1.84551726e-03 -2.58902172e+01] [-1.15533684e-02 -2.90370347e-04 9.99933215e-01 -5.77536059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.54420382200001 meters Centerline goodness [0,1] 0.9999356871824555 Centerline is valid? [True, True] Translation: X:179.97, Y:-25.89, Z:-5.78 [[ 9.82832467e-01 1.84136003e-01 1.15876957e-02 1.79971998e+02] [-1.84126699e-01 9.82900731e-01 -1.87390321e-03 -2.58943927e+01] [-1.17346076e-02 -2.91871229e-04 9.99931105e-01 -5.77534777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.57420382200002 meters Centerline goodness [0,1] 0.9997656433091164 Centerline is valid? [True, True] Translation: X:180.00, Y:-25.90, Z:-5.78 [[ 9.83184998e-01 1.82263044e-01 1.12890162e-02 1.79999344e+02] [-1.82254093e-01 9.83249772e-01 -1.82531418e-03 -2.59000400e+01] [-1.14326099e-02 -2.62847882e-04 9.99934611e-01 -5.77863753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.60420382200002 meters Centerline goodness [0,1] 0.9999787188763567 Centerline is valid? [True, True] Translation: X:180.03, Y:-25.91, Z:-5.78 [[ 9.83469665e-01 1.80739106e-01 1.09905958e-02 1.80027906e+02] [-1.80730539e-01 9.83531046e-01 -1.77599317e-03 -2.59072591e+01] [-1.11305836e-02 -2.39700900e-04 9.99938024e-01 -5.77883977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.63420382200002 meters Centerline goodness [0,1] 0.9999571358151697 Centerline is valid? [True, True] Translation: X:180.06, Y:-25.92, Z:-5.78 [[ 9.83854794e-01 1.78641379e-01 1.08167755e-02 1.80055540e+02] [-1.78632955e-01 9.83914230e-01 -1.74781245e-03 -2.59181273e+01] [-1.09550110e-02 -2.12638915e-04 9.99939969e-01 -5.77713278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.66420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.08, Y:-25.93, Z:-5.78 [[ 9.84793634e-01 1.73379032e-01 1.10095182e-02 1.80083238e+02] [-1.73369988e-01 9.84855160e-01 -1.77789307e-03 -2.59302002e+01] [-1.11510301e-02 -1.57862253e-04 9.99937813e-01 -5.78071622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.69420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.11, Y:-25.94, Z:-5.78 [[ 9.85177321e-01 1.71206744e-01 1.06722926e-02 1.80110540e+02] [-1.71198113e-01 9.85235116e-01 -1.72386080e-03 -2.59370349e+01] [-1.08098541e-02 -1.28767803e-04 9.99941564e-01 -5.78257854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.72420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.14, Y:-25.94, Z:-5.78 [[ 9.85455099e-01 1.69605187e-01 1.05984770e-02 1.80138937e+02] [-1.69596592e-01 9.85512084e-01 -1.71108211e-03 -2.59422594e+01] [-1.07351355e-02 -1.11270980e-04 9.99942371e-01 -5.78378401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.75420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.17, Y:-25.95, Z:-5.79 [[ 9.85763436e-01 1.67802830e-01 1.06140693e-02 1.80165877e+02] [-1.67794106e-01 9.85820573e-01 -1.71348070e-03 -2.59487925e+01] [-1.07510948e-02 -9.18916443e-05 9.99942201e-01 -5.78521292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.784203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.19, Y:-25.95, Z:-5.79 [[ 9.85823172e-01 1.67444320e-01 1.07272072e-02 1.80193328e+02] [-1.67435396e-01 9.85881530e-01 -1.73104809e-03 -2.59545904e+01] [-1.08656096e-02 -8.96068674e-05 9.99940964e-01 -5.78621818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.814203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.22, Y:-25.96, Z:-5.78 [[ 9.85789174e-01 1.67576870e-01 1.17344747e-02 1.80221437e+02] [-1.67566215e-01 9.85859007e-01 -1.89236488e-03 -2.59565897e+01] [-1.18856542e-02 -1.00828710e-04 9.99929358e-01 -5.78480381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.844203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.25, Y:-25.96, Z:-5.79 [[ 9.85711314e-01 1.68031494e-01 1.17738317e-02 1.80249745e+02] [-1.68020806e-01 9.85781622e-01 -1.89822024e-03 -2.59580874e+01] [-1.19253877e-02 -1.07151522e-04 9.99928884e-01 -5.78660011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.874203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.28, Y:-25.96, Z:-5.79 [[ 9.85685058e-01 1.68232677e-01 1.10785258e-02 1.80278311e+02] [-1.68223238e-01 9.85747308e-01 -1.78508611e-03 -2.59621298e+01] [-1.12209368e-02 -1.04132775e-04 9.99937038e-01 -5.78608914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.904203822 meters Centerline goodness [0,1] 0.9999578050169835 Centerline is valid? [True, True] Translation: X:180.31, Y:-25.96, Z:-5.79 [[ 9.85639415e-01 1.68524191e-01 1.07024135e-02 1.80306580e+02] [-1.68515402e-01 9.85697513e-01 -1.72424162e-03 -2.59622327e+01] [-1.08399188e-02 -1.04041004e-04 9.99941241e-01 -5.79117654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.934203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.33, Y:-25.97, Z:-5.79 [[ 9.85634312e-01 1.68568429e-01 1.04731855e-02 1.80334857e+02] [-1.68560023e-01 9.85689948e-01 -1.68655053e-03 -2.59677808e+01] [-1.06076129e-02 -1.03038313e-04 9.99943732e-01 -5.78633223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.964203822 meters Centerline goodness [0,1] 0.9999787052810903 Centerline is valid? [True, True] Translation: X:180.36, Y:-25.97, Z:-5.79 [[ 9.85630158e-01 1.68601685e-01 1.03277748e-02 1.80363136e+02] [-1.68593516e-01 9.85684260e-01 -1.66287008e-03 -2.59685784e+01] [-1.04602877e-02 -1.02220960e-04 9.99945284e-01 -5.79161464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.994203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.39, Y:-25.97, Z:-5.79 [[ 9.85716915e-01 1.68104256e-01 1.01548901e-02 1.80390625e+02] [-1.68096336e-01 9.85769217e-01 -1.63462393e-03 -2.59741993e+01] [-1.02851653e-02 -9.57233563e-05 9.99947102e-01 -5.79106379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.024203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.42, Y:-25.98, Z:-5.79 [[ 9.85808063e-01 1.67571241e-01 1.01164471e-02 1.80419387e+02] [-1.67563365e-01 9.85859965e-01 -1.62720775e-03 -2.59791103e+01] [-1.02460734e-02 -9.10313993e-05 9.99947503e-01 -5.79176470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.054203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.45, Y:-25.98, Z:-5.79 [[ 9.86042703e-01 1.66179006e-01 1.02139735e-02 1.80446696e+02] [-1.66170905e-01 9.86095600e-01 -1.64261740e-03 -2.59817088e+01] [-1.03449229e-02 -7.75743323e-05 9.99946487e-01 -5.79380203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.084203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.48, Y:-25.99, Z:-5.79 [[ 9.86248101e-01 1.64936872e-01 1.05124688e-02 1.80475309e+02] [-1.64928231e-01 9.86304123e-01 -1.68970138e-03 -2.59865302e+01] [-1.06471853e-02 -6.73380975e-05 9.99943315e-01 -5.79316281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.114203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.50, Y:-25.99, Z:-5.79 [[ 9.86528295e-01 1.63244568e-01 1.06364513e-02 1.80503311e+02] [-1.63235628e-01 9.86585632e-01 -1.70910858e-03 -2.59932912e+01] [-1.07727727e-02 -5.01638425e-05 9.99941971e-01 -5.79264288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.144203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.53, Y:-26.00, Z:-5.79 [[ 9.87114657e-01 1.59604084e-01 1.14538706e-02 1.80530820e+02] [-1.59593481e-01 9.87181106e-01 -1.83978443e-03 -2.60042602e+01] [-1.16006818e-02 -1.18849105e-05 9.99932710e-01 -5.79092656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.174203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.56, Y:-26.01, Z:-5.79 [[ 9.87385508e-01 1.57914248e-01 1.15303134e-02 1.80557601e+02] [-1.57903391e-01 9.87452829e-01 -1.85169834e-03 -2.60112438e+01] [-1.16780502e-02 7.66451746e-06 9.99931809e-01 -5.79360720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.204203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.58, Y:-26.02, Z:-5.80 [[ 9.87867645e-01 1.54891455e-01 1.12317500e-02 1.80584709e+02] [-1.54880966e-01 9.87931493e-01 -1.80304243e-03 -2.60209590e+01] [-1.13754754e-02 4.15830040e-05 9.99935296e-01 -5.79524824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.234203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.61, Y:-26.03, Z:-5.79 [[ 9.88030263e-01 1.53827961e-01 1.15394261e-02 1.80612760e+02] [-1.53816828e-01 9.88097645e-01 -1.85150711e-03 -2.60267218e+01] [-1.16868933e-02 5.43871488e-05 9.99931704e-01 -5.79307839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.264203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.64, Y:-26.03, Z:-5.79 [[ 9.88071444e-01 1.53522240e-01 1.20724457e-02 1.80639791e+02] [-1.53510037e-01 9.88145191e-01 -1.93657580e-03 -2.60320622e+01] [-1.22266367e-02 6.02336557e-05 9.99925250e-01 -5.79469204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.29420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.67, Y:-26.04, Z:-5.79 [[ 9.87804665e-01 1.55116064e-01 1.34518223e-02 1.80668009e+02] [-1.55101078e-01 9.87896252e-01 -2.15655576e-03 -2.60360450e+01] [-1.36235213e-02 4.38636906e-05 9.99907195e-01 -5.79282089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.32420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.70, Y:-26.04, Z:-5.79 [[ 9.87544596e-01 1.56742441e-01 1.36922392e-02 1.80696682e+02] [-1.56727081e-01 9.87639512e-01 -2.19442529e-03 -2.60394438e+01] [-1.38669560e-02 2.11481635e-05 9.99903849e-01 -5.79156084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.35420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.73, Y:-26.04, Z:-5.79 [[ 9.86834529e-01 1.61126147e-01 1.39991749e-02 1.80725860e+02] [-1.61110540e-01 9.86933819e-01 -2.24291172e-03 -2.60395261e+01] [-1.41776509e-02 -4.20319084e-05 9.99899491e-01 -5.79015632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.38420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.75, Y:-26.04, Z:-5.79 [[ 9.86436352e-01 1.63554048e-01 1.39066985e-02 1.80753560e+02] [-1.63538899e-01 9.86534372e-01 -2.22738570e-03 -2.60391528e+01] [-1.40837340e-02 -7.71119296e-05 9.99900816e-01 -5.79459921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.41420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.78, Y:-26.04, Z:-5.79 [[ 9.86058133e-01 1.65837656e-01 1.36832115e-02 1.80782319e+02] [-1.65823219e-01 9.86153061e-01 -2.19089858e-03 -2.60400123e+01] [-1.38570744e-02 -1.08640829e-04 9.99903980e-01 -5.79418653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.44420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.81, Y:-26.04, Z:-5.80 [[ 9.86066284e-01 1.65789174e-01 1.36833191e-02 1.80810297e+02] [-1.65774741e-01 9.86161213e-01 -2.19022628e-03 -2.60443979e+01] [-1.38570744e-02 -1.08640394e-04 9.99903980e-01 -5.79505140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.47420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.84, Y:-26.04, Z:-5.80 [[ 9.85319132e-01 1.70219339e-01 1.30990121e-02 1.80839354e+02] [-1.70206509e-01 9.85406185e-01 -2.09630484e-03 -2.60401302e+01] [-1.32646791e-02 -1.64007855e-04 9.99912007e-01 -5.79752298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.50420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.87, Y:-26.04, Z:-5.80 [[ 9.84937884e-01 1.72407719e-01 1.31507478e-02 1.80868602e+02] [-1.72394996e-01 9.85025655e-01 -2.10357159e-03 -2.60423840e+01] [-1.33164959e-02 -1.95235765e-04 9.99911312e-01 -5.79658759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.534203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.90, Y:-26.04, Z:-5.80 [[ 9.84160374e-01 1.76764943e-01 1.35097096e-02 1.80898164e+02] [-1.76751939e-01 9.84253060e-01 -2.16003809e-03 -2.60368450e+01] [-1.36787920e-02 -2.62043468e-04 9.99906407e-01 -5.80027642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.564203822 meters Centerline goodness [0,1] 0.9999788099677912 Centerline is valid? [True, True] Translation: X:180.93, Y:-26.04, Z:-5.80 [[ 9.83754245e-01 1.78980098e-01 1.39179612e-02 1.80927086e+02] [-1.78966524e-01 9.83852648e-01 -2.22490735e-03 -2.60381058e+01] [-1.40914371e-02 -3.02087087e-04 9.99900665e-01 -5.80042593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.594203822 meters Centerline goodness [0,1] 0.9998719590268886 Centerline is valid? [True, True] Translation: X:180.96, Y:-26.04, Z:-5.80 [[ 9.82960360e-01 1.83234779e-01 1.46269276e-02 1.80957387e+02] [-1.83220273e-01 9.83069107e-01 -2.33710599e-03 -2.60356688e+01] [-1.48075197e-02 -3.82667119e-04 9.99890289e-01 -5.79834947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.624203822 meters Centerline goodness [0,1] 0.9999358946963546 Centerline is valid? [True, True] Translation: X:180.99, Y:-26.04, Z:-5.80 [[ 9.82619285e-01 1.85031637e-01 1.49209338e-02 1.80986789e+02] [-1.85016750e-01 9.82732476e-01 -2.38407493e-03 -2.60353417e+01] [-1.51044155e-02 -4.17984661e-04 9.99885834e-01 -5.79922743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.654203822 meters Centerline goodness [0,1] 0.9999572850369485 Centerline is valid? [True, True] Translation: X:181.02, Y:-26.04, Z:-5.80 [[ 9.82376851e-01 1.86321715e-01 1.48304280e-02 1.81015595e+02] [-1.86307165e-01 9.82488691e-01 -2.36889107e-03 -2.60360700e+01] [-1.50121037e-02 -4.35871253e-04 9.99887217e-01 -5.79985478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.684203822 meters Centerline goodness [0,1] 0.9996808238999064 Centerline is valid? [True, True] Translation: X:181.04, Y:-26.03, Z:-5.81 [[ 9.82228322e-01 1.87153889e-01 1.41755093e-02 1.81044799e+02] [-1.87140689e-01 9.82330513e-01 -2.26383059e-03 -2.60303029e+01] [-1.43487200e-02 -4.29216063e-04 9.99896960e-01 -5.80537748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.714203822 meters Centerline goodness [0,1] 0.9998499882133596 Centerline is valid? [True, True] Translation: X:181.07, Y:-26.04, Z:-5.81 [[ 9.82258375e-01 1.87124889e-01 1.23596247e-02 1.81072564e+02] [-1.87114859e-01 9.82336061e-01 -1.97330276e-03 -2.60356143e+01] [-1.25105591e-02 -3.74376262e-04 9.99921670e-01 -5.80661068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.744203822 meters Centerline goodness [0,1] 0.9990787359400107 Centerline is valid? [True, True] Translation: X:181.10, Y:-26.03, Z:-5.81 [[ 9.82441913e-01 1.86199709e-01 1.17284535e-02 1.81101108e+02] [-1.86190619e-01 9.82511857e-01 -1.87189701e-03 -2.60309949e+01] [-1.18718913e-02 -3.44697932e-04 9.99929467e-01 -5.81408389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.774203822 meters Centerline goodness [0,1] 0.9999148664467383 Centerline is valid? [True, True] Translation: X:181.13, Y:-26.04, Z:-5.81 [[ 9.82694819e-01 1.84870188e-01 1.15717623e-02 1.81129113e+02] [-1.84861258e-01 9.82762895e-01 -1.84592923e-03 -2.60409540e+01] [-1.17135559e-02 -3.25185440e-04 9.99931341e-01 -5.81239066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.804203822 meters Centerline goodness [0,1] 0.9998295696634001 Centerline is valid? [True, True] Translation: X:181.16, Y:-26.05, Z:-5.81 [[ 9.83355453e-01 1.81359027e-01 1.09979889e-02 1.81158311e+02] [-1.81350756e-01 9.83416916e-01 -1.75302393e-03 -2.60504409e+01] [-1.11335351e-02 -2.70647968e-04 9.99937984e-01 -5.81289674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.834203822 meters Centerline goodness [0,1] 0.9999150364281314 Centerline is valid? [True, True] Translation: X:181.19, Y:-26.05, Z:-5.81 [[ 9.83683052e-01 1.79532117e-01 1.16564419e-02 1.81186124e+02] [-1.79522685e-01 9.83752077e-01 -1.85914017e-03 -2.60535726e+01] [-1.18008243e-02 -2.63791066e-04 9.99930333e-01 -5.81478372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.864203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.22, Y:-26.06, Z:-5.81 [[ 9.84327463e-01 1.75901487e-01 1.25743168e-02 1.81215214e+02] [-1.75890234e-01 9.84407746e-01 -2.00393384e-03 -2.60614041e+01] [-1.27307497e-02 -2.39172402e-04 9.99918932e-01 -5.81139893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.894203822 meters Centerline goodness [0,1] 0.9999787084548726 Centerline is valid? [True, True] Translation: X:181.24, Y:-26.06, Z:-5.82 [[ 9.84716923e-01 1.73733474e-01 1.22172971e-02 1.81242871e+02] [-1.73722673e-01 9.84792688e-01 -1.94794388e-03 -2.60638293e+01] [-1.23699279e-02 -2.04248201e-04 9.99923469e-01 -5.81564868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.924203822 meters Centerline goodness [0,1] 0.9999787865931269 Centerline is valid? [True, True] Translation: X:181.27, Y:-26.07, Z:-5.82 [[ 9.85090824e-01 1.71630200e-01 1.17958542e-02 1.81270741e+02] [-1.71620002e-01 9.85161431e-01 -1.87895206e-03 -2.60697796e+01] [-1.19433055e-02 -1.73466087e-04 9.99928661e-01 -5.81737328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.954203822 meters Centerline goodness [0,1] 0.9999360409338024 Centerline is valid? [True, True] Translation: X:181.30, Y:-26.08, Z:-5.82 [[ 9.85470794e-01 1.69426311e-01 1.19180357e-02 1.81298988e+02] [-1.69415747e-01 9.85542847e-01 -1.89783865e-03 -2.60768562e+01] [-1.20672786e-02 -1.48838360e-04 9.99927177e-01 -5.81806537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.984203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.33, Y:-26.09, Z:-5.82 [[ 9.86085927e-01 1.65786056e-01 1.22281855e-02 1.81326892e+02] [-1.65774662e-01 9.86161737e-01 -1.94662413e-03 -2.60858446e+01] [-1.23816918e-02 -1.07584647e-04 9.99923338e-01 -5.81675783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.014203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.36, Y:-26.09, Z:-5.82 [[ 9.86334890e-01 1.64307300e-01 1.21076581e-02 1.81355677e+02] [-1.64296026e-01 9.86409197e-01 -1.92685176e-03 -2.60909984e+01] [-1.22597011e-02 -8.87189889e-05 9.99924843e-01 -5.81793260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.04420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.38, Y:-26.10, Z:-5.82 [[ 9.86591945e-01 1.62685932e-01 1.30238607e-02 1.81384115e+02] [-1.62672755e-01 9.86677902e-01 -2.07191198e-03 -2.60950782e+01] [-1.31874265e-02 -7.44956290e-05 9.99913039e-01 -5.81720781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.07420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.41, Y:-26.10, Z:-5.82 [[ 9.86615509e-01 1.62517970e-01 1.33321928e-02 1.81412277e+02] [-1.62504155e-01 9.86705581e-01 -2.12030406e-03 -2.60989905e+01] [-1.34995365e-02 -7.46118540e-05 9.99908874e-01 -5.81538631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.10420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.44, Y:-26.10, Z:-5.82 [[ 9.86650281e-01 1.62290891e-01 1.35236550e-02 1.81440092e+02] [-1.62276657e-01 9.86742956e-01 -2.15065791e-03 -2.61011191e+01] [-1.36934035e-02 -7.26263017e-05 9.99906238e-01 -5.81778365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.13420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.47, Y:-26.10, Z:-5.82 [[ 9.86656308e-01 1.62205376e-01 1.40977073e-02 1.81468807e+02] [-1.62189926e-01 9.86757017e-01 -2.23999553e-03 -2.61025866e+01] [-1.42743509e-02 -7.64003846e-05 9.99898113e-01 -5.81697298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.16420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.50, Y:-26.11, Z:-5.82 [[ 9.86664066e-01 1.62138970e-01 1.43169401e-02 1.81495195e+02] [-1.62123023e-01 9.86767930e-01 -2.27528311e-03 -2.61053949e+01] [-1.44964094e-02 -7.61655117e-05 9.99894919e-01 -5.81803484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.19420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.52, Y:-26.11, Z:-5.82 [[ 9.86696903e-01 1.61965810e-01 1.40106464e-02 1.81522407e+02] [-1.61950552e-01 9.86796367e-01 -2.22440324e-03 -2.61087125e+01] [-1.41859322e-02 -7.42201263e-05 9.99899372e-01 -5.82000605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.22420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.55, Y:-26.11, Z:-5.82 [[ 9.86665563e-01 1.62203480e-01 1.34572587e-02 1.81551041e+02] [-1.62189448e-01 9.86757329e-01 -2.13484516e-03 -2.61115642e+01] [-1.36253279e-02 -7.62471499e-05 9.99907168e-01 -5.81869264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.25420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.58, Y:-26.11, Z:-5.82 [[ 9.86594620e-01 1.62637939e-01 1.34148107e-02 1.81579320e+02] [-1.62624043e-01 9.86685813e-01 -2.12764774e-03 -2.61131829e+01] [-1.35822397e-02 -8.24449383e-05 9.99907754e-01 -5.82139758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.284203822 meters Centerline goodness [0,1] 0.9999786077953194 Centerline is valid? [True, True] Translation: X:181.61, Y:-26.11, Z:-5.82 [[ 9.86391550e-01 1.63982983e-01 1.18866356e-02 1.81608002e+02] [-1.63972170e-01 9.86463164e-01 -1.88524692e-03 -2.61124433e+01] [-1.20348766e-02 -8.94857975e-05 9.99927574e-01 -5.82430830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.314203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.64, Y:-26.11, Z:-5.83 [[ 9.86227323e-01 1.65001092e-01 1.14152388e-02 1.81637221e+02] [-1.64991207e-01 9.86293379e-01 -1.80881562e-03 -2.61140416e+01] [-1.15572310e-02 -9.95106484e-05 9.99933208e-01 -5.82583163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.344203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.67, Y:-26.12, Z:-5.83 [[ 9.86029419e-01 1.66185462e-01 1.13303664e-02 1.81665824e+02] [-1.66175808e-01 9.86094508e-01 -1.79484010e-03 -2.61153461e+01] [-1.14710884e-02 -1.13067653e-04 9.99934199e-01 -5.82603309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.374203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.69, Y:-26.11, Z:-5.83 [[ 9.85660897e-01 1.68325485e-01 1.17952576e-02 1.81693960e+02] [-1.68315174e-01 9.85731460e-01 -1.86862051e-03 -2.61125222e+01] [-1.19414930e-02 -1.43494673e-04 9.99928688e-01 -5.82879610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.404203822 meters Centerline goodness [0,1] 0.9998929886139886 Centerline is valid? [True, True] Translation: X:181.72, Y:-26.12, Z:-5.83 [[ 9.85617996e-01 1.68597777e-01 1.14872098e-02 1.81723095e+02] [-1.68588038e-01 9.85684924e-01 -1.81797655e-03 -2.61153706e+01] [-1.16292763e-02 -1.44775753e-04 9.99932367e-01 -5.83096002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.434203822 meters Centerline goodness [0,1] 0.9999789140748551 Centerline is valid? [True, True] Translation: X:181.75, Y:-26.12, Z:-5.83 [[ 9.85602167e-01 1.68651953e-01 1.20369090e-02 1.81750820e+02] [-1.68641268e-01 9.85675654e-01 -1.90453520e-03 -2.61186059e+01] [-1.21856917e-02 -1.52805577e-04 9.99925740e-01 -5.83045019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.464203822 meters Centerline goodness [0,1] 0.9999785798436328 Centerline is valid? [True, True] Translation: X:181.78, Y:-26.12, Z:-5.83 [[ 9.85658571e-01 1.68265215e-01 1.28062029e-02 1.81779558e+02] [-1.68253102e-01 9.85741747e-01 -2.02518500e-03 -2.61208326e+01] [-1.29643770e-02 -1.58542403e-04 9.99915946e-01 -5.82797721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.494203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.81, Y:-26.12, Z:-5.83 [[ 9.85746798e-01 1.67724687e-01 1.31026814e-02 1.81808142e+02] [-1.67711968e-01 9.85833863e-01 -2.07139274e-03 -2.61246639e+01] [-1.32644907e-02 -1.55607724e-04 9.99912011e-01 -5.82791790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.524203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.84, Y:-26.13, Z:-5.83 [[ 9.85907513e-01 1.66756637e-01 1.33641137e-02 1.81835611e+02] [-1.66743323e-01 9.85998074e-01 -2.11222711e-03 -2.61283217e+01] [-1.35292183e-02 -1.45916151e-04 9.99908465e-01 -5.83068671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.554203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.86, Y:-26.14, Z:-5.83 [[ 9.86251146e-01 1.64675332e-01 1.38098874e-02 1.81863563e+02] [-1.64660927e-01 9.86347819e-01 -2.18152954e-03 -2.61365656e+01] [-1.39805964e-02 -1.22412858e-04 9.99902259e-01 -5.83108952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.584203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.89, Y:-26.14, Z:-5.83 [[ 9.86502202e-01 1.63160277e-01 1.38610602e-02 1.81891367e+02] [-1.63145624e-01 9.86599571e-01 -2.18897548e-03 -2.61438509e+01] [-1.40324699e-02 -1.01942190e-04 9.99901535e-01 -5.82982274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.614203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.92, Y:-26.15, Z:-5.83 [[ 9.86782295e-01 1.61462152e-01 1.38085682e-02 1.81918368e+02] [-1.61447445e-01 9.86878902e-01 -2.18065716e-03 -2.61493959e+01] [-1.39794783e-02 -7.75241812e-05 9.99902279e-01 -5.83420818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.644203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.95, Y:-26.16, Z:-5.83 [[ 9.87407210e-01 1.57650446e-01 1.31657961e-02 1.81945719e+02] [-1.57636760e-01 9.87494980e-01 -2.07741582e-03 -2.61604284e+01] [-1.33286631e-02 -2.41580964e-05 9.99911169e-01 -5.83315783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.674203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.97, Y:-26.17, Z:-5.84 [[ 9.87684537e-01 1.55911594e-01 1.30702344e-02 1.81971899e+02] [-1.55897953e-01 9.87771013e-01 -2.06233002e-03 -2.61666816e+01] [-1.32319398e-02 -6.91315204e-07 9.99912454e-01 -5.83533566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.704203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.00, Y:-26.18, Z:-5.84 [[ 9.88101907e-01 1.53300537e-01 1.23922049e-02 1.81998125e+02] [-1.53288087e-01 9.88179611e-01 -1.95395477e-03 -2.61756203e+01] [-1.25452665e-02 3.11290480e-05 9.99921305e-01 -5.83847909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.734203822 meters Centerline goodness [0,1] 0.9999355143802932 Centerline is valid? [True, True] Translation: X:182.03, Y:-26.18, Z:-5.84 [[ 9.88264647e-01 1.52258268e-01 1.22640443e-02 1.82026510e+02] [-1.52246006e-01 9.88340740e-01 -1.93282081e-03 -2.61819853e+01] [-1.24153426e-02 4.29867180e-05 9.99922926e-01 -5.83816362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.764203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.05, Y:-26.19, Z:-5.84 [[ 9.88376172e-01 1.51492585e-01 1.27491167e-02 1.82053269e+02] [-1.51479270e-01 9.88458393e-01 -2.00920885e-03 -2.61888852e+01] [-1.29063516e-02 5.46272544e-05 9.99916708e-01 -5.83876587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.79420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.08, Y:-26.20, Z:-5.84 [[ 9.88616409e-01 1.49876091e-01 1.32194209e-02 1.82080085e+02] [-1.49861651e-01 9.88704785e-01 -2.08189831e-03 -2.61971047e+01] [-1.33821315e-02 7.71145890e-05 9.99910452e-01 -5.83762569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.82420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.11, Y:-26.20, Z:-5.84 [[ 9.88751597e-01 1.48983929e-01 1.31934762e-02 1.82107391e+02] [-1.48969481e-01 9.88839614e-01 -2.07661409e-03 -2.62045683e+01] [-1.33556141e-02 8.78301862e-05 9.99910806e-01 -5.84093786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.85420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.14, Y:-26.21, Z:-5.84 [[ 9.88841159e-01 1.48399450e-01 1.30677376e-02 1.82135479e+02] [-1.48385240e-01 9.88927497e-01 -2.05579313e-03 -2.62104181e+01] [-1.32281236e-02 9.37934876e-05 9.99912500e-01 -5.84127677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.88420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.16, Y:-26.21, Z:-5.84 [[ 9.88730457e-01 1.49163779e-01 1.27377667e-02 1.82163394e+02] [-1.49150342e-01 9.88812500e-01 -2.00379247e-03 -2.62140818e+01] [-1.28941562e-02 8.13683839e-05 9.99916864e-01 -5.83997348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.91420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.19, Y:-26.22, Z:-5.84 [[ 9.88598619e-01 1.50036628e-01 1.27193075e-02 1.82190705e+02] [-1.50023313e-01 9.88680437e-01 -2.00000044e-03 -2.62183651e+01] [-1.28754038e-02 6.90050194e-05 9.99917106e-01 -5.84303882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.94420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.22, Y:-26.22, Z:-5.84 [[ 9.88440087e-01 1.51066728e-01 1.28467240e-02 1.82219155e+02] [-1.51053252e-01 9.88523566e-01 -2.01848991e-03 -2.62216205e+01] [-1.30042161e-02 5.46168968e-05 9.99915440e-01 -5.84198098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.97420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.25, Y:-26.23, Z:-5.84 [[ 9.88174622e-01 1.52748221e-01 1.33752668e-02 1.82247279e+02] [-1.52733777e-01 9.88265136e-01 -2.10082201e-03 -2.62272385e+01] [-1.35392067e-02 3.31239703e-05 9.99908340e-01 -5.84219505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.00420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.28, Y:-26.23, Z:-5.84 [[ 9.88135749e-01 1.53006446e-01 1.32954842e-02 1.82275165e+02] [-1.52992200e-01 9.88225190e-01 -2.08806322e-03 -2.62331735e+01] [-1.34584196e-02 2.91845202e-05 9.99909431e-01 -5.84285849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.034203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.30, Y:-26.24, Z:-5.84 [[ 9.88126453e-01 1.52968904e-01 1.43745026e-02 1.82302335e+02] [-1.52952270e-01 9.88231002e-01 -2.25606038e-03 -2.62401352e+01] [-1.45504362e-02 3.06601479e-05 9.99894136e-01 -5.84243490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.064203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.33, Y:-26.25, Z:-5.84 [[ 9.88139539e-01 1.52820584e-01 1.50372962e-02 1.82330007e+02] [-1.52802378e-01 9.88253949e-01 -2.35905321e-03 -2.62454574e+01] [-1.52211793e-02 3.33391235e-05 9.99884151e-01 -5.84251217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.094203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.36, Y:-26.25, Z:-5.84 [[ 9.88185263e-01 1.52525409e-01 1.50295002e-02 1.82356970e+02] [-1.52507196e-01 9.88299549e-01 -2.35726831e-03 -2.62506354e+01] [-1.52131915e-02 3.73108744e-05 9.99884272e-01 -5.84382922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.124203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.39, Y:-26.26, Z:-5.84 [[ 9.88162246e-01 1.52632158e-01 1.54531355e-02 1.82385420e+02] [-1.52612948e-01 9.88283068e-01 -2.42181904e-03 -2.62578563e+01] [-1.56417196e-02 3.48015865e-05 9.99877660e-01 -5.84204767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.154203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.41, Y:-26.26, Z:-5.84 [[ 9.88047316e-01 1.53344068e-01 1.57511457e-02 1.82413806e+02] [-1.53324212e-01 9.88172857e-01 -2.46772518e-03 -2.62631501e+01] [-1.59432657e-02 2.31972265e-05 9.99872898e-01 -5.84218151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.184203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.44, Y:-26.27, Z:-5.85 [[ 9.87879499e-01 1.54435197e-01 1.56161898e-02 1.82441636e+02] [-1.54415825e-01 9.88002920e-01 -2.44607177e-03 -2.62675994e+01] [-1.58066007e-02 5.03732200e-06 9.99875068e-01 -5.84568755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.214203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.47, Y:-26.27, Z:-5.85 [[ 9.87452399e-01 1.57330108e-01 1.36013643e-02 1.82470017e+02] [-1.57315693e-01 9.87546068e-01 -2.12998745e-03 -2.62686899e+01] [-1.37670850e-02 -3.64468277e-05 9.99905229e-01 -5.84932321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.244203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.50, Y:-26.27, Z:-5.85 [[ 9.87184476e-01 1.59013715e-01 1.34703121e-02 1.82498441e+02] [-1.58999752e-01 9.87276372e-01 -2.10812210e-03 -2.62700609e+01] [-1.36341412e-02 -6.06708751e-05 9.99907049e-01 -5.85108033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.274203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.53, Y:-26.27, Z:-5.85 [[ 9.86660408e-01 1.62290944e-01 1.27627755e-02 1.82527118e+02] [-1.62278692e-01 9.86742945e-01 -1.99670940e-03 -2.62671391e+01] [-1.29176265e-02 -1.01052398e-04 9.99916559e-01 -5.85381555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.304203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.56, Y:-26.27, Z:-5.86 [[ 9.86420731e-01 1.63775703e-01 1.23150563e-02 1.82556377e+02] [-1.63764422e-01 9.86497595e-01 -1.92576105e-03 -2.62683060e+01] [-1.24641663e-02 -1.17157449e-04 9.99922312e-01 -5.85557522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.334203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.58, Y:-26.27, Z:-5.85 [[ 9.86270666e-01 1.64684864e-01 1.22093668e-02 1.82584890e+02] [-1.64673853e-01 9.86346227e-01 -1.90869298e-03 -2.62717437e+01] [-1.23569957e-02 -1.28075567e-04 9.99923641e-01 -5.85476652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.364203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.61, Y:-26.28, Z:-5.86 [[ 9.86282836e-01 1.64611962e-01 1.22093914e-02 1.82612063e+02] [-1.64600947e-01 9.86358396e-01 -1.90853581e-03 -2.62758540e+01] [-1.23570035e-02 -1.27321272e-04 9.99923641e-01 -5.85560588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.394203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.64, Y:-26.28, Z:-5.86 [[ 9.86145847e-01 1.65406845e-01 1.25277627e-02 1.82640395e+02] [-1.65395327e-01 9.86225408e-01 -1.95706593e-03 -2.62758218e+01] [-1.26789100e-02 -1.42080977e-04 9.99919609e-01 -5.85877217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.424203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.67, Y:-26.28, Z:-5.86 [[ 9.86277708e-01 1.64620280e-01 1.25078168e-02 1.82669258e+02] [-1.64608750e-01 9.86357007e-01 -1.95292545e-03 -2.62809846e+01] [-1.26586639e-02 -1.32769242e-04 9.99919867e-01 -5.85873336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.454203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.70, Y:-26.29, Z:-5.86 [[ 9.86557049e-01 1.62911728e-01 1.28435770e-02 1.82696713e+02] [-1.62899431e-01 9.86640642e-01 -2.00488383e-03 -2.62862340e+01] [-1.29986142e-02 -1.14279116e-04 9.99915508e-01 -5.86044675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.484203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.72, Y:-26.30, Z:-5.86 [[ 9.87432789e-01 1.57403690e-01 1.41621335e-02 1.82723924e+02] [-1.57388189e-01 9.87534342e-01 -2.20947977e-03 -2.62981844e+01] [-1.43333735e-02 -4.72397782e-05 9.99897271e-01 -5.85746822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.514203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.75, Y:-26.31, Z:-5.86 [[ 9.88033916e-01 1.53560898e-01 1.44233109e-02 1.82750359e+02] [-1.53544419e-01 9.88139186e-01 -2.24967281e-03 -2.63069864e+01] [-1.45977004e-02 8.13415324e-06 9.99893448e-01 -5.85850901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.54420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.78, Y:-26.33, Z:-5.86 [[ 9.89424708e-01 1.44274781e-01 1.49511086e-02 1.82777068e+02] [-1.44256030e-01 9.89537652e-01 -2.33082168e-03 -2.63254955e+01] [-1.51309637e-02 1.49385001e-04 9.99885509e-01 -5.85859483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.57420382200002 meters Centerline goodness [0,1] 0.9999784096552022 Centerline is valid? [True, True] Translation: X:182.80, Y:-26.34, Z:-5.86 [[ 9.90132022e-01 1.39344236e-01 1.48916872e-02 1.82804605e+02] [-1.39325088e-01 9.90243977e-01 -2.32065695e-03 -2.63383558e+01] [-1.50697737e-02 2.22971121e-04 9.99886420e-01 -5.85824293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.60420382200002 meters Centerline goodness [0,1] 0.9999141722991095 Centerline is valid? [True, True] Translation: X:182.83, Y:-26.35, Z:-5.86 [[ 9.90748487e-01 1.34895574e-01 1.48532672e-02 1.82832249e+02] [-1.34876033e-01 9.90859778e-01 -2.31412892e-03 -2.63509875e+01] [-1.50296708e-02 2.89369966e-04 9.99887006e-01 -5.85871828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.63420382200002 meters Centerline goodness [0,1] 0.9999573096544216 Centerline is valid? [True, True] Translation: X:182.86, Y:-26.37, Z:-5.86 [[ 9.91266581e-01 1.31056132e-01 1.46579305e-02 1.82859687e+02] [-1.31036696e-01 9.91374890e-01 -2.28277500e-03 -2.63661569e+01] [-1.48306759e-02 3.42111783e-04 9.99889961e-01 -5.86145795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.66420382200002 meters Centerline goodness [0,1] 0.9999353127627919 Centerline is valid? [True, True] Translation: X:182.89, Y:-26.38, Z:-5.86 [[ 9.92020435e-01 1.25097136e-01 1.56895834e-02 1.82888664e+02] [-1.25074132e-01 9.92144392e-01 -2.44286430e-03 -2.63807944e+01] [-1.58719275e-02 4.61010283e-04 9.99873927e-01 -5.85847171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.69420382200002 meters Centerline goodness [0,1] 0.9998928142685646 Centerline is valid? [True, True] Translation: X:182.92, Y:-26.39, Z:-5.86 [[ 9.92223512e-01 1.23342960e-01 1.67037885e-02 1.82917806e+02] [-1.23316649e-01 9.92363967e-01 -2.60001858e-03 -2.63931730e+01] [-1.68969318e-02 5.19944338e-04 9.99857101e-01 -5.85864695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.72420382200002 meters Centerline goodness [0,1] 0.9998713495432909 Centerline is valid? [True, True] Translation: X:182.95, Y:-26.41, Z:-5.86 [[ 9.92414142e-01 1.21682151e-01 1.75392360e-02 1.82948366e+02] [-1.21652872e-01 9.92568951e-01 -2.73068507e-03 -2.64071362e+01] [-1.77411767e-02 5.76272053e-04 9.99842447e-01 -5.85734177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.75420382200002 meters Centerline goodness [0,1] 0.9998721990287126 Centerline is valid? [True, True] Translation: X:182.98, Y:-26.41, Z:-5.86 [[ 9.92354985e-01 1.22152896e-01 1.76140341e-02 1.82979403e+02] [-1.22123390e-01 9.92511129e-01 -2.74523187e-03 -2.64142346e+01] [-1.78174629e-02 5.73158987e-04 9.99841092e-01 -5.85759238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.784203822 meters Centerline goodness [0,1] 0.9997648316408337 Centerline is valid? [True, True] Translation: X:183.01, Y:-26.42, Z:-5.86 [[ 9.92181456e-01 1.23571491e-01 1.74941241e-02 1.83009235e+02] [-1.23542551e-01 9.92335522e-01 -2.72961033e-03 -2.64240376e+01] [-1.76973427e-02 5.47000037e-04 9.99843240e-01 -5.86003023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.814203822 meters Centerline goodness [0,1] 0.9997853109770497 Centerline is valid? [True, True] Translation: X:183.04, Y:-26.43, Z:-5.86 [[ 9.91675127e-01 1.27751147e-01 1.61272030e-02 1.83039929e+02] [-1.27727040e-01 9.91806156e-01 -2.52028842e-03 -2.64287353e+01] [-1.63170290e-02 4.39427443e-04 9.99866772e-01 -5.86209117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.844203822 meters Centerline goodness [0,1] 0.9999363084370091 Centerline is valid? [True, True] Translation: X:183.07, Y:-26.43, Z:-5.86 [[ 9.91292325e-01 1.30588300e-01 1.69181055e-02 1.83070370e+02] [-1.30562179e-01 9.91436597e-01 -2.64416814e-03 -2.64347112e+01] [-1.71185264e-02 4.12278861e-04 9.99853382e-01 -5.86245062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.874203822 meters Centerline goodness [0,1] 0.9999785177228786 Centerline is valid? [True, True] Translation: X:183.10, Y:-26.44, Z:-5.86 [[ 9.90928311e-01 1.33334491e-01 1.68225126e-02 1.83101804e+02] [-1.33309046e-01 9.91071027e-01 -2.62998029e-03 -2.64381913e+01] [-1.70229719e-02 3.63528820e-04 9.99855033e-01 -5.86315515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.904203822 meters Centerline goodness [0,1] 0.9999785715816316 Centerline is valid? [True, True] Translation: X:183.13, Y:-26.44, Z:-5.87 [[ 9.90181004e-01 1.38932415e-01 1.54713994e-02 1.83133431e+02] [-1.38911578e-01 9.90301835e-01 -2.41863956e-03 -2.64410759e+01] [-1.56573826e-02 2.45734437e-04 9.99877385e-01 -5.86529308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.934203822 meters Centerline goodness [0,1] 0.9998061347578838 Centerline is valid? [True, True] Translation: X:183.16, Y:-26.45, Z:-5.87 [[ 9.89878125e-01 1.41215280e-01 1.41259380e-02 1.83163039e+02] [-1.41198124e-01 9.89978892e-01 -2.20956084e-03 -2.64490998e+01] [-1.42964042e-02 1.92639991e-04 9.99897783e-01 -5.87064187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.964203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.19, Y:-26.46, Z:-5.87 [[ 9.89155007e-01 1.46054562e-01 1.55060083e-02 1.83192581e+02] [-1.46034478e-01 9.89276527e-01 -2.42583155e-03 -2.64569457e+01] [-1.56940338e-02 1.35111592e-04 9.99876832e-01 -5.86774791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.994203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.22, Y:-26.46, Z:-5.87 [[ 9.88742157e-01 1.48825687e-01 1.54874843e-02 1.83222050e+02] [-1.48805994e-01 9.88863442e-01 -2.42269672e-03 -2.64616835e+01] [-1.56755665e-02 9.07918834e-05 9.99877127e-01 -5.86849475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.024203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.25, Y:-26.47, Z:-5.87 [[ 9.88265015e-01 1.52018612e-01 1.49198310e-02 1.83252450e+02] [-1.52000693e-01 9.88377630e-01 -2.33436819e-03 -2.64651913e+01] [-1.51012946e-02 3.91497657e-05 9.99885968e-01 -5.86964549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.054203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.28, Y:-26.46, Z:-5.87 [[ 9.86990272e-01 1.60080841e-01 1.49775286e-02 1.83283149e+02] [-1.60063705e-01 9.87103904e-01 -2.34376165e-03 -2.64637077e+01] [-1.51595683e-02 -8.40887612e-05 9.99885084e-01 -5.87023927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.084203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.31, Y:-26.46, Z:-5.87 [[ 9.86265616e-01 1.64469289e-01 1.51653259e-02 1.83312145e+02] [-1.64452238e-01 9.86382192e-01 -2.37313598e-03 -2.64631512e+01] [-1.53491154e-02 -1.53429365e-04 9.99882184e-01 -5.87088748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.114203822 meters Centerline goodness [0,1] 0.9999787554970151 Centerline is valid? [True, True] Translation: X:183.34, Y:-26.46, Z:-5.87 [[ 9.85469089e-01 1.69179543e-01 1.51313097e-02 1.83341778e+02] [-1.69163138e-01 9.85585222e-01 -2.36690144e-03 -2.64608082e+01] [-1.53136265e-02 -2.27151628e-04 9.99882714e-01 -5.87351382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.144203822 meters Centerline goodness [0,1] 0.9999574640039133 Centerline is valid? [True, True] Translation: X:183.37, Y:-26.46, Z:-5.87 [[ 9.84066230e-01 1.77168388e-01 1.50005832e-02 1.83372905e+02] [-1.77153208e-01 9.84180492e-01 -2.34537687e-03 -2.64600854e+01] [-1.51788080e-02 -3.49395249e-04 9.99884734e-01 -5.87219768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.174203822 meters Centerline goodness [0,1] 0.9999786484466745 Centerline is valid? [True, True] Translation: X:183.40, Y:-26.46, Z:-5.87 [[ 9.83443265e-01 1.80557801e-01 1.54345597e-02 1.83402555e+02] [-1.80542141e-01 9.83564289e-01 -2.41359988e-03 -2.64626854e+01] [-1.56166760e-02 -4.12949894e-04 9.99877967e-01 -5.87093844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.204203822 meters Centerline goodness [0,1] 0.999787960391001 Centerline is valid? [True, True] Translation: X:183.43, Y:-26.46, Z:-5.87 [[ 9.82550829e-01 1.85368446e-01 1.52449290e-02 1.83432665e+02] [-1.85353755e-01 9.82668970e-01 -2.38337187e-03 -2.64558334e+01] [-1.54225206e-02 -4.83920822e-04 9.99880949e-01 -5.87492708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.234203822 meters Centerline goodness [0,1] 0.9998070822258424 Centerline is valid? [True, True] Translation: X:183.46, Y:-26.46, Z:-5.88 [[ 9.82415449e-01 1.86142681e-01 1.45185679e-02 1.83460659e+02] [-1.86129428e-01 9.82522610e-01 -2.27067877e-03 -2.64603485e+01] [-1.46874914e-02 -4.71582835e-04 9.99892022e-01 -5.87611966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.264203822 meters Centerline goodness [0,1] 0.9998500781735238 Centerline is valid? [True, True] Translation: X:183.49, Y:-26.47, Z:-5.88 [[ 9.82391856e-01 1.86247339e-01 1.47705570e-02 1.83487951e+02] [-1.86233653e-01 9.82502771e-01 -2.30886332e-03 -2.64651023e+01] [-1.49421329e-02 -4.82566269e-04 9.99888244e-01 -5.87639537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.29420382200001 meters Centerline goodness [0,1] 0.9998089050257978 Centerline is valid? [True, True] Translation: X:183.52, Y:-26.47, Z:-5.88 [[ 9.82552416e-01 1.85337459e-01 1.55169422e-02 1.83516503e+02] [-1.85322266e-01 9.82674810e-01 -2.42394435e-03 -2.64702228e+01] [-1.56973559e-02 -4.93982512e-04 9.99876667e-01 -5.87587172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.32420382200002 meters Centerline goodness [0,1] 0.9999785981808453 Centerline is valid? [True, True] Translation: X:183.54, Y:-26.48, Z:-5.88 [[ 9.82792330e-01 1.84073865e-01 1.53638418e-02 1.83544513e+02] [-1.84058827e-01 9.82912301e-01 -2.39931291e-03 -2.64773250e+01] [-1.55429599e-02 -4.69824372e-04 9.99879091e-01 -5.87632777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.35420382200002 meters Centerline goodness [0,1] 0.9998936306003489 Centerline is valid? [True, True] Translation: X:183.57, Y:-26.48, Z:-5.88 [[ 9.83026821e-01 1.82822613e-01 1.53023592e-02 1.83572071e+02] [-1.82807553e-01 9.83145814e-01 -2.38915897e-03 -2.64794349e+01] [-1.54812427e-02 -4.48779499e-04 9.99880058e-01 -5.87894969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.38420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.60, Y:-26.49, Z:-5.88 [[ 9.83541442e-01 1.80073256e-01 1.48274860e-02 1.83600424e+02] [-1.80058819e-01 9.83653124e-01 -2.31393777e-03 -2.64863094e+01] [-1.50017812e-02 -3.93965933e-04 9.99887389e-01 -5.87877568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.41420382200002 meters Centerline goodness [0,1] 0.9998514052814809 Centerline is valid? [True, True] Translation: X:183.63, Y:-26.48, Z:-5.88 [[ 9.83796409e-01 1.78700770e-01 1.45141221e-02 1.83628435e+02] [-1.78686796e-01 9.83903400e-01 -2.26453199e-03 -2.64843612e+01] [-1.46851676e-02 -3.65643519e-04 9.99892100e-01 -5.88418508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.44420382200002 meters Centerline goodness [0,1] 0.9999154691462384 Centerline is valid? [True, True] Translation: X:183.66, Y:-26.50, Z:-5.88 [[ 9.84419852e-01 1.75283718e-01 1.38986952e-02 1.83656129e+02] [-1.75270577e-01 9.84517916e-01 -2.16750191e-03 -2.64953948e+01] [-1.40634422e-02 -3.02300421e-04 9.99901059e-01 -5.88399823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.47420382200002 meters Centerline goodness [0,1] 0.9999786903062203 Centerline is valid? [True, True] Translation: X:183.68, Y:-26.50, Z:-5.88 [[ 9.84782699e-01 1.73219179e-01 1.40766468e-02 1.83683955e+02] [-1.73205498e-01 9.84883262e-01 -2.19456896e-03 -2.65023139e+01] [-1.42439953e-02 -2.76979068e-04 9.99898511e-01 -5.88397101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.50420382200002 meters Centerline goodness [0,1] 0.9999787888429313 Centerline is valid? [True, True] Translation: X:183.71, Y:-26.51, Z:-5.88 [[ 9.85055958e-01 1.71628107e-01 1.44413481e-02 1.83712682e+02] [-1.71613548e-01 9.85161776e-01 -2.25069798e-03 -2.65076380e+01] [-1.46133472e-02 -2.61267521e-04 9.99893185e-01 -5.88392361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.534203822 meters Centerline goodness [0,1] 0.9999787735348432 Centerline is valid? [True, True] Translation: X:183.74, Y:-26.51, Z:-5.89 [[ 9.85328499e-01 1.70086905e-01 1.40781407e-02 1.83739911e+02] [-1.70072918e-01 9.85429039e-01 -2.19364245e-03 -2.65114199e+01] [-1.42461185e-02 -2.32852050e-04 9.99898492e-01 -5.88521430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.564203822 meters Centerline goodness [0,1] 0.9999787518857701 Centerline is valid? [True, True] Translation: X:183.77, Y:-26.52, Z:-5.89 [[ 9.85883888e-01 1.66958574e-01 1.25616035e-02 1.83768243e+02] [-1.66947194e-01 9.85963897e-01 -1.95656650e-03 -2.65187908e+01] [-1.27119531e-02 -1.68177074e-04 9.99919186e-01 -5.88891007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.594203822 meters Centerline goodness [0,1] 0.999957791659632 Centerline is valid? [True, True] Translation: X:183.80, Y:-26.52, Z:-5.89 [[ 9.86134192e-01 1.65494830e-01 1.22807457e-02 1.83796101e+02] [-1.65483846e-01 9.86210647e-01 -1.91226128e-03 -2.65247907e+01] [-1.24278716e-02 -1.46518805e-04 9.99922760e-01 -5.89060166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.624203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.82, Y:-26.53, Z:-5.89 [[ 9.86452616e-01 1.63578612e-01 1.23803797e-02 1.83823977e+02] [-1.63567305e-01 9.86530295e-01 -1.92721990e-03 -2.65332156e+01] [-1.25288716e-02 -1.23914230e-04 9.99921503e-01 -5.88846687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.654203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.85, Y:-26.54, Z:-5.89 [[ 9.86524563e-01 1.63087056e-01 1.31110208e-02 1.83851127e+02] [-1.63074339e-01 9.86611675e-01 -2.04041964e-03 -2.65371116e+01] [-1.32682522e-02 -1.25146962e-04 9.99911965e-01 -5.88927955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.684203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.88, Y:-26.54, Z:-5.89 [[ 9.86532867e-01 1.62998856e-01 1.35748306e-02 1.83879961e+02] [-1.62985231e-01 9.86626249e-01 -2.11148362e-03 -2.65421683e+01] [-1.37374536e-02 -1.29448899e-04 9.99905628e-01 -5.88743262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.714203822 meters Centerline goodness [0,1] 0.9999360954308233 Centerline is valid? [True, True] Translation: X:183.91, Y:-26.54, Z:-5.89 [[ 9.86449464e-01 1.63394131e-01 1.48260704e-02 1.83907842e+02] [-1.63377934e-01 9.86560863e-01 -2.30540661e-03 -2.65435938e+01] [-1.50035107e-02 -1.48085635e-04 9.99887430e-01 -5.88925852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.744203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.94, Y:-26.55, Z:-5.89 [[ 9.86325242e-01 1.64092901e-01 1.53635153e-02 1.83936764e+02] [-1.64075612e-01 9.86444875e-01 -2.38774348e-03 -2.65477218e+01] [-1.55470727e-02 -1.65686519e-04 9.99879123e-01 -5.88762236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.774203822 meters Centerline goodness [0,1] 0.9999788211872842 Centerline is valid? [True, True] Translation: X:183.96, Y:-26.55, Z:-5.89 [[ 9.86179876e-01 1.64981766e-01 1.51746456e-02 1.83964720e+02] [-1.64965012e-01 9.86296601e-01 -2.35784421e-03 -2.65495949e+01] [-1.53557026e-02 -1.78027081e-04 9.99882078e-01 -5.88977234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.804203822 meters Centerline goodness [0,1] 0.9999786634804131 Centerline is valid? [True, True] Translation: X:183.99, Y:-26.55, Z:-5.89 [[ 9.85715388e-01 1.67784623e-01 1.46114232e-02 1.83993441e+02] [-1.67769407e-01 9.85823653e-01 -2.26968686e-03 -2.65491091e+01] [-1.47851051e-02 -2.14084546e-04 9.99890671e-01 -5.88996815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.834203822 meters Centerline goodness [0,1] 0.9999788149058323 Centerline is valid? [True, True] Translation: X:184.02, Y:-26.55, Z:-5.89 [[ 9.85438874e-01 1.69420781e-01 1.43813830e-02 1.84022693e+02] [-1.69406235e-01 9.85543780e-01 -2.23258964e-03 -2.65498825e+01] [-1.45517296e-02 -2.36215313e-04 9.99894090e-01 -5.89124729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.864203822 meters Centerline goodness [0,1] 0.9999787658725103 Centerline is valid? [True, True] Translation: X:184.05, Y:-26.55, Z:-5.90 [[ 9.85167147e-01 1.71131044e-01 1.26434726e-02 1.84051101e+02] [-1.71119947e-01 9.85248249e-01 -1.96235126e-03 -2.65493143e+01] [-1.27927784e-02 -2.30306364e-04 9.99918143e-01 -5.89558259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.894203822 meters Centerline goodness [0,1] 0.9999576118517263 Centerline is valid? [True, True] Translation: X:184.08, Y:-26.55, Z:-5.90 [[ 9.85163016e-01 1.71186385e-01 1.22087626e-02 1.84079874e+02] [-1.71176049e-01 9.85238637e-01 -1.89435974e-03 -2.65544989e+01] [-1.23528333e-02 -2.23594603e-04 9.99923676e-01 -5.89614691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.924203822 meters Centerline goodness [0,1] 0.9999787820920857 Centerline is valid? [True, True] Translation: X:184.11, Y:-26.56, Z:-5.90 [[ 9.85261758e-01 1.70605639e-01 1.23687127e-02 1.84107654e+02] [-1.70594990e-01 9.85339367e-01 -1.91876454e-03 -2.65573212e+01] [-1.25147316e-02 -2.19555095e-04 9.99921664e-01 -5.89862146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.954203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.14, Y:-26.57, Z:-5.90 [[ 9.85472223e-01 1.69396162e-01 1.22244453e-02 1.84135843e+02] [-1.69385679e-01 9.85548020e-01 -1.89544934e-03 -2.65652599e+01] [-1.23688597e-02 -2.02733292e-04 9.99923482e-01 -5.89736729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.984203822 meters Centerline goodness [0,1] 0.9999784987851814 Centerline is valid? [True, True] Translation: X:184.16, Y:-26.57, Z:-5.90 [[ 9.85680296e-01 1.68175821e-01 1.22982668e-02 1.84164332e+02] [-1.68165123e-01 9.85756997e-01 -1.90627623e-03 -2.65721472e+01] [-1.24436921e-02 -1.89160630e-04 9.99922556e-01 -5.89813908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.014203822 meters Centerline goodness [0,1] 0.9999787107212808 Centerline is valid? [True, True] Translation: X:184.19, Y:-26.58, Z:-5.90 [[ 9.85878689e-01 1.67028052e-01 1.20350022e-02 1.84191884e+02] [-1.67017726e-01 9.85952129e-01 -1.86512258e-03 -2.65786499e+01] [-1.21774639e-02 -1.71274107e-04 9.99925837e-01 -5.89962551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.04420382200001 meters Centerline goodness [0,1] 0.9999576432716337 Centerline is valid? [True, True] Translation: X:184.22, Y:-26.59, Z:-5.90 [[ 9.86192139e-01 1.65238061e-01 1.10203607e-02 1.84218325e+02] [-1.65229300e-01 9.86253702e-01 -1.70709778e-03 -2.65867443e+01] [-1.11509491e-02 -1.37360074e-04 9.99937817e-01 -5.90352170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.07420382200002 meters Centerline goodness [0,1] 0.9999786466229634 Centerline is valid? [True, True] Translation: X:184.25, Y:-26.59, Z:-5.90 [[ 9.86343729e-01 1.64332023e-01 1.10015318e-02 1.84245942e+02] [-1.64323242e-01 9.86405074e-01 -1.70364798e-03 -2.65939933e+01] [-1.11319307e-02 -1.27424865e-04 9.99938030e-01 -5.90451035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.10420382200002 meters Centerline goodness [0,1] 0.9999785227980499 Centerline is valid? [True, True] Translation: X:184.27, Y:-26.60, Z:-5.91 [[ 9.86377047e-01 1.64119132e-01 1.11907336e-02 1.84273999e+02] [-1.64110039e-01 9.86440517e-01 -1.73237630e-03 -2.65988774e+01] [-1.13233091e-02 -1.27735498e-04 9.99935881e-01 -5.90510979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.13420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.30, Y:-26.60, Z:-5.91 [[ 9.86354563e-01 1.64251591e-01 1.12290354e-02 1.84302481e+02] [-1.64242449e-01 9.86418470e-01 -1.73775918e-03 -2.66027618e+01] [-1.13619577e-02 -1.30237586e-04 9.99935442e-01 -5.90542456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.16420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.33, Y:-26.61, Z:-5.91 [[ 9.86276865e-01 1.64698555e-01 1.15035537e-02 1.84331404e+02] [-1.64688999e-01 9.86343939e-01 -1.77964490e-03 -2.66057349e+01] [-1.16395654e-02 -1.39286148e-04 9.99932248e-01 -5.90618750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.19420382200002 meters Centerline goodness [0,1] 0.9999568155809384 Centerline is valid? [True, True] Translation: X:184.36, Y:-26.61, Z:-5.91 [[ 9.86042485e-01 1.66059356e-01 1.20211344e-02 1.84359222e+02] [-1.66049026e-01 9.86115746e-01 -1.85928078e-03 -2.66075881e+01] [-1.21629808e-02 -1.62767819e-04 9.99926015e-01 -5.90739475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.22420382200002 meters Centerline goodness [0,1] 0.9999786653012459 Centerline is valid? [True, True] Translation: X:184.39, Y:-26.61, Z:-5.91 [[ 9.85897101e-01 1.66941028e-01 1.17302457e-02 1.84387334e+02] [-1.66931265e-01 9.85966868e-01 -1.81344699e-03 -2.66134267e+01] [-1.18683723e-02 -1.70272618e-04 9.99929554e-01 -5.90643761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.25420382200002 meters Centerline goodness [0,1] 0.9999786653012459 Centerline is valid? [True, True] Translation: X:184.42, Y:-26.62, Z:-5.91 [[ 9.85905206e-01 1.66893152e-01 1.17303342e-02 1.84415339e+02] [-1.66883392e-01 9.85974973e-01 -1.81287415e-03 -2.66176623e+01] [-1.18683722e-02 -1.70275897e-04 9.99929554e-01 -5.90730257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.284203822 meters Centerline goodness [0,1] 0.9999570999570999 Centerline is valid? [True, True] Translation: X:184.44, Y:-26.62, Z:-5.91 [[ 9.85453748e-01 1.69514547e-01 1.20718335e-02 1.84443036e+02] [-1.69504413e-01 9.85527663e-01 -1.86522663e-03 -2.66180575e+01] [-1.22133089e-02 -2.08134472e-04 9.99925393e-01 -5.90827133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.314203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.47, Y:-26.62, Z:-5.91 [[ 9.85114122e-01 1.71421040e-01 1.28449764e-02 1.84471755e+02] [-1.71409737e-01 9.85197831e-01 -1.98393724e-03 -2.66178619e+01] [-1.29949315e-02 -2.47349430e-04 9.99915532e-01 -5.90769806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.344203822 meters Centerline goodness [0,1] 0.9999785642322779 Centerline is valid? [True, True] Translation: X:184.50, Y:-26.62, Z:-5.91 [[ 9.84745274e-01 1.73479892e-01 1.34711944e-02 1.84501319e+02] [-1.73467672e-01 9.84837369e-01 -2.07923001e-03 -2.66182491e+01] [-1.36276402e-02 -2.89304804e-04 9.99907098e-01 -5.90654046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.374203822 meters Centerline goodness [0,1] 0.9998932376742895 Centerline is valid? [True, True] Translation: X:184.53, Y:-26.61, Z:-5.91 [[ 9.83975341e-01 1.77825812e-01 1.30578985e-02 1.84532265e+02] [-1.77814729e-01 9.84061921e-01 -2.01421426e-03 -2.66114814e+01] [-1.32079600e-02 -3.39949517e-04 9.99912713e-01 -5.90889918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.404203822 meters Centerline goodness [0,1] 0.9999357959166203 Centerline is valid? [True, True] Translation: X:184.56, Y:-26.61, Z:-5.91 [[ 9.83625329e-01 1.79804886e-01 1.23050691e-02 1.84562032e+02] [-1.79795198e-01 9.83702233e-01 -1.89815103e-03 -2.66123217e+01] [-1.24458208e-02 -3.45322917e-04 9.99922488e-01 -5.91000739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.434203822 meters Centerline goodness [0,1] 0.9998937029635614 Centerline is valid? [True, True] Translation: X:184.59, Y:-26.61, Z:-5.91 [[ 9.83278378e-01 1.81714182e-01 1.19827509e-02 1.84591533e+02] [-1.81705138e-01 9.83351324e-01 -1.84837644e-03 -2.66093212e+01] [-1.21191302e-02 -3.59858822e-04 9.99926496e-01 -5.91332406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.464203822 meters Centerline goodness [0,1] 0.9998293042012504 Centerline is valid? [True, True] Translation: X:184.62, Y:-26.61, Z:-5.91 [[ 9.82818331e-01 1.84195994e-01 1.18306212e-02 1.84620922e+02] [-1.84187362e-01 9.82889458e-01 -1.82448876e-03 -2.66113446e+01] [-1.19642564e-02 -3.85909921e-04 9.99928351e-01 -5.91295359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.494203822 meters Centerline goodness [0,1] 0.999722914934885 Centerline is valid? [True, True] Translation: X:184.65, Y:-26.61, Z:-5.91 [[ 9.82758067e-01 1.84497986e-01 1.21274564e-02 1.84649450e+02] [-1.84488932e-01 9.82832811e-01 -1.87072621e-03 -2.66103545e+01] [-1.22644073e-02 -3.98910206e-04 9.99924710e-01 -5.91455993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.524203822 meters Centerline goodness [0,1] 0.9999785568778814 Centerline is valid? [True, True] Translation: X:184.68, Y:-26.62, Z:-5.91 [[ 9.82962900e-01 1.83277672e-01 1.39007866e-02 1.84677882e+02] [-1.83265688e-01 9.83061086e-01 -2.14201408e-03 -2.66150519e+01] [-1.40579057e-02 -4.42016847e-04 9.99901085e-01 -5.91040046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.554203822 meters Centerline goodness [0,1] 0.9997879424051572 Centerline is valid? [True, True] Translation: X:184.71, Y:-26.61, Z:-5.91 [[ 9.83255248e-01 1.81641709e-01 1.46767660e-02 1.84706399e+02] [-1.81628177e-01 9.83364680e-01 -2.26095404e-03 -2.66099044e+01] [-1.48432968e-02 -4.42619320e-04 9.99889734e-01 -5.91445798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.584203822 meters Centerline goodness [0,1] 0.9999356940752808 Centerline is valid? [True, True] Translation: X:184.73, Y:-26.62, Z:-5.91 [[ 9.83691924e-01 1.79262304e-01 1.46705350e-02 1.84734774e+02] [-1.79248538e-01 9.83801230e-01 -2.25866577e-03 -2.66170369e+01] [-1.48377840e-02 -4.07840681e-04 9.99889831e-01 -5.91480859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.614203822 meters Centerline goodness [0,1] 0.9999147394223595 Centerline is valid? [True, True] Translation: X:184.76, Y:-26.62, Z:-5.92 [[ 9.84676643e-01 1.73864675e-01 1.35271124e-02 1.84762848e+02] [-1.73852470e-01 9.84769508e-01 -2.08203885e-03 -2.66229131e+01] [-1.36830808e-02 -3.01586882e-04 9.99906337e-01 -5.92231415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.644203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.79, Y:-26.64, Z:-5.92 [[ 9.85157549e-01 1.71128389e-01 1.34044385e-02 1.84789725e+02] [-1.71116149e-01 9.85248703e-01 -2.06329975e-03 -2.66380871e+01] [-1.35597948e-02 -2.61040576e-04 9.99908028e-01 -5.91728804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.674203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.82, Y:-26.64, Z:-5.92 [[ 9.85535545e-01 1.68941368e-01 1.33605393e-02 1.84818057e+02] [-1.68929019e-01 9.85626076e-01 -2.05567252e-03 -2.66436609e+01] [-1.35157840e-02 -2.31044457e-04 9.99908631e-01 -5.91840235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.704203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.85, Y:-26.65, Z:-5.92 [[ 9.85944040e-01 1.66578522e-01 1.28819705e-02 1.84845535e+02] [-1.66566840e-01 9.86028174e-01 -1.98202914e-03 -2.66478582e+01] [-1.30321494e-02 -1.91539309e-04 9.99915060e-01 -5.91994670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.734203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.87, Y:-26.65, Z:-5.92 [[ 9.86052824e-01 1.65969006e-01 1.24143795e-02 1.84872656e+02] [-1.65958112e-01 9.86130954e-01 -1.90980539e-03 -2.66489247e+01] [-1.25591724e-02 -1.77097989e-04 9.99921115e-01 -5.92241047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.764203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.90, Y:-26.65, Z:-5.92 [[ 9.86122163e-01 1.65579732e-01 1.21009321e-02 1.84901061e+02] [-1.65569367e-01 9.86196392e-01 -1.86038529e-03 -2.66474083e+01] [-1.22419377e-02 -1.68976503e-04 9.99925050e-01 -5.92189185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.79420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.93, Y:-26.65, Z:-5.92 [[ 9.86145559e-01 1.65459409e-01 1.18372218e-02 1.84929134e+02] [-1.65449495e-01 9.86216587e-01 -1.81876418e-03 -2.66489404e+01] [-1.19749961e-02 -1.64896149e-04 9.99928284e-01 -5.92352460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.82420382200002 meters Centerline goodness [0,1] 0.9998920669185105 Centerline is valid? [True, True] Translation: X:184.96, Y:-26.65, Z:-5.93 [[ 9.86236967e-01 1.64927469e-01 1.16436411e-02 1.84957298e+02] [-1.64917844e-01 9.86305686e-01 -1.78857347e-03 -2.66521710e+01] [-1.17791743e-02 -1.56286919e-04 9.99930611e-01 -5.92501870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.85420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.99, Y:-26.65, Z:-5.92 [[ 9.86466676e-01 1.63533138e-01 1.18494541e-02 1.84985407e+02] [-1.63523079e-01 9.86537831e-01 -1.81941148e-03 -2.66531128e+01] [-1.19874688e-02 -1.42870418e-04 9.99928138e-01 -5.92497226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.88420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.01, Y:-26.65, Z:-5.93 [[ 9.86556581e-01 1.62997033e-01 1.17507423e-02 1.85013702e+02] [-1.62987119e-01 9.86626550e-01 -1.80286719e-03 -2.66545700e+01] [-1.18874564e-02 -1.36589153e-04 9.99929332e-01 -5.92847161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.91420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.04, Y:-26.66, Z:-5.93 [[ 9.86776620e-01 1.61678331e-01 1.14899970e-02 1.85042347e+02] [-1.61668774e-01 9.86843505e-01 -1.76193676e-03 -2.66582567e+01] [-1.16236959e-02 -1.18935728e-04 9.99932435e-01 -5.92947611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.94420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.07, Y:-26.66, Z:-5.93 [[ 9.86909516e-01 1.60822113e-01 1.20770680e-02 1.85069785e+02] [-1.60811496e-01 9.86983401e-01 -1.85151182e-03 -2.66611636e+01] [-1.22176297e-02 -1.14856737e-04 9.99925355e-01 -5.92955138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.97420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.10, Y:-26.66, Z:-5.93 [[ 9.87002077e-01 1.60186738e-01 1.29270347e-02 1.85098969e+02] [-1.60174536e-01 9.87086721e-01 -1.98050390e-03 -2.66643087e+01] [-1.30773547e-02 -1.15820318e-04 9.99914481e-01 -5.92858668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.00420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.13, Y:-26.67, Z:-5.93 [[ 9.87240144e-01 1.58718717e-01 1.28556474e-02 1.85128166e+02] [-1.58706528e-01 9.87323837e-01 -1.96934847e-03 -2.66674093e+01] [-1.30052596e-02 -9.60553100e-05 9.99915423e-01 -5.92770106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.034203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.16, Y:-26.67, Z:-5.93 [[ 9.87344552e-01 1.58064630e-01 1.28960400e-02 1.85155322e+02] [-1.58052314e-01 9.87428765e-01 -1.97509354e-03 -2.66701290e+01] [-1.30461132e-02 -8.81511147e-05 9.99914892e-01 -5.93102016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.064203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.18, Y:-26.67, Z:-5.93 [[ 9.87524325e-01 1.56896435e-01 1.33872019e-02 1.85184374e+02] [-1.56883071e-01 9.87615058e-01 -2.04917958e-03 -2.66720169e+01] [-1.35429111e-02 -7.66106631e-05 9.99908288e-01 -5.93075555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.094203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.21, Y:-26.68, Z:-5.93 [[ 9.87588078e-01 1.56487756e-01 1.34673568e-02 1.85212788e+02] [-1.56474203e-01 9.87679896e-01 -2.06080710e-03 -2.66751390e+01] [-1.36239287e-02 -7.20653915e-05 9.99907187e-01 -5.92989346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.124203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.24, Y:-26.68, Z:-5.93 [[ 9.87608053e-01 1.56383447e-01 1.32117715e-02 1.85241679e+02] [-1.56370402e-01 9.87696417e-01 -2.02106825e-03 -2.66776865e+01] [-1.33652810e-02 -6.99067354e-05 9.99910678e-01 -5.93096296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.154203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.27, Y:-26.68, Z:-5.93 [[ 9.87632983e-01 1.56238521e-01 1.30620035e-02 1.85270193e+02] [-1.56225766e-01 9.87719353e-01 -1.99752548e-03 -2.66796712e+01] [-1.32136840e-02 -6.77994383e-05 9.99912693e-01 -5.93197727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.184203822 meters Centerline goodness [0,1] 0.9999787865931269 Centerline is valid? [True, True] Translation: X:185.30, Y:-26.68, Z:-5.94 [[ 9.87597354e-01 1.56451899e-01 1.32011346e-02 1.85297162e+02] [-1.56438884e-01 9.87685577e-01 -2.01921408e-03 -2.66815416e+01] [-1.33544802e-02 -7.10002918e-05 9.99910822e-01 -5.93584763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.214203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.33, Y:-26.68, Z:-5.93 [[ 9.87507351e-01 1.56986603e-01 1.35807820e-02 1.85326198e+02] [-1.56972917e-01 9.87600729e-01 -2.07453228e-03 -2.66823029e+01] [-1.37380640e-02 -8.31991034e-05 9.99905625e-01 -5.93379158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.244203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.36, Y:-26.68, Z:-5.93 [[ 9.87432007e-01 1.57459183e-01 1.35881098e-02 1.85355018e+02] [-1.57445537e-01 9.87525492e-01 -2.07498510e-03 -2.66834757e+01] [-1.37453302e-02 -9.04805302e-05 9.99905524e-01 -5.93416732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.274203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.38, Y:-26.68, Z:-5.93 [[ 9.87323245e-01 1.58141671e-01 1.35654674e-02 1.85384303e+02] [-1.58128143e-01 9.87416428e-01 -2.07089044e-03 -2.66845533e+01] [-1.37222594e-02 -1.00443893e-04 9.99905840e-01 -5.93374950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.304203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.41, Y:-26.68, Z:-5.94 [[ 9.87079958e-01 1.59653936e-01 1.35564463e-02 1.85413520e+02] [-1.59640568e-01 9.87173038e-01 -2.06951797e-03 -2.66792360e+01] [-1.37129650e-02 -1.21379081e-04 9.99905966e-01 -5.93717757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.334203822 meters Centerline goodness [0,1] 0.9999785646917603 Centerline is valid? [True, True] Translation: X:185.44, Y:-26.68, Z:-5.94 [[ 9.86960875e-01 1.60354330e-01 1.39542002e-02 1.85441525e+02] [-1.60340260e-01 9.87059507e-01 -2.12860326e-03 -2.66818488e+01] [-1.41149567e-02 -1.36571946e-04 9.99900370e-01 -5.93631870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.364203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.47, Y:-26.68, Z:-5.94 [[ 9.86734433e-01 1.61702101e-01 1.44079466e-02 1.85469875e+02] [-1.61687264e-01 9.86839604e-01 -2.19646934e-03 -2.66797348e+01] [-1.45735060e-02 -1.62249542e-04 9.99893788e-01 -5.93804001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.394203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.50, Y:-26.68, Z:-5.94 [[ 9.86737820e-01 1.61705509e-01 1.41351878e-02 1.85498419e+02] [-1.61691244e-01 9.86839046e-01 -2.15385901e-03 -2.66825729e+01] [-1.42974461e-02 -1.60241957e-04 9.99897773e-01 -5.93756950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.424203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.53, Y:-26.68, Z:-5.94 [[ 9.86800475e-01 1.61347686e-01 1.38472846e-02 1.85525766e+02] [-1.61333961e-01 9.86897614e-01 -2.10993260e-03 -2.66834250e+01] [-1.40062849e-02 -1.51954782e-04 9.99901896e-01 -5.94169715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.454203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.55, Y:-26.69, Z:-5.94 [[ 9.87160516e-01 1.59159738e-01 1.35016489e-02 1.85554655e+02] [-1.59146509e-01 9.87252837e-01 -2.05552672e-03 -2.66875947e+01] [-1.36566983e-02 -1.19605470e-04 9.99906736e-01 -5.94214877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.484203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.58, Y:-26.69, Z:-5.94 [[ 9.87395685e-01 1.57671122e-01 1.37687691e-02 1.85582326e+02] [-1.57657227e-01 9.87491674e-01 -2.09569214e-03 -2.66904970e+01] [-1.39269750e-02 -1.01468572e-04 9.99903010e-01 -5.94423022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.514203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.61, Y:-26.70, Z:-5.94 [[ 9.87671730e-01 1.55928571e-01 1.38142883e-02 1.85611160e+02] [-1.55914427e-01 9.87768330e-01 -2.10162199e-03 -2.66962556e+01] [-1.39730194e-02 -7.81342165e-05 9.99902370e-01 -5.94183703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.54420382200001 meters Centerline goodness [0,1] 0.9999573597134572 Centerline is valid? [True, True] Translation: X:185.64, Y:-26.70, Z:-5.94 [[ 9.88107868e-01 1.53083648e-01 1.44304296e-02 1.85638643e+02] [-1.53067919e-01 9.88213234e-01 -2.19476011e-03 -2.67028943e+01] [-1.45963234e-02 -4.01761059e-05 9.99893467e-01 -5.94394352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.57420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.67, Y:-26.71, Z:-5.95 [[ 9.88283086e-01 1.52033289e-01 1.35063347e-02 1.85666898e+02] [-1.52019424e-01 9.88375373e-01 -2.05328795e-03 -2.67077621e+01] [-1.36614967e-02 -2.39954704e-05 9.99906677e-01 -5.94500835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.60420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.69, Y:-26.71, Z:-5.95 [[ 9.88655024e-01 1.49711324e-01 1.21558078e-02 1.85694572e+02] [-1.49699915e-01 9.88729750e-01 -1.84825212e-03 -2.67121147e+01] [-1.22955130e-02 7.56035758e-06 9.99924407e-01 -5.95015869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.63420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.72, Y:-26.72, Z:-5.95 [[ 9.88877382e-01 1.48231382e-01 1.22057935e-02 1.85722584e+02] [-1.48219784e-01 9.88952707e-01 -1.85443728e-03 -2.67165536e+01] [-1.23458383e-02 2.46710063e-05 9.99923787e-01 -5.94996563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.66420382200002 meters Centerline goodness [0,1] 0.999978808171569 Centerline is valid? [True, True] Translation: X:185.75, Y:-26.72, Z:-5.95 [[ 9.89045049e-01 1.47067218e-01 1.26935121e-02 1.85749728e+02] [-1.47054588e-01 9.89126499e-01 -1.92780028e-03 -2.67204650e+01] [-1.28390054e-02 4.00421308e-05 9.99917576e-01 -5.95078309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.69420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.78, Y:-26.73, Z:-5.95 [[ 9.89503233e-01 1.43872949e-01 1.35619545e-02 1.85776766e+02] [-1.43858254e-01 9.89596164e-01 -2.05803833e-03 -2.67275514e+01] [-1.37169542e-02 8.54364819e-05 9.99905915e-01 -5.94981088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.72420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.80, Y:-26.73, Z:-5.95 [[ 9.89782680e-01 1.41860013e-01 1.43521412e-02 1.85803764e+02] [-1.41843361e-01 9.89886722e-01 -2.17678361e-03 -2.67344035e+01] [-1.45157925e-02 1.18786778e-04 9.99894633e-01 -5.94851417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.75420382200002 meters Centerline goodness [0,1] 0.9999786789475928 Centerline is valid? [True, True] Translation: X:185.83, Y:-26.74, Z:-5.95 [[ 9.90036607e-01 1.39981691e-01 1.52526349e-02 1.85830343e+02] [-1.39962677e-01 9.90154080e-01 -2.31228095e-03 -2.67415732e+01] [-1.54261357e-02 1.54443173e-04 9.99880998e-01 -5.94856861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.784203822 meters Centerline goodness [0,1] 0.9998715203426124 Centerline is valid? [True, True] Translation: X:185.86, Y:-26.75, Z:-5.95 [[ 9.90617386e-01 1.35602248e-01 1.70065959e-02 1.85858221e+02] [-1.35578003e-01 9.90763327e-01 -2.57594261e-03 -2.67509415e+01] [-1.71988151e-02 2.46053234e-04 9.99852059e-01 -5.94729450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.814203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.89, Y:-26.76, Z:-5.95 [[ 9.90917860e-01 1.33405494e-01 1.68750844e-02 1.85886365e+02] [-1.33381317e-01 9.91061499e-01 -2.55522290e-03 -2.67591051e+01] [-1.70651273e-02 2.81195021e-04 9.99854341e-01 -5.94686389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.844203822 meters Centerline goodness [0,1] 0.9997842828483293 Centerline is valid? [True, True] Translation: X:185.91, Y:-26.77, Z:-5.95 [[ 9.91158235e-01 1.31514020e-01 1.75901976e-02 1.85913103e+02] [-1.31487466e-01 9.91314257e-01 -2.66275159e-03 -2.67683115e+01] [-1.77876029e-02 3.26317647e-04 9.99841735e-01 -5.94878088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.874203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.94, Y:-26.78, Z:-5.95 [[ 9.91457932e-01 1.29200938e-01 1.78405751e-02 1.85939189e+02] [-1.29173265e-01 9.91618364e-01 -2.69969578e-03 -2.67796085e+01] [-1.80398451e-02 3.72109458e-04 9.99837200e-01 -5.94763608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.904203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.97, Y:-26.79, Z:-5.95 [[ 9.91554818e-01 1.28468861e-01 1.77424830e-02 1.85967218e+02] [-1.28441402e-01 9.91713470e-01 -2.68332598e-03 -2.67871560e+01] [-1.79401832e-02 3.81795417e-04 9.99838989e-01 -5.94906610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.934203822 meters Centerline goodness [0,1] 0.9999141114832947 Centerline is valid? [True, True] Translation: X:186.00, Y:-26.79, Z:-5.95 [[ 9.91599817e-01 1.28159799e-01 1.74604955e-02 1.85995662e+02] [-1.28133172e-01 9.91753458e-01 -2.63989957e-03 -2.67933182e+01] [-1.76548358e-02 3.80455255e-04 9.99844069e-01 -5.95160901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.964203822 meters Centerline goodness [0,1] 0.9996543081842537 Centerline is valid? [True, True] Translation: X:186.02, Y:-26.80, Z:-5.95 [[ 9.91543988e-01 1.28712394e-01 1.65420230e-02 1.86023966e+02] [-1.28688584e-01 9.91681903e-01 -2.50033001e-03 -2.68015643e+01] [-1.67262483e-02 3.50417682e-04 9.99860045e-01 -5.95431228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.994203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.05, Y:-26.81, Z:-5.96 [[ 9.91430922e-01 1.29661908e-01 1.58907787e-02 1.86050795e+02] [-1.29640066e-01 9.91558212e-01 -2.40135093e-03 -2.68075778e+01] [-1.60679959e-02 3.20691969e-04 9.99870850e-01 -5.95611987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.024203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.08, Y:-26.81, Z:-5.96 [[ 9.91056480e-01 1.32605139e-01 1.49308816e-02 1.86079181e+02] [-1.32586205e-01 9.91168912e-01 -2.25531817e-03 -2.68098675e+01] [-1.50980924e-02 2.55518762e-04 9.99885985e-01 -5.95751750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.054203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.11, Y:-26.81, Z:-5.96 [[ 9.90833842e-01 1.34291973e-01 1.46275231e-02 1.86107866e+02] [-1.34273994e-01 9.90941782e-01 -2.20882302e-03 -2.68144217e+01] [-1.47916510e-02 2.24480653e-04 9.99890572e-01 -5.95899523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.084203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.13, Y:-26.82, Z:-5.96 [[ 9.90617411e-01 1.35936736e-01 1.40836758e-02 1.86134978e+02] [-1.35920241e-01 9.90717501e-01 -2.12626883e-03 -2.68196126e+01] [-1.42419822e-02 1.92062305e-04 9.99898559e-01 -5.96120610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.114203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.16, Y:-26.82, Z:-5.96 [[ 9.90120840e-01 1.39584953e-01 1.32952428e-02 1.86163091e+02] [-1.39570588e-01 9.90210091e-01 -2.00678215e-03 -2.68237202e+01] [-1.34452002e-02 1.31331966e-04 9.99909601e-01 -5.96154447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.144203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.19, Y:-26.83, Z:-5.96 [[ 9.89811491e-01 1.41776447e-01 1.31397089e-02 1.86190178e+02] [-1.41762625e-01 9.89898696e-01 -1.98219392e-03 -2.68284698e+01] [-1.32880091e-02 9.92787039e-05 9.99911706e-01 -5.96427643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.174203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.22, Y:-26.83, Z:-5.97 [[ 9.89818247e-01 1.41729258e-01 1.31398701e-02 1.86218194e+02] [-1.41715446e-01 9.89905454e-01 -1.98112430e-03 -2.68326026e+01] [-1.32880123e-02 9.88304330e-05 9.99911706e-01 -5.96514134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.204203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.25, Y:-26.84, Z:-5.97 [[ 9.89501111e-01 1.43915012e-01 1.32672420e-02 1.86246733e+02] [-1.43901136e-01 9.89590049e-01 -1.99968156e-03 -2.68359451e+01] [-1.34169149e-02 6.95159329e-05 9.99909987e-01 -5.96502947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.234203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.28, Y:-26.84, Z:-5.96 [[ 9.88772034e-01 1.48701758e-01 1.47530120e-02 1.86275186e+02] [-1.48685142e-01 9.88882090e-01 -2.22290880e-03 -2.68359137e+01] [-1.49195398e-02 4.39636911e-06 9.99888697e-01 -5.96464822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.264203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.30, Y:-26.84, Z:-5.96 [[ 9.88414526e-01 1.51012725e-01 1.52276674e-02 1.86303648e+02] [-1.50995315e-01 9.88531818e-01 -2.29323041e-03 -2.68376856e+01] [-1.53993407e-02 -3.26441934e-05 9.99881423e-01 -5.96425914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.29420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.33, Y:-26.84, Z:-5.97 [[ 9.87784855e-01 1.55061303e-01 1.53971293e-02 1.86332647e+02] [-1.55044007e-01 9.87904845e-01 -2.31798698e-03 -2.68394559e+01] [-1.55703287e-02 -9.75601926e-05 9.99878770e-01 -5.96553396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.32420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.36, Y:-26.84, Z:-5.96 [[ 9.87470360e-01 1.57025637e-01 1.56600819e-02 1.86361513e+02] [-1.57008004e-01 9.87594518e-01 -2.35682941e-03 -2.68429385e+01] [-1.58358937e-02 -1.31459026e-04 9.99874596e-01 -5.96476133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.35420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.39, Y:-26.84, Z:-5.97 [[ 9.87194608e-01 1.58764416e-01 1.55134430e-02 1.86389098e+02] [-1.58747336e-01 9.87316482e-01 -2.33417404e-03 -2.68439068e+01] [-1.56872617e-02 -1.58433715e-04 9.99876935e-01 -5.96818836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.38420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.42, Y:-26.85, Z:-5.97 [[ 9.86813189e-01 1.61189717e-01 1.47514687e-02 1.86417435e+02] [-1.61174559e-01 9.86923421e-01 -2.21850282e-03 -2.68483749e+01] [-1.49161698e-02 -1.88313636e-04 9.99888730e-01 -5.96937031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.41420382200002 meters Centerline goodness [0,1] 0.9999786511816571 Centerline is valid? [True, True] Translation: X:186.45, Y:-26.85, Z:-5.97 [[ 9.86779758e-01 1.61358195e-01 1.51407390e-02 1.86445194e+02] [-1.61342256e-01 9.86895888e-01 -2.27643366e-03 -2.68521140e+01] [-1.53096543e-02 -1.96502330e-04 9.99882781e-01 -5.97156569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.44420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.47, Y:-26.86, Z:-5.97 [[ 9.87107937e-01 1.59313620e-01 1.53977907e-02 1.86473280e+02] [-1.59296908e-01 9.87228009e-01 -2.31369509e-03 -2.68624596e+01] [-1.55697334e-02 -1.68953675e-04 9.99878770e-01 -5.97289124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.47420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.50, Y:-26.87, Z:-5.97 [[ 9.87453414e-01 1.57156007e-01 1.54189834e-02 1.86501001e+02] [-1.57138992e-01 9.87573780e-01 -2.31652243e-03 -2.68730807e+01] [-1.55914392e-02 -1.35465531e-04 9.99878437e-01 -5.97219498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.50420382200002 meters Centerline goodness [0,1] 0.9999568770348649 Centerline is valid? [True, True] Translation: X:186.53, Y:-26.88, Z:-5.97 [[ 9.87871447e-01 1.54428473e-01 1.61817902e-02 1.86527986e+02] [-1.54409378e-01 9.88003966e-01 -2.43040239e-03 -2.68825582e+01] [-1.63629962e-02 -9.76950253e-05 9.99866112e-01 -5.97260066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.534203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.55, Y:-26.90, Z:-5.97 [[ 9.88559266e-01 1.49749410e-01 1.80469595e-02 1.86554644e+02] [-1.49724903e-01 9.88723983e-01 -2.70916759e-03 -2.68953067e+01] [-1.82491579e-02 -2.39065376e-05 9.99833470e-01 -5.96958215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.564203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.58, Y:-26.90, Z:-5.97 [[ 9.88856159e-01 1.47758389e-01 1.81921536e-02 1.86582780e+02] [-1.47733172e-01 9.89023487e-01 -2.72971658e-03 -2.69044421e+01] [-1.83958058e-02 1.17124886e-05 9.99830783e-01 -5.96969700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.594203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.61, Y:-26.92, Z:-5.97 [[ 9.89319078e-01 1.44649100e-01 1.80111022e-02 1.86610914e+02] [-1.44623889e-01 9.89483013e-01 -2.70136914e-03 -2.69176624e+01] [-1.82124303e-02 6.76803706e-05 9.99834138e-01 -5.97090828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.624203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.64, Y:-26.93, Z:-5.97 [[ 9.89430791e-01 1.43900399e-01 1.78713566e-02 1.86640113e+02] [-1.43875464e-01 9.89592173e-01 -2.67997430e-03 -2.69252335e+01] [-1.80710040e-02 8.03993768e-05 9.99836703e-01 -5.97231692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.654203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.67, Y:-26.93, Z:-5.97 [[ 9.89567994e-01 1.43012406e-01 1.73964534e-02 1.86668070e+02] [-1.42988645e-01 9.89720891e-01 -2.60850134e-03 -2.69325594e+01] [-1.75906814e-02 9.37941402e-05 9.99845268e-01 -5.97403248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.684203822 meters Centerline goodness [0,1] 0.9999569892473118 Centerline is valid? [True, True] Translation: X:186.70, Y:-26.94, Z:-5.98 [[ 9.89657009e-01 1.42424020e-01 1.71581964e-02 1.86696615e+02] [-1.42400831e-01 9.89805732e-01 -2.57200471e-03 -2.69403898e+01] [-1.73495964e-02 1.02061063e-04 9.99849479e-01 -5.97581825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.714203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.72, Y:-26.95, Z:-5.98 [[ 9.89592758e-01 1.42783516e-01 1.78617172e-02 1.86724759e+02] [-1.42758451e-01 9.89753938e-01 -2.67713640e-03 -2.69455085e+01] [-1.80609558e-02 9.93637211e-05 9.99836883e-01 -5.97548544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.744203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.75, Y:-26.95, Z:-5.98 [[ 9.89487845e-01 1.43467788e-01 1.81878414e-02 1.86752488e+02] [-1.43441928e-01 9.89654983e-01 -2.72531143e-03 -2.69506197e+01] [-1.83906823e-02 8.77635024e-05 9.99830873e-01 -5.97702712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.774203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.78, Y:-26.95, Z:-5.98 [[ 9.89145816e-01 1.45859586e-01 1.77633196e-02 1.86781221e+02] [-1.45835316e-01 9.89305301e-01 -2.66105499e-03 -2.69542915e+01] [-1.79614867e-02 4.16520855e-05 9.99838679e-01 -5.98064368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.804203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.81, Y:-26.96, Z:-5.98 [[ 9.88642502e-01 1.49203747e-01 1.80068281e-02 1.86810728e+02] [-1.49179373e-01 9.88806473e-01 -2.69687790e-03 -2.69555296e+01] [-1.82076525e-02 -1.99992197e-05 9.99834227e-01 -5.98003205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.834203822 meters Centerline goodness [0,1] 0.9997849878518136 Centerline is valid? [True, True] Translation: X:186.84, Y:-26.96, Z:-5.98 [[ 9.88416127e-01 1.50699714e-01 1.79765354e-02 1.86839232e+02] [-1.50675678e-01 9.88579584e-01 -2.69185002e-03 -2.69588680e+01] [-1.81768969e-02 -4.79586884e-05 9.99834785e-01 -5.98136912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.864203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.87, Y:-26.96, Z:-5.98 [[ 9.88166967e-01 1.52312891e-01 1.80784021e-02 1.86867771e+02] [-1.52288869e-01 9.88332321e-01 -2.70618641e-03 -2.69618358e+01] [-1.82796562e-02 -7.89753887e-05 9.99832910e-01 -5.98158813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.894203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.90, Y:-26.96, Z:-5.98 [[ 9.87970392e-01 1.53569358e-01 1.81922434e-02 1.86895882e+02] [-1.53545259e-01 9.88137866e-01 -2.72245641e-03 -2.69633877e+01] [-1.83945305e-02 -1.03626410e-04 9.99830801e-01 -5.98298296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.924203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.92, Y:-26.96, Z:-5.98 [[ 9.87671457e-01 1.55436405e-01 1.85638365e-02 1.86923921e+02] [-1.55411664e-01 9.87845891e-01 -2.77685361e-03 -2.69620914e+01] [-1.87698338e-02 -1.42417682e-04 9.99823821e-01 -5.98400631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.954203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.95, Y:-26.96, Z:-5.99 [[ 9.87568012e-01 1.56152313e-01 1.80520877e-02 1.86952582e+02] [-1.56129058e-01 9.87732976e-01 -2.69913015e-03 -2.69649118e+01] [-1.82521177e-02 -1.52880852e-04 9.99833405e-01 -5.98534545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.984203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.98, Y:-26.97, Z:-5.99 [[ 9.87328659e-01 1.57709195e-01 1.76048037e-02 1.86980526e+02] [-1.57687338e-01 9.87485584e-01 -2.63157364e-03 -2.69672512e+01] [-1.77995132e-02 -1.77826560e-04 9.99841560e-01 -5.98699678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.014203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.01, Y:-26.97, Z:-5.99 [[ 9.87245297e-01 1.58136760e-01 1.84251977e-02 1.87007916e+02] [-1.58112915e-01 9.87417200e-01 -2.75298786e-03 -2.69702877e+01] [-1.86287057e-02 -1.95387406e-04 9.99826452e-01 -5.98779813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.04420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.04, Y:-26.97, Z:-5.99 [[ 9.87230587e-01 1.58149638e-01 1.90908663e-02 1.87035506e+02] [-1.58124065e-01 9.87415136e-01 -2.85121039e-03 -2.69742481e+01] [-1.93015282e-02 -2.03923286e-04 9.99813687e-01 -5.98740852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.07420382200002 meters Centerline goodness [0,1] 0.9999788637132229 Centerline is valid? [True, True] Translation: X:187.06, Y:-26.98, Z:-5.99 [[ 9.87508522e-01 1.56273140e-01 2.01401205e-02 1.87064346e+02] [-1.56244320e-01 9.87713862e-01 -3.00637272e-03 -2.69799972e+01] [-2.03624915e-02 -1.77960762e-04 9.99792647e-01 -5.98610607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.10420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.09, Y:-26.99, Z:-5.99 [[ 9.87798672e-01 1.54329513e-01 2.08850283e-02 1.87092669e+02] [-1.54298102e-01 9.88019423e-01 -3.11690362e-03 -2.69859885e+01] [-2.11158439e-02 -1.43646976e-04 9.99777025e-01 -5.98510058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.13420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.12, Y:-26.99, Z:-5.99 [[ 9.88169735e-01 1.51814686e-01 2.17457236e-02 1.87121059e+02] [-1.51780048e-01 9.88408970e-01 -3.24424848e-03 -2.69922992e+01] [-2.19861929e-02 -9.46988079e-05 9.99758270e-01 -5.98509792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.16420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.15, Y:-27.00, Z:-5.99 [[ 9.88992812e-01 1.46390741e-01 2.15167024e-02 1.87149691e+02] [-1.46355570e-01 9.89226845e-01 -3.20886643e-03 -2.70041293e+01] [-2.17546480e-02 2.44565875e-05 9.99763339e-01 -5.98568433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.19420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.18, Y:-27.01, Z:-5.99 [[ 9.89371324e-01 1.43751271e-01 2.19078997e-02 1.87178081e+02] [-1.43714177e-01 9.89613846e-01 -3.26654048e-03 -2.70137571e+01] [-2.21499303e-02 8.33456979e-05 9.99754657e-01 -5.98660605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.22420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.21, Y:-27.03, Z:-5.99 [[ 9.89901652e-01 1.39834103e-01 2.32624897e-02 1.87206615e+02] [-1.39791209e-01 9.90174929e-01 -3.46803214e-03 -2.70276383e+01] [-2.35188832e-02 1.81119199e-04 9.99723376e-01 -5.98690734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.25420382200002 meters Centerline goodness [0,1] 0.9999138673557278 Centerline is valid? [True, True] Translation: X:187.24, Y:-27.03, Z:-5.99 [[ 9.90065700e-01 1.38736032e-01 2.28522052e-02 1.87238319e+02] [-1.38694366e-01 9.90329376e-01 -3.40595667e-03 -2.70324211e+01] [-2.31037390e-02 2.02648757e-04 9.99733052e-01 -5.98836252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.284203822 meters Centerline goodness [0,1] 0.9998272958853245 Centerline is valid? [True, True] Translation: X:187.27, Y:-27.04, Z:-5.99 [[ 9.90212850e-01 1.37757784e-01 2.23898492e-02 1.87270112e+02] [-1.37717451e-01 9.90465922e-01 -3.34082681e-03 -2.70382843e+01] [-2.26366075e-02 2.24656675e-04 9.99743734e-01 -5.99042844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.314203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.30, Y:-27.05, Z:-5.99 [[ 9.90444717e-01 1.36070922e-01 2.24492023e-02 1.87299897e+02] [-1.36029838e-01 9.90699062e-01 -3.35426713e-03 -2.70465681e+01] [-2.26968219e-02 2.68454807e-04 9.99742358e-01 -5.99131958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.344203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.33, Y:-27.06, Z:-5.99 [[ 9.90553488e-01 1.35310956e-01 2.22425690e-02 1.87330386e+02] [-1.35270391e-01 9.90803141e-01 -3.32523892e-03 -2.70550817e+01] [-2.24879484e-02 2.85066003e-04 9.99747073e-01 -5.99470119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.374203822 meters Centerline goodness [0,1] 0.9998293660950431 Centerline is valid? [True, True] Translation: X:187.36, Y:-27.06, Z:-6.00 [[ 9.90685199e-01 1.34474109e-01 2.14371492e-02 1.87361857e+02] [-1.34436206e-01 9.90917064e-01 -3.20609277e-03 -2.70597360e+01] [-2.16735735e-02 2.94299637e-04 9.99765057e-01 -5.99722366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.404203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.39, Y:-27.07, Z:-6.00 [[ 9.90838789e-01 1.33609439e-01 1.96726335e-02 1.87392445e+02] [-1.33577290e-01 9.91034022e-01 -2.94517699e-03 -2.70686280e+01] [-1.98897526e-02 2.90378532e-04 9.99802137e-01 -5.99995040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.434203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.42, Y:-27.07, Z:-6.00 [[ 9.90802337e-01 1.33934092e-01 1.92973387e-02 1.87423290e+02] [-1.33903164e-01 9.90990202e-01 -2.89189603e-03 -2.70749338e+01] [-1.95107971e-02 2.81322643e-04 9.99809607e-01 -6.00144356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.464203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.45, Y:-27.08, Z:-6.00 [[ 9.90582044e-01 1.35527292e-01 1.94824884e-02 1.87454554e+02] [-1.35495987e-01 9.90773580e-01 -2.92407997e-03 -2.70768155e+01] [-1.96990274e-02 2.56742120e-04 9.99805922e-01 -6.00109374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.494203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.49, Y:-27.08, Z:-6.00 [[ 9.90386092e-01 1.36937314e-01 1.95847044e-02 1.87485790e+02] [-1.36905946e-01 9.90579688e-01 -2.93989889e-03 -2.70797009e+01] [-1.98027923e-02 2.30372478e-04 9.99803879e-01 -6.00155032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.524203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.52, Y:-27.08, Z:-6.00 [[ 9.90176888e-01 1.38454117e-01 1.94984113e-02 1.87517000e+02] [-1.38423309e-01 9.90368829e-01 -2.92741544e-03 -2.70828059e+01] [-1.97159315e-02 1.99624485e-04 9.99805602e-01 -6.00197343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.554203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.55, Y:-27.09, Z:-6.01 [[ 9.89946171e-01 1.40065160e-01 1.97060874e-02 1.87546618e+02] [-1.40033999e-01 9.90142274e-01 -2.95922600e-03 -2.70887332e+01] [-1.99263146e-02 1.69952230e-04 9.99801437e-01 -6.00646156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.584203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.58, Y:-27.09, Z:-6.01 [[ 9.89475267e-01 1.43293028e-01 2.01445971e-02 1.87575430e+02] [-1.43261119e-01 9.89680300e-01 -3.02578927e-03 -2.70868320e+01] [-2.03702854e-02 1.08006123e-04 9.99792498e-01 -6.00771935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.614203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.61, Y:-27.09, Z:-6.01 [[ 9.89048009e-01 1.46233629e-01 1.99940401e-02 1.87606203e+02] [-1.46202816e-01 9.89250081e-01 -3.00218541e-03 -2.70860811e+01] [-2.02181263e-02 4.61205508e-05 9.99795592e-01 -6.00614476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.644203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.64, Y:-27.09, Z:-6.01 [[ 9.88800717e-01 1.47896342e-01 1.99953609e-02 1.87636978e+02] [-1.47865864e-01 9.89002867e-01 -3.00238374e-03 -2.70889431e+01] [-2.02195109e-02 1.21278722e-05 9.99795565e-01 -6.00722594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.674203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.67, Y:-27.09, Z:-6.01 [[ 9.88526121e-01 1.49691209e-01 2.02150851e-02 1.87666276e+02] [-1.49660428e-01 9.88732796e-01 -3.03562624e-03 -2.70903834e+01] [-2.04417242e-02 -2.46024610e-05 9.99791046e-01 -6.00790979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.704203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.69, Y:-27.09, Z:-6.01 [[ 9.88190568e-01 1.51830171e-01 2.06640072e-02 1.87694154e+02] [-1.51798478e-01 9.88406594e-01 -3.10286049e-03 -2.70895208e+01] [-2.08955488e-02 -7.05473768e-05 9.99781662e-01 -6.01006195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.734203822 meters Centerline goodness [0,1] 0.9999788229813007 Centerline is valid? [True, True] Translation: X:187.72, Y:-27.08, Z:-6.01 [[ 9.87522790e-01 1.56239238e-01 1.96987330e-02 1.87723556e+02] [-1.56211337e-01 9.87719229e-01 -2.95673748e-03 -2.70841592e+01] [-1.99187758e-02 -1.57319772e-04 9.99801589e-01 -6.01182441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.764203822 meters Centerline goodness [0,1] 0.9999136125089088 Centerline is valid? [True, True] Translation: X:187.75, Y:-27.09, Z:-6.01 [[ 9.87198822e-01 1.58408536e-01 1.85801463e-02 1.87752288e+02] [-1.58384119e-01 9.87373637e-01 -2.78775474e-03 -2.70857446e+01] [-1.87871508e-02 -1.90731903e-04 9.99823488e-01 -6.01371275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.79420382200001 meters Centerline goodness [0,1] 0.9999783942615159 Centerline is valid? [True, True] Translation: X:187.78, Y:-27.08, Z:-6.02 [[ 9.86597486e-01 1.62180872e-01 1.79656877e-02 1.87781059e+02] [-1.62158681e-01 9.86761015e-01 -2.69484655e-03 -2.70817956e+01] [-1.81648928e-02 -2.54563387e-04 9.99834972e-01 -6.01510370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.82420382200002 meters Centerline goodness [0,1] 0.9999784231648902 Centerline is valid? [True, True] Translation: X:187.81, Y:-27.08, Z:-6.02 [[ 9.86327995e-01 1.63806531e-01 1.80140704e-02 1.87809664e+02] [-1.63784512e-01 9.86492442e-01 -2.70094115e-03 -2.70822327e+01] [-1.82131761e-02 -2.86411859e-04 9.99834085e-01 -6.01583436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.85420382200002 meters Centerline goodness [0,1] 0.9999786648460669 Centerline is valid? [True, True] Translation: X:187.84, Y:-27.08, Z:-6.02 [[ 9.86039879e-01 1.65491957e-01 1.83784775e-02 1.87838394e+02] [-1.65469354e-01 9.86211086e-01 -2.75436250e-03 -2.70790578e+01] [-1.85808831e-02 -3.25163537e-04 9.99827308e-01 -6.01773974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.88420382200002 meters Centerline goodness [0,1] 0.9999575479707931 Centerline is valid? [True, True] Translation: X:187.87, Y:-27.07, Z:-6.02 [[ 9.85542262e-01 1.68284677e-01 1.96651224e-02 1.87867735e+02] [-1.68259382e-01 9.85738354e-01 -2.94578196e-03 -2.70719788e+01] [-1.98803953e-02 -4.05648718e-04 9.99802283e-01 -6.01619528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.91420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.90, Y:-27.07, Z:-6.02 [[ 9.85448954e-01 1.68776052e-01 2.01247104e-02 1.87896844e+02] [-1.68749690e-01 9.85654332e-01 -3.01325804e-03 -2.70735086e+01] [-2.03445738e-02 -4.26626656e-04 9.99792937e-01 -6.01602776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.94420382200002 meters Centerline goodness [0,1] 0.9999578103575573 Centerline is valid? [True, True] Translation: X:187.93, Y:-27.07, Z:-6.02 [[ 9.85530607e-01 1.68206001e-01 2.08845124e-02 1.87925420e+02] [-1.68177504e-01 9.85751771e-01 -3.12606740e-03 -2.70727536e+01] [-2.11127684e-02 -4.31470067e-04 9.99777008e-01 -6.01629162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.97420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.95, Y:-27.08, Z:-6.02 [[ 9.85741883e-01 1.66942262e-01 2.10528204e-02 1.87954229e+02] [-1.66913045e-01 9.85966589e-01 -3.14985424e-03 -2.70767850e+01] [-2.12832213e-02 -4.09047105e-04 9.99773403e-01 -6.01652968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.00420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.98, Y:-27.08, Z:-6.02 [[ 9.86259672e-01 1.63860779e-01 2.10120060e-02 1.87982714e+02] [-1.63830997e-01 9.86483415e-01 -3.14274978e-03 -2.70816075e+01] [-2.12429689e-02 -3.42850513e-04 9.99774284e-01 -6.01757790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.034203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.01, Y:-27.09, Z:-6.02 [[ 9.86271427e-01 1.63789998e-01 2.10121232e-02 1.88009913e+02] [-1.63760216e-01 9.86495170e-01 -3.14196615e-03 -2.70855361e+01] [-2.12429806e-02 -3.42118392e-04 9.99774284e-01 -6.01841723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.064203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.04, Y:-27.09, Z:-6.02 [[ 9.86556428e-01 1.62081123e-01 2.08836004e-02 1.88037842e+02] [-1.62051359e-01 9.86777389e-01 -3.12099914e-03 -2.70900066e+01] [-2.11133197e-02 -3.05174058e-04 9.99777042e-01 -6.01941253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.094203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.07, Y:-27.09, Z:-6.02 [[ 9.86794311e-01 1.60613777e-01 2.09810097e-02 1.88066038e+02] [-1.60583425e-01 9.87017294e-01 -3.13452622e-03 -2.70940869e+01] [-2.12120675e-02 -2.76069754e-04 9.99774961e-01 -6.02093422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.124203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.09, Y:-27.10, Z:-6.02 [[ 9.87421419e-01 1.56871303e-01 1.97569364e-02 1.88094297e+02] [-1.56843657e-01 9.87619036e-01 -2.95078071e-03 -2.70988694e+01] [-1.99752193e-02 -1.85086074e-04 9.99800458e-01 -6.02447458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.154203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.12, Y:-27.10, Z:-6.03 [[ 9.87740236e-01 1.54856208e-01 1.97175243e-02 1.88121908e+02] [-1.54828288e-01 9.87937009e-01 -2.94406817e-03 -2.71042379e+01] [-1.99355792e-02 -1.44855935e-04 9.99801256e-01 -6.02615574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.184203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.15, Y:-27.11, Z:-6.03 [[ 9.88323331e-01 1.50984604e-01 2.05095892e-02 1.88149846e+02] [-1.50953591e-01 9.88536112e-01 -3.06091506e-03 -2.71112377e+01] [-2.07366206e-02 -7.08223671e-05 9.99784971e-01 -6.02566039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.214203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.18, Y:-27.12, Z:-6.03 [[ 9.88602453e-01 1.49139359e-01 2.05582319e-02 1.88178788e+02] [-1.49107822e-01 9.88816186e-01 -3.06708119e-03 -2.71159309e+01] [-2.07857350e-02 -3.32691861e-05 9.99783953e-01 -6.02615050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.244203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.21, Y:-27.12, Z:-6.03 [[ 9.88913971e-01 1.47024094e-01 2.08104274e-02 1.88206766e+02] [-1.46991323e-01 9.89132911e-01 -3.10406687e-03 -2.71208651e+01] [-2.10406513e-02 1.07028343e-05 9.99778621e-01 -6.02652795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.274203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.23, Y:-27.13, Z:-6.03 [[ 9.89541128e-01 1.42741211e-01 2.08159409e-02 1.88233999e+02] [-1.42707496e-01 9.89760040e-01 -3.10391236e-03 -2.71309826e+01] [-2.10458427e-02 1.00858152e-04 9.99778507e-01 -6.02725222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.304203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.26, Y:-27.14, Z:-6.03 [[ 9.89864099e-01 1.40564172e-01 2.02676607e-02 1.88262327e+02] [-1.40531772e-01 9.90071560e-01 -3.02124582e-03 -2.71389052e+01] [-2.04911133e-02 1.42372503e-04 9.99790025e-01 -6.02955467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.334203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.29, Y:-27.15, Z:-6.03 [[ 9.90201317e-01 1.38276979e-01 1.95148362e-02 1.88290193e+02] [-1.38246513e-01 9.90393580e-01 -2.90819787e-03 -2.71457315e+01] [-1.97295053e-02 1.81843312e-04 9.99805338e-01 -6.03007655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.364203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.32, Y:-27.16, Z:-6.03 [[ 9.90703140e-01 1.34578385e-01 1.98983870e-02 1.88317959e+02] [-1.34545988e-01 9.90902917e-01 -2.96410423e-03 -2.71579633e+01] [-2.01162741e-02 2.59299228e-04 9.99797614e-01 -6.03117350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.394203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.35, Y:-27.17, Z:-6.03 [[ 9.90925896e-01 1.32959503e-01 1.96885787e-02 1.88346121e+02] [-1.32927478e-01 9.91121429e-01 -2.93224861e-03 -2.71689181e+01] [-1.99036426e-02 2.88487962e-04 9.99801861e-01 -6.03383645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.424203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.38, Y:-27.17, Z:-6.03 [[ 9.91190590e-01 1.31008058e-01 1.94448866e-02 1.88375238e+02] [-1.30976448e-01 9.91381251e-01 -2.89584783e-03 -2.71749873e+01] [-1.96566754e-02 3.23514936e-04 9.99806737e-01 -6.03348506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.454203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.40, Y:-27.18, Z:-6.03 [[ 9.91252007e-01 1.30608140e-01 1.89992812e-02 1.88404235e+02] [-1.30577897e-01 9.91434017e-01 -2.82906258e-03 -2.71785813e+01] [-1.92060322e-02 3.23427773e-04 9.99815495e-01 -6.03360433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.484203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.43, Y:-27.18, Z:-6.04 [[ 9.91229907e-01 1.30841534e-01 1.85408969e-02 1.88433132e+02] [-1.30812782e-01 9.91403246e-01 -2.76036921e-03 -2.71841803e+01] [-1.87426763e-02 3.10774210e-04 9.99824292e-01 -6.03537478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.514203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.46, Y:-27.19, Z:-6.04 [[ 9.91129039e-01 1.31657986e-01 1.81494611e-02 1.88461675e+02] [-1.31630583e-01 9.91295159e-01 -2.70151164e-03 -2.71904133e+01] [-1.83471485e-02 2.88522491e-04 9.99831635e-01 -6.03829092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.54420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.49, Y:-27.20, Z:-6.04 [[ 9.90769714e-01 1.34326843e-01 1.82119198e-02 1.88490343e+02] [-1.34299703e-01 9.90937052e-01 -2.71071980e-03 -2.71954068e+01] [-1.84109886e-02 2.39843655e-04 9.99830475e-01 -6.04167276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.57420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.52, Y:-27.19, Z:-6.04 [[ 9.90546383e-01 1.35993439e-01 1.79902138e-02 1.88520184e+02] [-1.35967238e-01 9.90709716e-01 -2.67732051e-03 -2.71942309e+01] [-1.81871776e-02 2.05930464e-04 9.99834578e-01 -6.03855962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.60420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.55, Y:-27.19, Z:-6.04 [[ 9.89952829e-01 1.40309539e-01 1.75108152e-02 1.88549027e+02] [-1.40285393e-01 9.90107680e-01 -2.60587051e-03 -2.71946728e+01] [-1.77032211e-02 1.23177293e-04 9.99843278e-01 -6.03997583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.63420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.58, Y:-27.20, Z:-6.04 [[ 9.89574253e-01 1.42959302e-01 1.74767172e-02 1.88577209e+02] [-1.42935675e-01 9.89728565e-01 -2.60009045e-03 -2.71956348e+01] [-1.76689133e-02 7.49361988e-05 9.99843890e-01 -6.04174571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.66420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.61, Y:-27.19, Z:-6.04 [[ 9.88715740e-01 1.48852496e-01 1.68558329e-02 1.88606895e+02] [-1.48831393e-01 9.88859410e-01 -2.50659086e-03 -2.71917347e+01] [-1.70411613e-02 -3.03712541e-05 9.99854788e-01 -6.04245341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.69420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.63, Y:-27.19, Z:-6.04 [[ 9.88325293e-01 1.51476283e-01 1.63722452e-02 1.88634783e+02] [-1.51456743e-01 9.88460890e-01 -2.43407245e-03 -2.71920602e+01] [-1.65520283e-02 -7.40315660e-05 9.99863003e-01 -6.04489572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.72420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.66, Y:-27.19, Z:-6.05 [[ 9.87874931e-01 1.54398072e-01 1.62590626e-02 1.88663547e+02] [-1.54379216e-01 9.88008715e-01 -2.41606601e-03 -2.71928725e+01] [-1.64371314e-02 -1.23290286e-04 9.99864894e-01 -6.04564554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.75420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.69, Y:-27.19, Z:-6.05 [[ 9.87458393e-01 1.57009873e-01 1.65475470e-02 1.88691737e+02] [-1.56990720e-01 9.87597018e-01 -2.45824488e-03 -2.71923211e+01] [-1.67282768e-02 -1.70396782e-04 9.99860058e-01 -6.04713960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.78420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.72, Y:-27.19, Z:-6.05 [[ 9.86745951e-01 1.61404322e-01 1.67652537e-02 1.88721073e+02] [-1.61385316e-01 9.86888334e-01 -2.48936579e-03 -2.71901748e+01] [-1.69472277e-02 -2.49294161e-04 9.99856354e-01 -6.04669249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.814203822 meters Centerline goodness [0,1] 0.999957111916454 Centerline is valid? [True, True] Translation: X:188.75, Y:-27.19, Z:-6.05 [[ 9.86527045e-01 1.62761398e-01 1.65262241e-02 1.88750179e+02] [-1.62743134e-01 9.86665422e-01 -2.45306775e-03 -2.71914487e+01] [-1.67051186e-02 -2.69511818e-04 9.99860423e-01 -6.04789515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.844203822 meters Centerline goodness [0,1] 0.9999785462970909 Centerline is valid? [True, True] Translation: X:188.78, Y:-27.19, Z:-6.05 [[ 9.86339384e-01 1.63989996e-01 1.55531391e-02 1.88778300e+02] [-1.63973974e-01 9.86461964e-01 -2.30854509e-03 -2.71897010e+01] [-1.57211585e-02 -2.73301087e-04 9.99876378e-01 -6.05103539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.874203822 meters Centerline goodness [0,1] 0.9999784473468684 Centerline is valid? [True, True] Translation: X:188.81, Y:-27.20, Z:-6.05 [[ 9.86402558e-01 1.63640629e-01 1.52229241e-02 1.88805995e+02] [-1.63625262e-01 9.86519982e-01 -2.25796863e-03 -2.71955602e+01] [-1.53872142e-02 -2.63588918e-04 9.99881575e-01 -6.05077267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.904203822 meters Centerline goodness [0,1] 0.9999573342435362 Centerline is valid? [True, True] Translation: X:188.83, Y:-27.20, Z:-6.05 [[ 9.86496659e-01 1.63091802e-01 1.50135223e-02 1.88833435e+02] [-1.63076812e-01 9.86610866e-01 -2.22559172e-03 -2.71971325e+01] [-1.51754800e-02 -2.52818548e-04 9.99884814e-01 -6.05494381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.934203822 meters Centerline goodness [0,1] 0.999935410252546 Centerline is valid? [True, True] Translation: X:188.86, Y:-27.21, Z:-6.05 [[ 9.86873974e-01 1.60862757e-01 1.42454227e-02 1.88861018e+02] [-1.60849043e-01 9.86976763e-01 -2.11071404e-03 -2.72053599e+01] [-1.43994365e-02 -2.08353864e-04 9.99896301e-01 -6.05355168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.964203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.89, Y:-27.21, Z:-6.05 [[ 9.87052915e-01 1.59725212e-01 1.46423710e-02 1.88889481e+02] [-1.59710610e-01 9.87161495e-01 -2.16875178e-03 -2.72096649e+01] [-1.48007892e-02 -1.97869235e-04 9.99890443e-01 -6.05383941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.994203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.92, Y:-27.21, Z:-6.06 [[ 9.87473172e-01 1.56996392e-01 1.57755623e-02 1.88917157e+02] [-1.56979106e-01 9.87599162e-01 -2.33586119e-03 -2.72123595e+01] [-1.59466539e-02 -1.69833409e-04 9.99872830e-01 -6.05504611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.024203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.95, Y:-27.22, Z:-6.05 [[ 9.87690804e-01 1.55623018e-01 1.57591727e-02 1.88945223e+02] [-1.55605611e-01 9.87816508e-01 -2.33226916e-03 -2.72182737e+01] [-1.59301257e-02 -1.48654903e-04 9.99873096e-01 -6.05410487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.054203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.97, Y:-27.22, Z:-6.06 [[ 9.87950236e-01 1.53990044e-01 1.55369710e-02 1.88973605e+02] [-1.53972935e-01 9.88072392e-01 -2.29863701e-03 -2.72234665e+01] [-1.57056193e-02 -1.21334051e-04 9.99876652e-01 -6.05515861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.084203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.00, Y:-27.23, Z:-6.06 [[ 9.88567143e-01 1.50016612e-01 1.51664235e-02 1.89000540e+02] [-1.49999850e-01 9.88683474e-01 -2.24327760e-03 -2.72305435e+01] [-1.53313212e-02 -5.73307168e-05 9.99882467e-01 -6.05805864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.114203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.03, Y:-27.24, Z:-6.06 [[ 9.88898800e-01 1.47844628e-01 1.48703930e-02 1.89027659e+02] [-1.47828278e-01 9.89010599e-01 -2.19879702e-03 -2.72370187e+01] [-1.50320566e-02 -2.38768631e-05 9.99887012e-01 -6.05786630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.144203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.05, Y:-27.24, Z:-6.06 [[ 9.89545807e-01 1.43427374e-01 1.50892380e-02 1.89054280e+02] [-1.43410045e-01 9.89660844e-01 -2.22987629e-03 -2.72442363e+01] [-1.52530533e-02 4.26164257e-05 9.99883665e-01 -6.05845260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.174203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.08, Y:-27.25, Z:-6.06 [[ 9.89814365e-01 1.41520933e-01 1.54708982e-02 1.89082364e+02] [-1.41502504e-01 9.89935261e-01 -2.28493363e-03 -2.72499322e+01] [-1.56385535e-02 7.24892969e-05 9.99877708e-01 -6.05826337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.204203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.11, Y:-27.26, Z:-6.06 [[ 9.90054993e-01 1.39766733e-01 1.60115819e-02 1.89109977e+02] [-1.39746775e-01 9.90184452e-01 -2.36411971e-03 -2.72565674e+01] [-1.61848448e-02 1.03041583e-04 9.99869012e-01 -6.05900009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.234203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.14, Y:-27.26, Z:-6.05 [[ 9.90370389e-01 1.37369787e-01 1.72056734e-02 1.89138330e+02] [-1.37346402e-01 9.90519822e-01 -2.53911674e-03 -2.72615811e+01] [-1.73913585e-02 1.51528689e-04 9.99848747e-01 -6.05366674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.264203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.17, Y:-27.27, Z:-6.05 [[ 9.90434824e-01 1.36758037e-01 1.83329936e-02 1.89166092e+02] [-1.36731398e-01 9.90604467e-01 -2.70459994e-03 -2.72661273e+01] [-1.85306211e-02 1.72034114e-04 9.99828278e-01 -6.05322382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.29420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.19, Y:-27.27, Z:-6.05 [[ 9.90534699e-01 1.35923375e-01 1.91271183e-02 1.89193043e+02] [-1.35894248e-01 9.90719334e-01 -2.82046687e-03 -2.72724251e+01] [-1.93329733e-02 1.94504933e-04 9.99813082e-01 -6.05408874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.32420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.22, Y:-27.28, Z:-6.06 [[ 9.90662132e-01 1.35066341e-01 1.85909645e-02 1.89220311e+02] [-1.35038697e-01 9.90836536e-01 -2.74014154e-03 -2.72804601e+01] [-1.87907078e-02 2.04054825e-04 9.99823418e-01 -6.05629310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.35420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.25, Y:-27.28, Z:-6.06 [[ 9.90737794e-01 1.34676504e-01 1.73453839e-02 1.89249269e+02] [-1.34652396e-01 9.90889601e-01 -2.55566677e-03 -2.72841808e+01] [-1.75315488e-02 1.96398151e-04 9.99846291e-01 -6.05752378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.38420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.28, Y:-27.29, Z:-6.06 [[ 9.90797876e-01 1.34511624e-01 1.50396963e-02 1.89277148e+02] [-1.34493491e-01 9.90912001e-01 -2.21534265e-03 -2.72912207e+01] [-1.52010049e-02 1.72215543e-04 9.99884443e-01 -6.06334763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.41420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.30, Y:-27.30, Z:-6.07 [[ 9.90837014e-01 1.34266322e-01 1.46481128e-02 1.89303534e+02] [-1.34249094e-01 9.90945269e-01 -2.15759042e-03 -2.72987845e+01] [-1.48051698e-02 1.71324563e-04 9.99890383e-01 -6.06735478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.44420382200002 meters Centerline goodness [0,1] 0.9999145664246049 Centerline is valid? [True, True] Translation: X:189.33, Y:-27.30, Z:-6.07 [[ 9.90845100e-01 1.34240259e-01 1.43367079e-02 1.89331401e+02] [-1.34223760e-01 9.90948800e-01 -2.11122081e-03 -2.73044770e+01] [-1.44903543e-02 1.67565949e-04 9.99894995e-01 -6.06906902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.47420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.36, Y:-27.31, Z:-6.07 [[ 9.90865678e-01 1.34106765e-01 1.41627639e-02 1.89360126e+02] [-1.34090660e-01 9.90966875e-01 -2.08497525e-03 -2.73093400e+01] [-1.43144392e-02 1.66836052e-04 9.99897529e-01 -6.06723030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.50420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.39, Y:-27.32, Z:-6.07 [[ 9.90879454e-01 1.33998492e-01 1.42236298e-02 1.89388638e+02] [-1.33982247e-01 9.90981521e-01 -2.09323648e-03 -2.73158256e+01] [-1.43758448e-02 1.68431135e-04 9.99896648e-01 -6.06774677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.53420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.42, Y:-27.33, Z:-6.07 [[ 9.90826762e-01 1.34484865e-01 1.32721210e-02 1.89415436e+02] [-1.34470768e-01 9.90915636e-01 -1.95295839e-03 -2.73261871e+01] [-1.34141956e-02 1.50331128e-04 9.99910014e-01 -6.07136403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.564203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.44, Y:-27.33, Z:-6.07 [[ 9.90705778e-01 1.35418467e-01 1.28023445e-02 1.89443931e+02] [-1.35405443e-01 9.90788485e-01 -1.88270110e-03 -2.73315415e+01] [-1.29393680e-02 1.31695732e-04 9.99916274e-01 -6.07227591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.594203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.47, Y:-27.34, Z:-6.08 [[ 9.90326133e-01 1.38231520e-01 1.20912131e-02 1.89471265e+02] [-1.38220116e-01 9.90399939e-01 -1.77783055e-03 -2.73374746e+01] [-1.22208889e-02 8.93831763e-05 9.99925318e-01 -6.07543823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.624203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.50, Y:-27.34, Z:-6.08 [[ 9.90082847e-01 1.39877448e-01 1.30482021e-02 1.89498336e+02] [-1.39864323e-01 9.90168821e-01 -1.91756484e-03 -2.73418137e+01] [-1.31881470e-02 7.35701019e-05 9.99913030e-01 -6.07587422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.654203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.53, Y:-27.35, Z:-6.07 [[ 9.89844640e-01 1.41529662e-01 1.33020101e-02 1.89527281e+02] [-1.41516184e-01 9.89934014e-01 -1.95386403e-03 -2.73454833e+01] [-1.34446420e-02 5.15721208e-05 9.99909615e-01 -6.07481169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.684203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.55, Y:-27.35, Z:-6.07 [[ 9.89344297e-01 1.44949524e-01 1.36929558e-02 1.89554834e+02] [-1.44935576e-01 9.89439051e-01 -2.01078477e-03 -2.73498465e+01] [-1.38398075e-02 4.76200978e-06 9.99904225e-01 -6.07499665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.714203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.58, Y:-27.36, Z:-6.07 [[ 9.89123635e-01 1.46432390e-01 1.38560518e-02 1.89583592e+02] [-1.46418268e-01 9.89220681e-01 -2.03372176e-03 -2.73554142e+01] [-1.40044957e-02 -1.71768454e-05 9.99901932e-01 -6.07384594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.744203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.61, Y:-27.36, Z:-6.07 [[ 9.88685207e-01 1.49285014e-01 1.46814962e-02 1.89610471e+02] [-1.49269482e-01 9.88794205e-01 -2.15431430e-03 -2.73616595e+01] [-1.48385852e-02 -6.15606502e-05 9.99889900e-01 -6.07390105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.774203822 meters Centerline goodness [0,1] 0.9999571780323306 Centerline is valid? [True, True] Translation: X:189.64, Y:-27.37, Z:-6.07 [[ 9.88457567e-01 1.50783524e-01 1.46958139e-02 1.89638971e+02] [-1.50768145e-01 9.88566802e-01 -2.15520892e-03 -2.73668667e+01] [-1.48527638e-02 -8.53280440e-05 9.99889688e-01 -6.07276388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.804203822 meters Centerline goodness [0,1] 0.9999788462758868 Centerline is valid? [True, True] Translation: X:189.67, Y:-27.37, Z:-6.08 [[ 9.88246470e-01 1.52128098e-01 1.50318091e-02 1.89666609e+02] [-1.52112175e-01 9.88360779e-01 -2.20369354e-03 -2.73706040e+01] [-1.51920942e-02 -1.08728808e-04 9.99884588e-01 -6.07620393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.834203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.69, Y:-27.38, Z:-6.07 [[ 9.88050379e-01 1.53458776e-01 1.43823503e-02 1.89694404e+02] [-1.53444349e-01 9.88155043e-01 -2.10783976e-03 -2.73771563e+01] [-1.45354585e-02 -1.24238515e-04 9.99894347e-01 -6.07493353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.864203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.72, Y:-27.38, Z:-6.08 [[ 9.87557181e-01 1.56591112e-01 1.44926481e-02 1.89722800e+02] [-1.56576812e-01 9.87663502e-01 -2.12326137e-03 -2.73816972e+01] [-1.46463434e-02 -1.72370619e-04 9.99892722e-01 -6.07508894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.894203822 meters Centerline goodness [0,1] 0.9999786347612435 Centerline is valid? [True, True] Translation: X:189.75, Y:-27.38, Z:-6.08 [[ 9.87224835e-01 1.58664418e-01 1.45851626e-02 1.89751104e+02] [-1.58650171e-01 9.87332548e-01 -2.13607254e-03 -2.73845529e+01] [-1.47393244e-02 -2.05154668e-04 9.99891349e-01 -6.07559097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.924203822 meters Centerline goodness [0,1] 0.999957378795951 Centerline is valid? [True, True] Translation: X:189.78, Y:-27.38, Z:-6.08 [[ 9.86604788e-01 1.62533126e-01 1.39275081e-02 1.89779735e+02] [-1.62520532e-01 9.86703055e-01 -2.03892019e-03 -2.73848343e+01] [-1.40737069e-02 -2.51897613e-04 9.99900929e-01 -6.07968955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.954203822 meters Centerline goodness [0,1] 0.999957274999466 Centerline is valid? [True, True] Translation: X:189.81, Y:-27.39, Z:-6.08 [[ 9.86373863e-01 1.63968125e-01 1.34556948e-02 1.89808459e+02] [-1.63956507e-01 9.86465602e-01 -1.96957392e-03 -2.73900771e+01] [-1.35965274e-02 -2.63412481e-04 9.99907528e-01 -6.08102341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.984203822 meters Centerline goodness [0,1] 0.999957274999466 Centerline is valid? [True, True] Translation: X:189.84, Y:-27.39, Z:-6.08 [[ 9.86381592e-01 1.63921618e-01 1.34557883e-02 1.89836498e+02] [-1.63910004e-01 9.86473331e-01 -1.96893480e-03 -2.73940872e+01] [-1.35965273e-02 -2.63417274e-04 9.99907528e-01 -6.08188842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.014203822 meters Centerline goodness [0,1] 0.9999569744428191 Centerline is valid? [True, True] Translation: X:189.86, Y:-27.40, Z:-6.08 [[ 9.86152399e-01 1.65344858e-01 1.28266716e-02 1.89864654e+02] [-1.65334432e-01 9.86235776e-01 -1.87633697e-03 -2.74003520e+01] [-1.29603650e-02 -2.70336249e-04 9.99915974e-01 -6.08323037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.04420382200001 meters Centerline goodness [0,1] 0.999871514840036 Centerline is valid? [True, True] Translation: X:189.89, Y:-27.41, Z:-6.08 [[ 9.86087567e-01 1.65741665e-01 1.26889841e-02 1.89893365e+02] [-1.65731502e-01 9.86169167e-01 -1.85560737e-03 -2.74061587e+01] [-1.28210364e-02 -2.73173043e-04 9.99917770e-01 -6.08463938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.07420382200002 meters Centerline goodness [0,1] 0.9999140838112421 Centerline is valid? [True, True] Translation: X:189.92, Y:-27.41, Z:-6.09 [[ 9.86019111e-01 1.66189486e-01 1.21395150e-02 1.89921501e+02] [-1.66180225e-01 9.86093800e-01 -1.77472921e-03 -2.74116742e+01] [-1.22656418e-02 -2.67430410e-04 9.99924738e-01 -6.08565206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.10420382200002 meters Centerline goodness [0,1] 0.9998937120020407 Centerline is valid? [True, True] Translation: X:189.95, Y:-27.41, Z:-6.09 [[ 9.85960482e-01 1.66526348e-01 1.22842945e-02 1.89949001e+02] [-1.66516894e-01 9.86036967e-01 -1.79564798e-03 -2.74142511e+01] [-1.24117912e-02 -2.75104623e-04 9.99922933e-01 -6.08807374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.13420382200002 meters Centerline goodness [0,1] 0.99980762242695 Centerline is valid? [True, True] Translation: X:189.98, Y:-27.42, Z:-6.09 [[ 9.85469434e-01 1.69353046e-01 1.30207505e-02 1.89977850e+02] [-1.69342693e-01 9.85555395e-01 -1.90163081e-03 -2.74164456e+01] [-1.31547179e-02 -3.30969915e-04 9.99913418e-01 -6.08649563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.16420382200002 meters Centerline goodness [0,1] 0.9998726979546805 Centerline is valid? [True, True] Translation: X:190.01, Y:-27.42, Z:-6.08 [[ 9.84879134e-01 1.72608480e-01 1.48122666e-02 1.90008004e+02] [-1.72595462e-01 9.84990422e-01 -2.16241507e-03 -2.74158863e+01] [-1.49631919e-02 -4.26812512e-04 9.99887954e-01 -6.08312211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.19420382200002 meters Centerline goodness [0,1] 0.9998730454285775 Centerline is valid? [True, True] Translation: X:190.04, Y:-27.42, Z:-6.08 [[ 9.84638548e-01 1.73979406e-01 1.47680845e-02 1.90036848e+02] [-1.73966619e-01 9.84749190e-01 -2.15600666e-03 -2.74202218e+01] [-1.49179600e-02 -4.46266461e-04 9.99888621e-01 -6.08286581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.22420382200002 meters Centerline goodness [0,1] 0.9998269858777222 Centerline is valid? [True, True] Translation: X:190.07, Y:-27.42, Z:-6.08 [[ 9.84449929e-01 1.75116320e-01 1.38784920e-02 1.90065733e+02] [-1.75105148e-01 9.84547655e-01 -2.02555117e-03 -2.74233008e+01] [-1.40187438e-02 -4.36141686e-04 9.99901637e-01 -6.08392595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.25420382200002 meters Centerline goodness [0,1] 0.9997454715140203 Centerline is valid? [True, True] Translation: X:190.09, Y:-27.42, Z:-6.09 [[ 9.84308033e-01 1.75881380e-01 1.42631177e-02 1.90093889e+02] [-1.75869666e-01 9.84411260e-01 -2.08132394e-03 -2.74188813e+01] [-1.44068398e-02 -4.59785868e-04 9.99896110e-01 -6.08782185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.28420382200002 meters Centerline goodness [0,1] 0.9995937740528521 Centerline is valid? [True, True] Translation: X:190.12, Y:-27.42, Z:-6.09 [[ 9.84223353e-01 1.76302942e-01 1.48884119e-02 1.90122308e+02] [-1.76290251e-01 9.84335834e-01 -2.17094121e-03 -2.74211283e+01] [-1.50379407e-02 -4.87990833e-04 9.99886805e-01 -6.08599048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.314203822 meters Centerline goodness [0,1] 0.9996189024390244 Centerline is valid? [True, True] Translation: X:190.15, Y:-27.42, Z:-6.09 [[ 9.84281525e-01 1.75950682e-01 1.52064792e-02 1.90150561e+02] [-1.75937404e-01 9.84398859e-01 -2.21712199e-03 -2.74205223e+01] [-1.53593449e-02 -4.93116258e-04 9.99881917e-01 -6.08781969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.344203822 meters Centerline goodness [0,1] 0.9997439836149513 Centerline is valid? [True, True] Translation: X:190.18, Y:-27.42, Z:-6.09 [[ 9.84428364e-01 1.75204350e-01 1.42909662e-02 1.90179616e+02] [-1.75192569e-01 9.84531985e-01 -2.08191649e-03 -2.74219477e+01] [-1.44346742e-02 -4.54173435e-04 9.99895712e-01 -6.08856887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.374203822 meters Centerline goodness [0,1] 0.9996798975672215 Centerline is valid? [True, True] Translation: X:190.21, Y:-27.42, Z:-6.09 [[ 9.84567676e-01 1.74468408e-01 1.36844855e-02 1.90208134e+02] [-1.74457543e-01 9.84662680e-01 -1.99295678e-03 -2.74201354e+01] [-1.38223102e-02 -4.25160896e-04 9.99904377e-01 -6.09215343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.404203822 meters Centerline goodness [0,1] 0.9997228499552296 Centerline is valid? [True, True] Translation: X:190.24, Y:-27.42, Z:-6.09 [[ 9.84736463e-01 1.73572153e-01 1.29153630e-02 1.90237238e+02] [-1.73562405e-01 9.84821078e-01 -1.88038683e-03 -2.74227942e+01] [-1.30457045e-02 -3.89935994e-04 9.99914825e-01 -6.09433413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.434203822 meters Centerline goodness [0,1] 0.9997227317322869 Centerline is valid? [True, True] Translation: X:190.27, Y:-27.43, Z:-6.10 [[ 9.85301312e-01 1.70388781e-01 1.22060158e-02 1.90266350e+02] [-1.70379842e-01 9.85376859e-01 -1.77617722e-03 -2.74262851e+01] [-1.23301662e-02 -3.29589301e-04 9.99923926e-01 -6.09656970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.464203822 meters Centerline goodness [0,1] 0.9998921879379865 Centerline is valid? [True, True] Translation: X:190.29, Y:-27.43, Z:-6.09 [[ 9.85671703e-01 1.68245925e-01 1.20251097e-02 1.90294826e+02] [-1.68237090e-01 9.85745008e-01 -1.74983078e-03 -2.74338840e+01] [-1.21480938e-02 -2.98310774e-04 9.99926165e-01 -6.09490857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.494203822 meters Centerline goodness [0,1] 0.9998934560719385 Centerline is valid? [True, True] Translation: X:190.32, Y:-27.44, Z:-6.10 [[ 9.86638431e-01 1.62444564e-01 1.25047899e-02 1.90324627e+02] [-1.62434558e-01 9.86717643e-01 -1.81844517e-03 -2.74370079e+01] [-1.26340934e-02 -2.37062146e-04 9.99920159e-01 -6.09545530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.524203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.35, Y:-27.44, Z:-6.10 [[ 9.87249703e-01 1.58675750e-01 1.26502858e-02 1.90352388e+02] [-1.58665186e-01 9.87330730e-01 -1.84070017e-03 -2.74410448e+01] [-1.27820904e-02 -1.89929255e-04 9.99918288e-01 -6.09788078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.554203822 meters Centerline goodness [0,1] 0.9999574377527134 Centerline is valid? [True, True] Translation: X:190.38, Y:-27.45, Z:-6.10 [[ 9.87905585e-01 1.54517033e-01 1.29244247e-02 1.90380473e+02] [-1.54505666e-01 9.87990115e-01 -1.87949609e-03 -2.74478829e+01] [-1.30596180e-02 -1.40132157e-04 9.99914710e-01 -6.09814024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.584203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.41, Y:-27.46, Z:-6.10 [[ 9.89243179e-01 1.45574860e-01 1.43489452e-02 1.90407754e+02] [-1.45559922e-01 9.89347239e-01 -2.08560452e-03 -2.74602932e+01] [-1.44997009e-02 -2.54612944e-05 9.99894873e-01 -6.09691605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.614203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.44, Y:-27.47, Z:-6.10 [[ 9.89908580e-01 1.40908439e-01 1.50271367e-02 1.90435431e+02] [-1.40891523e-01 9.90022631e-01 -2.18376040e-03 -2.74693991e+01] [-1.51849157e-02 4.45269773e-05 9.99884702e-01 -6.09587370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.644203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.46, Y:-27.48, Z:-6.10 [[ 9.91084350e-01 1.32320823e-01 1.55888097e-02 1.90463814e+02] [-1.32301574e-01 9.91206924e-01 -2.26423798e-03 -2.74829048e+01] [-1.57513420e-02 1.81626768e-04 9.99875923e-01 -6.09503983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.674203822 meters Centerline goodness [0,1] 0.9999785430747774 Centerline is valid? [True, True] Translation: X:190.49, Y:-27.49, Z:-6.09 [[ 9.91598619e-01 1.28350242e-01 1.60746675e-02 1.90492986e+02] [-1.28329261e-01 9.91728870e-01 -2.33422683e-03 -2.74919278e+01] [-1.62413104e-02 2.51765896e-04 9.99868070e-01 -6.09496227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.704203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.52, Y:-27.50, Z:-6.10 [[ 9.92047037e-01 1.24758958e-01 1.66696813e-02 1.90522222e+02] [-1.24735895e-01 9.92187028e-01 -2.42025565e-03 -2.75008356e+01] [-1.68413901e-02 3.21699829e-04 9.99858122e-01 -6.09514430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.734203822 meters Centerline goodness [0,1] 0.9999573132990417 Centerline is valid? [True, True] Translation: X:190.55, Y:-27.51, Z:-6.10 [[ 9.92725127e-01 1.19341853e-01 1.59481465e-02 1.90550818e+02] [-1.19320047e-01 9.92853144e-01 -2.31532910e-03 -2.75143018e+01] [-1.61104831e-02 3.95551790e-04 9.99870140e-01 -6.09717334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.764203822 meters Centerline goodness [0,1] 0.9997237803841578 Centerline is valid? [True, True] Translation: X:190.58, Y:-27.52, Z:-6.10 [[ 9.92913752e-01 1.17774925e-01 1.58539475e-02 1.90582500e+02] [-1.17753210e-01 9.93040228e-01 -2.29954433e-03 -2.75190996e+01] [-1.60144363e-02 4.16395975e-04 9.99871674e-01 -6.09853845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.79420382200001 meters Centerline goodness [0,1] 0.9999576486532272 Centerline is valid? [True, True] Translation: X:190.61, Y:-27.53, Z:-6.10 [[ 9.93132357e-01 1.16075016e-01 1.46530373e-02 1.90612327e+02] [-1.16056247e-01 9.93240364e-01 -2.12768885e-03 -2.75315338e+01] [-1.48009597e-02 4.12500122e-04 9.99890375e-01 -6.10167682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.82420382200002 meters Centerline goodness [0,1] 0.9999362583660895 Centerline is valid? [True, True] Translation: X:190.64, Y:-27.54, Z:-6.10 [[ 9.93126434e-01 1.16190601e-01 1.41290498e-02 1.90643417e+02] [-1.16173102e-01 9.93226854e-01 -2.05583076e-03 -2.75358031e+01] [-1.42722199e-02 4.00284324e-04 9.99898067e-01 -6.10290876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.85420382200002 meters Centerline goodness [0,1] 0.9999570474411013 Centerline is valid? [True, True] Translation: X:190.68, Y:-27.54, Z:-6.10 [[ 9.93046986e-01 1.16886960e-01 1.39685963e-02 1.90675255e+02] [-1.16869920e-01 9.93145150e-01 -2.03278395e-03 -2.75353641e+01] [-1.41104496e-02 3.86141243e-04 9.99900368e-01 -6.10184909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.88420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.70, Y:-27.54, Z:-6.11 [[ 9.92769846e-01 1.19242966e-01 1.37530896e-02 1.90704894e+02] [-1.19226666e-01 9.92865043e-01 -2.00195453e-03 -2.75427839e+01] [-1.38936809e-02 3.47745063e-04 9.99903418e-01 -6.10527385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.91420382200002 meters Centerline goodness [0,1] 0.9999784830554062 Centerline is valid? [True, True] Translation: X:190.74, Y:-27.54, Z:-6.10 [[ 9.92554793e-01 1.21021540e-01 1.37393571e-02 1.90735660e+02] [-1.21005439e-01 9.92649829e-01 -2.00032497e-03 -2.75432752e+01] [-1.38804529e-02 3.22895202e-04 9.99903610e-01 -6.10430024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.94420382200002 meters Centerline goodness [0,1] 0.9999788605855617 Centerline is valid? [True, True] Translation: X:190.77, Y:-27.55, Z:-6.11 [[ 9.92039026e-01 1.25160683e-01 1.39058865e-02 1.90765625e+02] [-1.25144595e-01 9.92136448e-01 -2.02457013e-03 -2.75465467e+01] [-1.40499334e-02 2.68206047e-04 9.99901259e-01 -6.10641494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.97420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.80, Y:-27.55, Z:-6.11 [[ 9.91733535e-01 1.27550048e-01 1.39850360e-02 1.90795901e+02] [-1.27534014e-01 9.91832108e-01 -2.03609357e-03 -2.75487906e+01] [-1.41305115e-02 2.35694502e-04 9.99900132e-01 -6.10633573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.00420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.82, Y:-27.55, Z:-6.11 [[ 9.91406341e-01 1.30027734e-01 1.43616251e-02 1.90824989e+02] [-1.30011081e-01 9.91510336e-01 -2.09111546e-03 -2.75520401e+01] [-1.45116027e-02 2.05974731e-04 9.99894680e-01 -6.10722304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.03420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.85, Y:-27.55, Z:-6.11 [[ 9.90702178e-01 1.35250503e-01 1.47137828e-02 1.90854940e+02] [-1.35233600e-01 9.90811427e-01 -2.14238733e-03 -2.75498146e+01] [-1.48683431e-02 1.32669986e-04 9.99889451e-01 -6.10761831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.064203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.88, Y:-27.55, Z:-6.11 [[ 9.90373722e-01 1.37643874e-01 1.46305726e-02 1.90883974e+02] [-1.37627428e-01 9.90481779e-01 -2.12991377e-03 -2.75512821e+01] [-1.47844852e-02 9.58425556e-05 9.99890699e-01 -6.10951833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.094203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.91, Y:-27.55, Z:-6.11 [[ 9.89735373e-01 1.42283571e-01 1.33894415e-02 1.90912852e+02] [-1.42270221e-01 9.89825937e-01 -1.94919920e-03 -2.75504608e+01] [-1.35305555e-02 2.42726093e-05 9.99908458e-01 -6.11083844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.124203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.94, Y:-27.55, Z:-6.11 [[ 9.89399739e-01 1.44615207e-01 1.32135714e-02 1.90940553e+02] [-1.44602414e-01 9.89487969e-01 -1.92354153e-03 -2.75522471e+01] [-1.33528433e-02 -7.56283830e-06 9.99910847e-01 -6.11360003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.154203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.97, Y:-27.55, Z:-6.11 [[ 9.89057524e-01 1.46953133e-01 1.30380310e-02 1.90968997e+02] [-1.46940894e-01 9.89143455e-01 -1.89695784e-03 -2.75539310e+01] [-1.31752469e-02 -3.96195100e-05 9.99913202e-01 -6.11468363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.184203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.00, Y:-27.55, Z:-6.11 [[ 9.88318577e-01 1.51883495e-01 1.25615904e-02 1.90998520e+02] [-1.51872539e-01 9.88398398e-01 -1.82714757e-03 -2.75502965e+01] [-1.26933694e-02 -1.01956733e-04 9.99919431e-01 -6.11288334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.214203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.03, Y:-27.55, Z:-6.12 [[ 9.87916509e-01 1.54467619e-01 1.26777917e-02 1.91027223e+02] [-1.54456676e-01 9.87997842e-01 -1.84371494e-03 -2.75472293e+01] [-1.28104251e-02 -1.36733144e-04 9.99917934e-01 -6.11716262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.244203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.06, Y:-27.55, Z:-6.12 [[ 9.87569125e-01 1.56662045e-01 1.28150949e-02 1.91056375e+02] [-1.56651064e-01 9.87652254e-01 -1.86245350e-03 -2.75487255e+01] [-1.29486331e-02 -1.68196669e-04 9.99916149e-01 -6.11558211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.274203822 meters Centerline goodness [0,1] 0.9999786402375206 Centerline is valid? [True, True] Translation: X:191.08, Y:-27.55, Z:-6.12 [[ 9.87132008e-01 1.59398647e-01 1.27464028e-02 1.91084778e+02] [-1.59388012e-01 9.87214278e-01 -1.85240829e-03 -2.75455148e+01] [-1.28787023e-02 -2.03052295e-04 9.99917045e-01 -6.11908786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.304203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.11, Y:-27.55, Z:-6.12 [[ 9.87117477e-01 1.59493936e-01 1.26795787e-02 1.91112159e+02] [-1.59483433e-01 9.87198887e-01 -1.84167177e-03 -2.75476949e+01] [-1.28110015e-02 -2.04236360e-04 9.99917915e-01 -6.11999945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.334203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.14, Y:-27.55, Z:-6.12 [[ 9.87467999e-01 1.57301325e-01 1.27766732e-02 1.91139683e+02] [-1.57290497e-01 9.87550637e-01 -1.85426219e-03 -2.75531367e+01] [-1.29092897e-02 -1.78624710e-04 9.99916656e-01 -6.12185021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.364203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.17, Y:-27.56, Z:-6.12 [[ 9.87771915e-01 1.55409373e-01 1.24326118e-02 1.91167590e+02] [-1.55398981e-01 9.87850143e-01 -1.80346831e-03 -2.75613995e+01] [-1.25618332e-02 -1.50599858e-04 9.99921086e-01 -6.12045468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.394203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.20, Y:-27.57, Z:-6.12 [[ 9.88161277e-01 1.52905782e-01 1.25344636e-02 1.91195023e+02] [-1.52895021e-01 9.88240764e-01 -1.81801398e-03 -2.75665045e+01] [-1.26650527e-02 -1.19966054e-04 9.99919788e-01 -6.12272523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.424203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.22, Y:-27.58, Z:-6.12 [[ 9.89054829e-01 1.46867616e-01 1.41580034e-02 1.91221807e+02] [-1.46853289e-01 9.89156156e-01 -2.05193141e-03 -2.75762826e+01] [-1.43058385e-02 -4.96766927e-05 9.99897665e-01 -6.12231236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.454203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.25, Y:-27.58, Z:-6.12 [[ 9.89523743e-01 1.43650082e-01 1.44019520e-02 1.91249877e+02] [-1.43634932e-01 9.89628543e-01 -2.08621382e-03 -2.75849032e+01] [-1.45522675e-02 -4.26528606e-06 9.99894110e-01 -6.12094516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.484203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.28, Y:-27.59, Z:-6.12 [[ 9.89954976e-01 1.40658206e-01 1.42973941e-02 1.91277026e+02] [-1.40642971e-01 9.90058214e-01 -2.07056578e-03 -2.75933753e+01] [-1.44464946e-02 3.89389082e-05 9.99895643e-01 -6.12217530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.514203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.30, Y:-27.61, Z:-6.12 [[ 9.90756023e-01 1.34964107e-01 1.36818238e-02 1.91304884e+02] [-1.34949631e-01 9.90850481e-01 -1.98005675e-03 -2.76065219e+01] [-1.38238782e-02 1.15396079e-04 9.99904439e-01 -6.12318145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.54420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.33, Y:-27.62, Z:-6.12 [[ 9.91067515e-01 1.32681017e-01 1.34509980e-02 1.91332574e+02] [-1.32666816e-01 9.91158780e-01 -1.94653280e-03 -2.76151285e+01] [-1.35903427e-02 1.44644347e-04 9.99907637e-01 -6.12480992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.57420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.36, Y:-27.63, Z:-6.13 [[ 9.91481348e-01 1.29574639e-01 1.32344140e-02 1.91360751e+02] [-1.29560627e-01 9.91569654e-01 -1.91430275e-03 -2.76251121e+01] [-1.33708884e-02 1.83336494e-04 9.99910589e-01 -6.12676569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.60420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.39, Y:-27.63, Z:-6.13 [[ 9.91570757e-01 1.28886558e-01 1.32547634e-02 1.91389855e+02] [-1.28872441e-01 9.91659326e-01 -1.91728558e-03 -2.76294251e+01] [-1.33913221e-02 1.92950602e-04 9.99910314e-01 -6.12675477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.63420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.42, Y:-27.63, Z:-6.13 [[ 9.91601955e-01 1.28541245e-01 1.42376587e-02 1.91419150e+02] [-1.28524930e-01 9.91704141e-01 -2.05887169e-03 -2.76341744e+01] [-1.43841950e-02 2.11687110e-04 9.99896520e-01 -6.12663556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.66420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.45, Y:-27.64, Z:-6.13 [[ 9.91535884e-01 1.29046374e-01 1.42696923e-02 1.91448515e+02] [-1.29030040e-01 9.91638539e-01 -2.06333151e-03 -2.76387511e+01] [-1.44166423e-02 2.04648267e-04 9.99896054e-01 -6.12755044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.69420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.48, Y:-27.64, Z:-6.13 [[ 9.91443880e-01 1.29721231e-01 1.45407815e-02 1.91477564e+02] [-1.29704342e-01 9.91550484e-01 -2.10253494e-03 -2.76420360e+01] [-1.46906624e-02 1.98542897e-04 9.99892067e-01 -6.12814046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.72420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.51, Y:-27.64, Z:-6.13 [[ 9.91177735e-01 1.31734782e-01 1.45823613e-02 1.91507279e+02] [-1.31718020e-01 9.91284984e-01 -2.10820085e-03 -2.76435621e+01] [-1.47329991e-02 1.68841990e-04 9.99891449e-01 -6.12917729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.75420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.54, Y:-27.65, Z:-6.13 [[ 9.91076101e-01 1.32491545e-01 1.46339842e-02 1.91537023e+02] [-1.32474754e-01 9.91184123e-01 -2.11513127e-03 -2.76483003e+01] [-1.47852098e-02 1.57622590e-04 9.99890680e-01 -6.13046895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.78420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.57, Y:-27.65, Z:-6.13 [[ 9.90982368e-01 1.33147507e-01 1.50229163e-02 1.91567049e+02] [-1.33129890e-01 9.91096221e-01 -2.17116814e-03 -2.76516259e+01] [-1.51782412e-02 1.51590155e-04 9.99884792e-01 -6.12895527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.814203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.60, Y:-27.66, Z:-6.13 [[ 9.90982081e-01 1.33075776e-01 1.56637657e-02 1.91596469e+02] [-1.33056618e-01 9.91105853e-01 -2.26357518e-03 -2.76562122e+01] [-1.58256769e-02 1.58994757e-04 9.99874753e-01 -6.12949860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.844203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.63, Y:-27.66, Z:-6.13 [[ 9.90985229e-01 1.33052327e-01 1.56637682e-02 1.91625331e+02] [-1.33033167e-01 9.91109002e-01 -2.26355775e-03 -2.76603374e+01] [-1.58256733e-02 1.59351612e-04 9.99874753e-01 -6.13038895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.874203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.65, Y:-27.67, Z:-6.13 [[ 9.91022805e-01 1.32682709e-01 1.64042002e-02 1.91654722e+02] [-1.32661653e-01 9.91158549e-01 -2.36995844e-03 -2.76658570e+01] [-1.65736158e-02 1.72474544e-04 9.99862633e-01 -6.13030658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.904203822 meters Centerline goodness [0,1] 0.9999786365869812 Centerline is valid? [True, True] Translation: X:191.68, Y:-27.67, Z:-6.13 [[ 9.91112754e-01 1.31964857e-01 1.67566546e-02 1.91684505e+02] [-1.31942791e-01 9.91254378e-01 -2.42050755e-03 -2.76720538e+01] [-1.69295292e-02 1.88076130e-04 9.99856668e-01 -6.13023861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.934203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.71, Y:-27.68, Z:-6.13 [[ 9.91409734e-01 1.29731984e-01 1.66238361e-02 1.91714508e+02] [-1.29709955e-01 9.91549072e-01 -2.40115373e-03 -2.76805555e+01] [-1.67948557e-02 2.24250148e-04 9.99858931e-01 -6.13003457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.964203822 meters Centerline goodness [0,1] 0.9999135022921892 Centerline is valid? [True, True] Translation: X:191.74, Y:-27.69, Z:-6.13 [[ 9.91541697e-01 1.28636881e-01 1.72515613e-02 1.91743800e+02] [-1.28612987e-01 9.91691731e-01 -2.49205156e-03 -2.76901085e+01] [-1.74288004e-02 2.52198212e-04 9.99848075e-01 -6.13311741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.994203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.77, Y:-27.70, Z:-6.13 [[ 9.91863437e-01 1.26050143e-01 1.78405328e-02 1.91774345e+02] [-1.26024199e-01 9.92023824e-01 -2.57557667e-03 -2.77014130e+01] [-1.80228854e-02 3.06281477e-04 9.99837528e-01 -6.13070274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.024203822 meters Centerline goodness [0,1] 0.9999788252233939 Centerline is valid? [True, True] Translation: X:191.80, Y:-27.71, Z:-6.13 [[ 9.91903082e-01 1.25678114e-01 1.82561749e-02 1.91804893e+02] [-1.25650829e-01 9.92071019e-01 -2.63856318e-03 -2.77106359e+01] [-1.84430317e-02 3.23295447e-04 9.99829861e-01 -6.13239538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.054203822 meters Centerline goodness [0,1] 0.9999785237205506 Centerline is valid? [True, True] Translation: X:191.84, Y:-27.71, Z:-6.13 [[ 9.91920097e-01 1.25478894e-01 1.86967346e-02 1.91836969e+02] [-1.25450187e-01 9.92096232e-01 -2.70511072e-03 -2.77146617e+01] [-1.88883943e-02 3.37744834e-04 9.99821541e-01 -6.13052960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.084203822 meters Centerline goodness [0,1] 0.9999785531987904 Centerline is valid? [True, True] Translation: X:191.87, Y:-27.73, Z:-6.13 [[ 9.91890685e-01 1.25778434e-01 1.82388466e-02 1.91868254e+02] [-1.25751102e-01 9.92058304e-01 -2.64235790e-03 -2.77251384e+01] [-1.84263509e-02 3.27375130e-04 9.99830167e-01 -6.13243469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.114203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.90, Y:-27.73, Z:-6.14 [[ 9.91812393e-01 1.26572164e-01 1.69606848e-02 1.91898813e+02] [-1.26548627e-01 9.91957359e-01 -2.45821022e-03 -2.77341570e+01] [-1.71354171e-02 2.91731972e-04 9.99853135e-01 -6.13695041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.144203822 meters Centerline goodness [0,1] 0.9999782967271464 Centerline is valid? [True, True] Translation: X:191.93, Y:-27.74, Z:-6.14 [[ 9.91717267e-01 1.27408457e-01 1.62464296e-02 1.91932174e+02] [-1.27386931e-01 9.91850298e-01 -2.35725977e-03 -2.77372644e+01] [-1.64143609e-02 2.68152418e-04 9.99865239e-01 -6.13705895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.174203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.96, Y:-27.75, Z:-6.14 [[ 9.91483016e-01 1.29261859e-01 1.58996798e-02 1.91961731e+02] [-1.29241423e-01 9.91610466e-01 -2.31052671e-03 -2.77476728e+01] [-1.60649518e-02 2.35950754e-04 9.99870922e-01 -6.14242872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.204203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.99, Y:-27.75, Z:-6.14 [[ 9.91365487e-01 1.30249470e-01 1.51508078e-02 1.91993422e+02] [-1.30230998e-01 9.91481231e-01 -2.20373598e-03 -2.77522901e+01] [-1.53087770e-02 2.11602969e-04 9.99882791e-01 -6.14184538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.234203822 meters Centerline goodness [0,1] 0.9999141630901287 Centerline is valid? [True, True] Translation: X:192.02, Y:-27.76, Z:-6.15 [[ 9.91090199e-01 1.32435042e-01 1.41836664e-02 1.92023701e+02] [-1.32419044e-01 9.91191672e-01 -2.06536322e-03 -2.77595555e+01] [-1.43322584e-02 1.68773705e-04 9.99897274e-01 -6.14714895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.264203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.06, Y:-27.76, Z:-6.15 [[ 9.90954623e-01 1.33519755e-01 1.34688786e-02 1.92055267e+02] [-1.33505373e-01 9.91046141e-01 -1.96541218e-03 -2.77635030e+01] [-1.36107015e-02 1.49466631e-04 9.99907359e-01 -6.14630007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.29420382200001 meters Centerline goodness [0,1] 0.9998282192780915 Centerline is valid? [True, True] Translation: X:192.09, Y:-27.77, Z:-6.15 [[ 9.90795264e-01 1.34727906e-01 1.31580947e-02 1.92086453e+02] [-1.34714282e-01 9.90882624e-01 -1.92037359e-03 -2.77692941e+01] [-1.32968553e-02 1.30113785e-04 9.99911584e-01 -6.14957008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.32420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.12, Y:-27.78, Z:-6.15 [[ 9.90383078e-01 1.37634068e-01 1.40791705e-02 1.92117689e+02] [-1.37618760e-01 9.90483142e-01 -2.05500554e-03 -2.77765030e+01] [-1.42280198e-02 9.76847253e-05 9.99898772e-01 -6.14765905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.35420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.15, Y:-27.78, Z:-6.15 [[ 9.90140943e-01 1.39251674e-01 1.51619546e-02 1.92148530e+02] [-1.39234129e-01 9.90257020e-01 -2.21184452e-03 -2.77808579e+01] [-1.53222350e-02 7.89762837e-05 9.99882605e-01 -6.14735087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.38420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.18, Y:-27.79, Z:-6.15 [[ 9.89799942e-01 1.41619048e-01 1.54957868e-02 1.92179897e+02] [-1.41600940e-01 9.89921231e-01 -2.26514300e-03 -2.77854573e+01] [-1.56603957e-02 4.78204346e-05 9.99877367e-01 -6.14678200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.41420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.21, Y:-27.79, Z:-6.15 [[ 9.89657857e-01 1.42605115e-01 1.55276546e-02 1.92210418e+02] [-1.42587078e-01 9.89779663e-01 -2.26823265e-03 -2.77914575e+01] [-1.56924183e-02 3.07313609e-05 9.99876866e-01 -6.14869097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.44420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.24, Y:-27.80, Z:-6.15 [[ 9.89563797e-01 1.43286182e-01 1.52499785e-02 1.92241658e+02] [-1.43268799e-01 9.89681297e-01 -2.23197274e-03 -2.77970240e+01] [-1.54124293e-02 2.38333286e-05 9.99881221e-01 -6.15019571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.47420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.27, Y:-27.80, Z:-6.15 [[ 9.89394064e-01 1.44500809e-01 1.47953706e-02 1.92272220e+02] [-1.44484578e-01 9.89504682e-01 -2.16576982e-03 -2.78030216e+01] [-1.49530439e-02 5.09692002e-06 9.99888197e-01 -6.15209945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.50420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.30, Y:-27.81, Z:-6.15 [[ 9.89268079e-01 1.45378862e-01 1.46169507e-02 1.92303028e+02] [-1.45363111e-01 9.89376059e-01 -2.13997817e-03 -2.78080206e+01] [-1.47727687e-02 -7.75334192e-06 9.99890877e-01 -6.15173784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.53420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.33, Y:-27.81, Z:-6.15 [[ 9.89172945e-01 1.46018515e-01 1.46791928e-02 1.92333878e+02] [-1.46002695e-01 9.89281857e-01 -2.14945681e-03 -2.78127076e+01] [-1.48357196e-02 -1.70171860e-05 9.99889945e-01 -6.15196797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.564203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.36, Y:-27.81, Z:-6.15 [[ 9.88722018e-01 1.48987365e-01 1.52163172e-02 1.92364645e+02] [-1.48970708e-01 9.88839098e-01 -2.22871087e-03 -2.78133092e+01] [-1.53785391e-02 -6.32100404e-05 9.99881741e-01 -6.15448852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.594203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.40, Y:-27.82, Z:-6.15 [[ 9.88446103e-01 1.50779406e-01 1.54877841e-02 1.92395530e+02] [-1.50762363e-01 9.88567429e-01 -2.26885831e-03 -2.78164555e+01] [-1.56528160e-02 -9.23307592e-05 9.99877483e-01 -6.15166240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.624203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.43, Y:-27.81, Z:-6.15 [[ 9.87882783e-01 1.54370065e-01 1.60464671e-02 1.92425936e+02] [-1.54352241e-01 9.88013087e-01 -2.35087850e-03 -2.78140474e+01] [-1.62170248e-02 -1.54415765e-04 9.99868483e-01 -6.15208114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.654203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.46, Y:-27.82, Z:-6.15 [[ 9.87602143e-01 1.56191780e-01 1.56887142e-02 1.92456593e+02] [-1.56174977e-01 9.87726731e-01 -2.29809726e-03 -2.78151204e+01] [-1.58551063e-02 -1.80578805e-04 9.99874284e-01 -6.15315634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.684203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.49, Y:-27.82, Z:-6.15 [[ 9.87395025e-01 1.57464255e-01 1.60023033e-02 1.92485912e+02] [-1.57446936e-01 9.87524666e-01 -2.34438338e-03 -2.78164615e+01] [-1.61718258e-02 -2.04681141e-04 9.99869207e-01 -6.15434274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.714203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.51, Y:-27.82, Z:-6.16 [[ 9.87253606e-01 1.58317817e-01 1.63029253e-02 1.92514769e+02] [-1.58299961e-01 9.87388180e-01 -2.38817621e-03 -2.78178850e+01] [-1.64754066e-02 -2.23016864e-04 9.99864246e-01 -6.15520659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.744203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.54, Y:-27.82, Z:-6.16 [[ 9.87380358e-01 1.57549701e-01 1.60661584e-02 1.92543702e+02] [-1.57532270e-01 9.87511037e-01 -2.35274323e-03 -2.78223332e+01] [-1.62361827e-02 -2.07885934e-04 9.99868163e-01 -6.15620696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.774203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.57, Y:-27.83, Z:-6.16 [[ 9.88011751e-01 1.53596845e-01 1.55174017e-02 1.92572681e+02] [-1.53580105e-01 9.88133589e-01 -2.27184565e-03 -2.78298066e+01] [-1.56822141e-02 -1.38553985e-04 9.99877017e-01 -6.15921534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.804203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.60, Y:-27.84, Z:-6.16 [[ 9.88495920e-01 1.50436379e-01 1.56432894e-02 1.92600961e+02] [-1.50418974e-01 9.88619688e-01 -2.29008020e-03 -2.78372586e+01] [-1.58097753e-02 -8.93126064e-05 9.99875014e-01 -6.16078131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.834203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.63, Y:-27.85, Z:-6.16 [[ 9.89051706e-01 1.46652148e-01 1.64277486e-02 1.92631247e+02] [-1.46632442e-01 9.89188125e-01 -2.40419805e-03 -2.78469212e+01] [-1.66027147e-02 -3.09647267e-05 9.99862165e-01 -6.15959704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.864203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.66, Y:-27.86, Z:-6.16 [[ 9.90185574e-01 1.38807289e-01 1.62808353e-02 1.92661829e+02] [-1.38786901e-01 9.90319407e-01 -2.38097715e-03 -2.78626013e+01] [-1.64537241e-02 9.80425486e-05 9.99864624e-01 -6.15921019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.894203822 meters Centerline goodness [0,1] 0.9999785633132543 Centerline is valid? [True, True] Translation: X:192.69, Y:-27.87, Z:-6.16 [[ 9.90628598e-01 1.35624840e-01 1.61518626e-02 1.92692865e+02] [-1.35604306e-01 9.90760253e-01 -2.36493369e-03 -2.78725513e+01] [-1.63233672e-02 1.52508843e-04 9.99866753e-01 -6.16117708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.924203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.72, Y:-27.89, Z:-6.16 [[ 9.91381653e-01 1.30012211e-01 1.61009983e-02 1.92721770e+02] [-1.29990984e-01 9.91512361e-01 -2.36241522e-03 -2.78878372e+01] [-1.62714817e-02 2.49070493e-04 9.99867580e-01 -6.16386328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.954203822 meters Centerline goodness [0,1] 0.9999570962759567 Centerline is valid? [True, True] Translation: X:192.75, Y:-27.89, Z:-6.16 [[ 9.91610201e-01 1.28277187e-01 1.59428100e-02 1.92753763e+02] [-1.28256179e-01 9.91738317e-01 -2.33747051e-03 -2.78942191e+01] [-1.61109397e-02 2.73095709e-04 9.99870173e-01 -6.16345140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.984203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.79, Y:-27.90, Z:-6.16 [[ 9.91700931e-01 1.27607816e-01 1.56687292e-02 1.92785575e+02] [-1.27587399e-01 9.91824665e-01 -2.29992809e-03 -2.79013667e+01] [-1.58341209e-02 2.81708423e-04 9.99874593e-01 -6.16461147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.014203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.82, Y:-27.91, Z:-6.16 [[ 9.91674773e-01 1.27799093e-01 1.57650109e-02 1.92818519e+02] [-1.27778411e-01 9.91800036e-01 -2.31644383e-03 -2.79068858e+01] [-1.59317778e-02 2.82730874e-04 9.99873041e-01 -6.16392300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.04420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.85, Y:-27.91, Z:-6.17 [[ 9.91544264e-01 1.28827006e-01 1.56068733e-02 1.92850641e+02] [-1.28806810e-01 9.91667047e-01 -2.29664045e-03 -2.79103007e+01] [-1.57726913e-02 2.66949096e-04 9.99875568e-01 -6.16522084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.07420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.88, Y:-27.92, Z:-6.17 [[ 9.91201190e-01 1.31541861e-01 1.47288991e-02 1.92881392e+02] [-1.31524135e-01 9.91310594e-01 -2.16995292e-03 -2.79150160e+01] [-1.48863534e-02 2.13654192e-04 9.99889169e-01 -6.16965711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.10420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.91, Y:-27.92, Z:-6.17 [[ 9.90963029e-01 1.33333273e-01 1.46462882e-02 1.92914079e+02] [-1.33315883e-01 9.91071240e-01 -2.16168802e-03 -2.79168395e+01] [-1.48037400e-02 1.89570057e-04 9.99890401e-01 -6.16952351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.13420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.95, Y:-27.92, Z:-6.17 [[ 9.90665189e-01 1.35465071e-01 1.52216508e-02 1.92945641e+02] [-1.35446550e-01 9.90782109e-01 -2.24595409e-03 -2.79196144e+01] [-1.53855876e-02 1.63268448e-04 9.99881622e-01 -6.17040470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.16420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.98, Y:-27.92, Z:-6.17 [[ 9.90111397e-01 1.39328797e-01 1.63373299e-02 1.92976947e+02] [-1.39307915e-01 9.90246168e-01 -2.41485705e-03 -2.79200140e+01] [-1.65144374e-02 1.15058127e-04 9.99863621e-01 -6.17098016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.19420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.01, Y:-27.92, Z:-6.17 [[ 9.89772464e-01 1.41662362e-01 1.68001548e-02 1.93009395e+02] [-1.41640604e-01 9.89915031e-01 -2.48402805e-03 -2.79214905e+01] [-1.69826191e-02 7.90384937e-05 9.99855782e-01 -6.16934058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.22420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.04, Y:-27.92, Z:-6.17 [[ 9.89023399e-01 1.46743062e-01 1.72970899e-02 1.93041545e+02] [-1.46720716e-01 9.89174643e-01 -2.56079262e-03 -2.79181014e+01] [-1.74856213e-02 -5.15760364e-06 9.99847115e-01 -6.17190071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.25420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.07, Y:-27.92, Z:-6.17 [[ 9.88667832e-01 1.49186190e-01 1.67152088e-02 1.93072647e+02] [-1.49165593e-01 9.88809122e-01 -2.47927623e-03 -2.79174400e+01] [-1.68980247e-02 -4.21533780e-05 9.99857217e-01 -6.17181930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.28420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.10, Y:-27.91, Z:-6.18 [[ 9.87967291e-01 1.53908734e-01 1.52555908e-02 1.93102867e+02] [-1.53892138e-01 9.88085062e-01 -2.26295978e-03 -2.79135362e+01] [-1.54221107e-02 -1.11985240e-04 9.99881066e-01 -6.17599181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.314203822 meters Centerline goodness [0,1] 0.9999788090697181 Centerline is valid? [True, True] Translation: X:193.13, Y:-27.92, Z:-6.18 [[ 9.87713229e-01 1.55582089e-01 1.47238018e-02 1.93132291e+02] [-1.55566815e-01 9.87822958e-01 -2.18409245e-03 -2.79150805e+01] [-1.48843151e-02 -1.33277947e-04 9.99889214e-01 -6.17812569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.344203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.16, Y:-27.92, Z:-6.18 [[ 9.87528181e-01 1.56790553e-01 1.43113412e-02 1.93162200e+02] [-1.56776254e-01 9.87631865e-01 -2.12258899e-03 -2.79174675e+01] [-1.44671386e-02 -1.47562020e-04 9.99895335e-01 -6.18025700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.374203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.19, Y:-27.92, Z:-6.18 [[ 9.87274852e-01 1.58320634e-01 1.49313104e-02 1.93190882e+02] [-1.58305245e-01 9.87387738e-01 -2.21451553e-03 -2.79179367e+01] [-1.50935963e-02 -1.77369259e-04 9.99886069e-01 -6.18027604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.404203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.22, Y:-27.92, Z:-6.18 [[ 9.87251510e-01 1.58482517e-01 1.47562529e-02 1.93218342e+02] [-1.58467512e-01 9.87361768e-01 -2.18804085e-03 -2.79200135e+01] [-1.49165261e-02 -1.78240043e-04 9.99888727e-01 -6.18177817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.434203822 meters Centerline goodness [0,1] 0.9999785347843819 Centerline is valid? [True, True] Translation: X:193.25, Y:-27.92, Z:-6.18 [[ 9.87328471e-01 1.58042465e-01 1.43202666e-02 1.93247176e+02] [-1.58028302e-01 9.87432302e-01 -2.12241659e-03 -2.79231376e+01] [-1.44757257e-02 -1.67485076e-04 9.99895207e-01 -6.18311891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.464203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.28, Y:-27.93, Z:-6.18 [[ 9.87424588e-01 1.57410385e-01 1.46510829e-02 1.93276107e+02] [-1.57395507e-01 9.87533262e-01 -2.17036120e-03 -2.79287228e+01] [-1.48100691e-02 -1.62946598e-04 9.99890312e-01 -6.18128107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.494203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.30, Y:-27.93, Z:-6.18 [[ 9.87485117e-01 1.57017128e-01 1.47906912e-02 1.93304316e+02] [-1.57001926e-01 9.87595867e-01 -2.19066696e-03 -2.79304300e+01] [-1.49511977e-02 -1.58915983e-04 9.99888212e-01 -6.18462141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.524203822 meters Centerline goodness [0,1] 0.9998074495624826 Centerline is valid? [True, True] Translation: X:193.33, Y:-27.94, Z:-6.19 [[ 9.87574196e-01 1.56506891e-01 1.42408271e-02 1.93333254e+02] [-1.56492750e-01 9.87676856e-01 -2.10885949e-03 -2.79353094e+01] [-1.43953864e-02 -1.45930976e-04 9.99896370e-01 -6.18630258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.554203822 meters Centerline goodness [0,1] 0.9999573306024919 Centerline is valid? [True, True] Translation: X:193.36, Y:-27.94, Z:-6.19 [[ 9.87811797e-01 1.54994874e-01 1.42983388e-02 1.93361426e+02] [-1.54980463e-01 9.87915266e-01 -2.11721524e-03 -2.79420511e+01] [-1.44537047e-02 -1.24552981e-04 9.99895532e-01 -6.18714283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.584203822 meters Centerline goodness [0,1] 0.9999786662115459 Centerline is valid? [True, True] Translation: X:193.39, Y:-27.95, Z:-6.19 [[ 9.87929550e-01 1.54217445e-01 1.45665409e-02 1.93390864e+02] [-1.54202415e-01 9.88036926e-01 -2.15618849e-03 -2.79472206e+01] [-1.47248022e-02 -1.16033449e-04 9.99891577e-01 -6.18728875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.614203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.42, Y:-27.95, Z:-6.19 [[ 9.88150694e-01 1.52847774e-01 1.39915777e-02 1.93419554e+02] [-1.52833771e-01 9.88249740e-01 -2.07096219e-03 -2.79507511e+01] [-1.41437150e-02 -9.19628631e-05 9.99899968e-01 -6.18975874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.644203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.45, Y:-27.95, Z:-6.19 [[ 9.88245106e-01 1.52240122e-01 1.39482901e-02 1.93448607e+02] [-1.52226155e-01 9.88343532e-01 -2.06385283e-03 -2.79547496e+01] [-1.40999035e-02 -8.37021168e-05 9.99900588e-01 -6.19071005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.674203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.48, Y:-27.96, Z:-6.19 [[ 9.88276166e-01 1.52017785e-01 1.41708480e-02 1.93477007e+02] [-1.52003352e-01 9.88377755e-01 -2.09642087e-03 -2.79580625e+01] [-1.43248442e-02 -8.21736095e-05 9.99897391e-01 -6.19151972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.704203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.51, Y:-27.96, Z:-6.19 [[ 9.88155783e-01 1.52861999e-01 1.34669150e-02 1.93507059e+02] [-1.52849046e-01 9.88247540e-01 -1.99202771e-03 -2.79609929e+01] [-1.36131509e-02 -8.99713972e-05 9.99907333e-01 -6.19067953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.734203822 meters Centerline goodness [0,1] 0.9999786384124069 Centerline is valid? [True, True] Translation: X:193.54, Y:-27.96, Z:-6.19 [[ 9.88013826e-01 1.53790358e-01 1.33118698e-02 1.93535973e+02] [-1.53777786e-01 9.88103494e-01 -1.96897733e-03 -2.79619721e+01] [-1.34563148e-02 -1.01693049e-04 9.99909455e-01 -6.19373329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.764203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.56, Y:-27.96, Z:-6.19 [[ 9.87873832e-01 1.54689385e-01 1.32848231e-02 1.93564934e+02] [-1.54676950e-01 9.87963148e-01 -1.96466438e-03 -2.79635493e+01] [-1.34288283e-02 -1.14015377e-04 9.99909823e-01 -6.19445027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.79420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.59, Y:-27.97, Z:-6.20 [[ 9.87881153e-01 1.54642613e-01 1.32849168e-02 1.93592964e+02] [-1.54630182e-01 9.87970470e-01 -1.96402986e-03 -2.79675994e+01] [-1.34288282e-02 -1.14021023e-04 9.99909823e-01 -6.19531516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.82420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.62, Y:-27.97, Z:-6.19 [[ 9.87629808e-01 1.56215990e-01 1.35619499e-02 1.93622245e+02] [-1.56203193e-01 9.87722909e-01 -2.00432185e-03 -2.79671927e+01] [-1.37085557e-02 -1.38891879e-04 9.99906024e-01 -6.19424386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.85420382200002 meters Centerline goodness [0,1] 0.9999784812033311 Centerline is valid? [True, True] Translation: X:193.65, Y:-27.97, Z:-6.19 [[ 9.87584923e-01 1.56516427e-01 1.33651928e-02 1.93650833e+02] [-1.56504035e-01 9.87675346e-01 -1.97460701e-03 -2.79695293e+01] [-1.35095299e-02 -1.41614487e-04 9.99908732e-01 -6.19405802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.88420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.68, Y:-27.97, Z:-6.19 [[ 9.87573581e-01 1.56504759e-01 1.43067537e-02 1.93680191e+02] [-1.56490569e-01 9.87677193e-01 -2.11289836e-03 -2.79703950e+01] [-1.44611330e-02 -1.52229434e-04 9.99895421e-01 -6.19283914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.91420382200002 meters Centerline goodness [0,1] 0.9999789340636192 Centerline is valid? [True, True] Translation: X:193.71, Y:-27.97, Z:-6.19 [[ 9.87596402e-01 1.56290215e-01 1.50570940e-02 1.93707984e+02] [-1.56274483e-01 9.87711164e-01 -2.22306140e-03 -2.79720425e+01] [-1.52195025e-02 -1.57552129e-04 9.99884164e-01 -6.19498856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.94420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.74, Y:-27.98, Z:-6.19 [[ 9.87693457e-01 1.55696684e-01 1.48383852e-02 1.93736878e+02] [-1.55681359e-01 9.87804900e-01 -2.18947545e-03 -2.79774576e+01] [-1.49983236e-02 -1.47529388e-04 9.99887508e-01 -6.19399045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.97420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.77, Y:-27.98, Z:-6.20 [[ 9.87874572e-01 1.54532479e-01 1.49513373e-02 1.93765035e+02] [-1.54516791e-01 9.87987700e-01 -2.20575941e-03 -2.79801195e+01] [-1.51125989e-02 -1.31219037e-04 9.99885790e-01 -6.19645155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.00420382200002 meters Centerline goodness [0,1] 0.9999788449333615 Centerline is valid? [True, True] Translation: X:193.79, Y:-27.98, Z:-6.20 [[ 9.87919784e-01 1.54234126e-01 1.50444296e-02 1.93792812e+02] [-1.54218216e-01 9.88034320e-01 -2.21894653e-03 -2.79820620e+01] [-1.52066501e-02 -1.27983923e-04 9.99884364e-01 -6.19871659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.03420382200002 meters Centerline goodness [0,1] 0.9999784375875973 Centerline is valid? [True, True] Translation: X:193.82, Y:-27.99, Z:-6.20 [[ 9.88009850e-01 1.53684295e-01 1.47537664e-02 1.93821252e+02] [-1.53668949e-01 9.88119995e-01 -2.17496379e-03 -2.79860214e+01] [-1.49127493e-02 -1.18310130e-04 9.99888792e-01 -6.19658351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.064203822 meters Centerline goodness [0,1] 0.9999787451113756 Centerline is valid? [True, True] Translation: X:193.85, Y:-27.99, Z:-6.20 [[ 9.88082190e-01 1.53220999e-01 1.47279344e-02 1.93849328e+02] [-1.53205664e-01 9.88191941e-01 -2.17060049e-03 -2.79889297e+01] [-1.48866077e-02 -1.11671285e-04 9.99889182e-01 -6.19989077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.094203822 meters Centerline goodness [0,1] 0.9999788279132791 Centerline is valid? [True, True] Translation: X:193.88, Y:-27.99, Z:-6.20 [[ 9.88167785e-01 1.52682843e-01 1.45732289e-02 1.93877303e+02] [-1.52667783e-01 9.88275234e-01 -2.14692542e-03 -2.79919391e+01] [-1.47301599e-02 -1.03340017e-04 9.99891500e-01 -6.20296823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.124203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.91, Y:-28.00, Z:-6.20 [[ 9.88391469e-01 1.51216296e-01 1.46947390e-02 1.93905948e+02] [-1.51200839e-01 9.88500696e-01 -2.16363773e-03 -2.79967559e+01] [-1.48529370e-02 -8.33357944e-05 9.99889686e-01 -6.19951193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.154203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.93, Y:-28.00, Z:-6.20 [[ 9.88537507e-01 1.50282930e-01 1.44442931e-02 1.93933589e+02] [-1.50267903e-01 9.88643028e-01 -2.12633040e-03 -2.80002508e+01] [-1.45998008e-02 -6.85562746e-05 9.99893415e-01 -6.20232326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.184203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.96, Y:-28.01, Z:-6.20 [[ 9.88770514e-01 1.48823254e-01 1.35834148e-02 1.93961502e+02] [-1.48809841e-01 9.88863811e-01 -1.99852575e-03 -2.80055476e+01] [-1.37295744e-02 -4.52624659e-05 9.99905744e-01 -6.20330971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.214203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.99, Y:-28.01, Z:-6.21 [[ 9.88816775e-01 1.48548110e-01 1.32229138e-02 1.93988672e+02] [-1.48535380e-01 9.88905181e-01 -1.94506851e-03 -2.80090140e+01] [-1.33651442e-02 -4.07541529e-05 9.99910682e-01 -6.20604055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.244203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.02, Y:-28.01, Z:-6.21 [[ 9.88828813e-01 1.48473947e-01 1.31554022e-02 1.94016747e+02] [-1.48461351e-01 9.88916319e-01 -1.93438500e-03 -2.80122602e+01] [-1.32967977e-02 -4.02931575e-05 9.99911593e-01 -6.20727607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.274203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.05, Y:-28.01, Z:-6.21 [[ 9.88769395e-01 1.48818955e-01 1.37113609e-02 1.94045319e+02] [-1.48805325e-01 9.88864458e-01 -2.01466632e-03 -2.80135668e+01] [-1.38584980e-02 -4.82831085e-05 9.99903965e-01 -6.20738240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.304203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.07, Y:-28.02, Z:-6.21 [[ 9.88751516e-01 1.48889856e-01 1.42214410e-02 1.94073839e+02] [-1.48875206e-01 9.88853785e-01 -2.08925818e-03 -2.80165987e+01] [-1.43739951e-02 -5.14627658e-05 9.99896687e-01 -6.20715851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.334203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.10, Y:-28.02, Z:-6.21 [[ 9.88892236e-01 1.47957534e-01 1.41673183e-02 1.94102606e+02] [-1.47942908e-01 9.88993714e-01 -2.08065009e-03 -2.80217114e+01] [-1.43192366e-02 -3.84155488e-05 9.99897474e-01 -6.20583333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.364203822 meters Centerline goodness [0,1] 0.9999572128447041 Centerline is valid? [True, True] Translation: X:194.13, Y:-28.03, Z:-6.21 [[ 9.89006354e-01 1.47179044e-01 1.43094542e-02 1.94130033e+02] [-1.47164050e-01 9.89109867e-01 -2.10098627e-03 -2.80262795e+01] [-1.44628435e-02 -2.79484637e-05 9.99895407e-01 -6.20824669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.394203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.16, Y:-28.03, Z:-6.21 [[ 9.89177823e-01 1.46013175e-01 1.44009294e-02 1.94158177e+02] [-1.45997882e-01 9.89282645e-01 -2.11330889e-03 -2.80316586e+01] [-1.45551605e-02 -1.20669000e-05 9.99894068e-01 -6.20794987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.424203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.19, Y:-28.04, Z:-6.21 [[ 9.89536611e-01 1.43570114e-01 1.43149609e-02 1.94185233e+02] [-1.43554753e-01 9.89640148e-01 -2.10026439e-03 -2.80391522e+01] [-1.44681952e-02 2.33078321e-05 9.99895330e-01 -6.20952682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.454203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.21, Y:-28.05, Z:-6.21 [[ 9.89752848e-01 1.42080002e-01 1.42328018e-02 1.94213828e+02] [-1.42064680e-01 9.89855177e-01 -2.08700575e-03 -2.80455986e+01] [-1.43849344e-02 4.36414412e-05 9.99896531e-01 -6.20902364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.484203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.24, Y:-28.05, Z:-6.21 [[ 9.90185776e-01 1.38994879e-01 1.45791928e-02 1.94241930e+02] [-1.38978488e-01 9.90293096e-01 -2.13642463e-03 -2.80549822e+01] [-1.47346260e-02 8.92631110e-05 9.99891436e-01 -6.20984667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.514203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.27, Y:-28.06, Z:-6.21 [[ 9.90349199e-01 1.37757936e-01 1.52057372e-02 1.94272169e+02] [-1.37739965e-01 9.90465920e-01 -2.22783984e-03 -2.80621834e+01] [-1.53676671e-02 1.11901690e-04 9.99881904e-01 -6.20994855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.54420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.30, Y:-28.07, Z:-6.21 [[ 9.90531607e-01 1.36407004e-01 1.55004641e-02 1.94301678e+02] [-1.36388165e-01 9.90652871e-01 -2.27102120e-03 -2.80698236e+01] [-1.56653625e-02 1.35438418e-04 9.99877282e-01 -6.21045608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.57420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.33, Y:-28.08, Z:-6.21 [[ 9.90799014e-01 1.34338961e-01 1.64425552e-02 1.94330465e+02] [-1.34317480e-01 9.90935423e-01 -2.40887817e-03 -2.80820227e+01] [-1.66171165e-02 1.78191543e-04 9.99861910e-01 -6.21184720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.60420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.36, Y:-28.09, Z:-6.21 [[ 9.90875496e-01 1.33764311e-01 1.65184831e-02 1.94361547e+02] [-1.33742551e-01 9.91013155e-01 -2.42004681e-03 -2.80882248e+01] [-1.66937500e-02 1.88741021e-04 9.99860632e-01 -6.21157450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.63420382200002 meters Centerline goodness [0,1] 0.9999784608094427 Centerline is valid? [True, True] Translation: X:194.39, Y:-28.09, Z:-6.21 [[ 9.90891245e-01 1.33812822e-01 1.51218379e-02 1.94393413e+02] [-1.33794621e-01 9.91006609e-01 -2.21346391e-03 -2.80945754e+01] [-1.52820312e-02 1.70081432e-04 9.99883208e-01 -6.21363271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.66420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.42, Y:-28.10, Z:-6.22 [[ 9.90823345e-01 1.34401974e-01 1.43250817e-02 1.94423550e+02] [-1.34385633e-01 9.90926882e-01 -2.10165241e-03 -2.80997740e+01] [-1.44775747e-02 1.57281109e-04 9.99895182e-01 -6.21611966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.69420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.45, Y:-28.10, Z:-6.22 [[ 9.90668732e-01 1.35540483e-01 1.42912723e-02 1.94453108e+02] [-1.35524347e-01 9.90771799e-01 -2.09603605e-03 -2.81046029e+01] [-1.44434873e-02 1.39662034e-04 9.99895678e-01 -6.21794323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.72420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.48, Y:-28.11, Z:-6.22 [[ 9.90314268e-01 1.38083775e-01 1.45093467e-02 1.94483437e+02] [-1.38067387e-01 9.90420547e-01 -2.13000851e-03 -2.81089482e+01] [-1.46644748e-02 1.06110234e-04 9.99892465e-01 -6.21773157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.75420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.51, Y:-28.11, Z:-6.22 [[ 9.90033086e-01 1.40045339e-01 1.48926838e-02 1.94513081e+02] [-1.40028295e-01 9.90145089e-01 -2.18628336e-03 -2.81129229e+01] [-1.50520966e-02 7.90957363e-05 9.99886708e-01 -6.22056627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.78420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.54, Y:-28.12, Z:-6.22 [[ 9.89766163e-01 1.41920669e-01 1.48817727e-02 1.94543938e+02] [-1.41903862e-01 9.89878034e-01 -2.18468158e-03 -2.81150110e+01] [-1.50411913e-02 5.05428888e-05 9.99886874e-01 -6.21968892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.814203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.57, Y:-28.12, Z:-6.22 [[ 9.89172525e-01 1.45985672e-01 1.50299641e-02 1.94573208e+02] [-1.45968995e-01 9.89286704e-01 -2.20662274e-03 -2.81154359e+01] [-1.51910790e-02 -1.11781671e-05 9.99884609e-01 -6.22231901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.844203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.60, Y:-28.12, Z:-6.22 [[ 9.88895109e-01 1.47870586e-01 1.48577399e-02 1.94602532e+02] [-1.47854501e-01 9.89006718e-01 -2.18134600e-03 -2.81179544e+01] [-1.50169615e-02 -3.96613337e-05 9.99887238e-01 -6.22337167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.874203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.63, Y:-28.12, Z:-6.22 [[ 9.88348252e-01 1.51485160e-01 1.48317040e-02 1.94632634e+02] [-1.51469543e-01 9.88459527e-01 -2.17716154e-03 -2.81178073e+01] [-1.49903468e-02 -9.47576286e-05 9.99887634e-01 -6.22496773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.904203822 meters Centerline goodness [0,1] 0.9999568481919392 Centerline is valid? [True, True] Translation: X:194.66, Y:-28.12, Z:-6.23 [[ 9.88094509e-01 1.53190007e-01 1.42148887e-02 1.94662258e+02] [-1.53175843e-01 9.88196746e-01 -2.08631301e-03 -2.81203174e+01] [-1.43667090e-02 -1.15903121e-04 9.99896787e-01 -6.22563461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.934203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.69, Y:-28.12, Z:-6.23 [[ 9.87594764e-01 1.56275735e-01 1.53126203e-02 1.94690344e+02] [-1.56259668e-01 9.87713453e-01 -2.24753886e-03 -2.81214590e+01] [-1.54757169e-02 -1.73087354e-04 9.99880229e-01 -6.22591390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.964203822 meters Centerline goodness [0,1] 0.999936448756514 Centerline is valid? [True, True] Translation: X:194.72, Y:-28.12, Z:-6.23 [[ 9.87391588e-01 1.57549604e-01 1.53614533e-02 1.94718055e+02] [-1.57533604e-01 9.87511055e-01 -2.25372576e-03 -2.81223303e+01] [-1.55246786e-02 -1.94635238e-04 9.99879466e-01 -6.22816419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.994203822 meters Centerline goodness [0,1] 0.9999355116079106 Centerline is valid? [True, True] Translation: X:194.75, Y:-28.12, Z:-6.23 [[ 9.87250305e-01 1.58523584e-01 1.43912497e-02 1.94746993e+02] [-1.58509659e-01 9.87355171e-01 -2.11040854e-03 -2.81242232e+01] [-1.45438244e-02 -1.97650607e-04 9.99894213e-01 -6.23031904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.024203822 meters Centerline goodness [0,1] 0.999978747369987 Centerline is valid? [True, True] Translation: X:194.78, Y:-28.12, Z:-6.23 [[ 9.86850637e-01 1.60971838e-01 1.46249248e-02 1.94776046e+02] [-1.60957736e-01 9.86958971e-01 -2.14395066e-03 -2.81229669e+01] [-1.47793164e-02 -2.38235701e-04 9.99890752e-01 -6.23117226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.054203822 meters Centerline goodness [0,1] 0.9999785407725322 Centerline is valid? [True, True] Translation: X:194.80, Y:-28.12, Z:-6.23 [[ 9.86686672e-01 1.61991088e-01 1.44325494e-02 1.94804522e+02] [-1.61977473e-01 9.86792189e-01 -2.11509302e-03 -2.81244699e+01] [-1.45845532e-02 -2.50813793e-04 9.99893608e-01 -6.23192034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.084203822 meters Centerline goodness [0,1] 0.9999143303848708 Centerline is valid? [True, True] Translation: X:194.83, Y:-28.12, Z:-6.24 [[ 9.86677888e-01 1.62137410e-01 1.33493979e-02 1.94832195e+02] [-1.62125780e-01 9.86768162e-01 -1.95602067e-03 -2.81247205e+01] [-1.34899050e-02 -2.34319210e-04 9.99908980e-01 -6.23671458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.114203822 meters Centerline goodness [0,1] 0.9999361267245784 Centerline is valid? [True, True] Translation: X:194.86, Y:-28.13, Z:-6.24 [[ 9.86873740e-01 1.60908328e-01 1.37379624e-02 1.94861066e+02] [-1.60895910e-01 9.86969331e-01 -2.01166562e-03 -2.81300482e+01] [-1.38826413e-02 -2.25121991e-04 9.99903606e-01 -6.23748515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.144203822 meters Centerline goodness [0,1] 0.9999153743626632 Centerline is valid? [True, True] Translation: X:194.89, Y:-28.14, Z:-6.24 [[ 9.87149744e-01 1.59134113e-01 1.45504877e-02 1.94889792e+02] [-1.59119999e-01 9.87256952e-01 -2.13007195e-03 -2.81356700e+01] [-1.47040372e-02 -2.12573591e-04 9.99891867e-01 -6.23727577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.174203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.92, Y:-28.14, Z:-6.24 [[ 9.87482269e-01 1.57038390e-01 1.47550854e-02 1.94917838e+02] [-1.57023647e-01 9.87592482e-01 -2.15970847e-03 -2.81431941e+01] [-1.49111686e-02 -1.84223503e-04 9.99888805e-01 -6.23564380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.204203822 meters Centerline goodness [0,1] 0.9999787247622492 Centerline is valid? [True, True] Translation: X:194.95, Y:-28.15, Z:-6.24 [[ 9.88121628e-01 1.52973630e-01 1.46532054e-02 1.94945447e+02] [-1.52958652e-01 9.88230263e-01 -2.14408750e-03 -2.81498520e+01] [-1.48087298e-02 -1.22715308e-04 9.99890337e-01 -6.23766112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.234203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.97, Y:-28.16, Z:-6.24 [[ 9.88711247e-01 1.49009949e-01 1.56877171e-02 1.94972682e+02] [-1.48992294e-01 9.88835694e-01 -2.29475934e-03 -2.81582592e+01] [-1.58545166e-02 -6.84945795e-05 9.99874307e-01 -6.23679967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.264203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.00, Y:-28.16, Z:-6.24 [[ 9.88973798e-01 1.47241495e-01 1.58356844e-02 1.95001689e+02] [-1.47223303e-01 9.89100571e-01 -2.31492617e-03 -2.81646980e+01] [-1.60039377e-02 -4.19804322e-05 9.99871928e-01 -6.23677442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.29420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.03, Y:-28.17, Z:-6.24 [[ 9.89184535e-01 1.45799554e-01 1.60139176e-02 1.95030520e+02] [-1.45780767e-01 9.89314151e-01 -2.34060304e-03 -2.81705372e+01] [-1.61840541e-02 -1.92328531e-05 9.99869029e-01 -6.23525357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.32420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.06, Y:-28.18, Z:-6.24 [[ 9.89498398e-01 1.43541976e-01 1.69888815e-02 1.95059904e+02] [-1.43520510e-01 9.89644229e-01 -2.48246665e-03 -2.81762482e+01] [-1.71692867e-02 1.81438384e-05 9.99852597e-01 -6.23534607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.35420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.09, Y:-28.18, Z:-6.24 [[ 9.89649756e-01 1.42433400e-01 1.74953481e-02 1.95088914e+02] [-1.42410465e-01 9.89804387e-01 -2.55623872e-03 -2.81814976e+01] [-1.76810661e-02 3.82603647e-05 9.99843677e-01 -6.23727836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.38420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.12, Y:-28.19, Z:-6.24 [[ 9.89806223e-01 1.41334014e-01 1.75595601e-02 1.95119480e+02] [-1.41310744e-01 9.89961965e-01 -2.56525472e-03 -2.81862363e+01] [-1.77458544e-02 5.77505815e-05 9.99842528e-01 -6.23564006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.41420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.15, Y:-28.19, Z:-6.24 [[ 9.90111174e-01 1.39234211e-01 1.71376193e-02 1.95148479e+02] [-1.39211733e-01 9.90259474e-01 -2.50350446e-03 -2.81921361e+01] [-1.73192634e-02 9.29900538e-05 9.99850006e-01 -6.23811355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.44420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.18, Y:-28.20, Z:-6.24 [[ 9.90263881e-01 1.38183195e-01 1.68181427e-02 1.95177847e+02] [-1.38161389e-01 9.90406680e-01 -2.45724430e-03 -2.81976312e+01] [-1.69963507e-02 1.09702329e-04 9.99855546e-01 -6.23966231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.47420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.21, Y:-28.21, Z:-6.24 [[ 9.90487824e-01 1.36660233e-01 1.60577216e-02 1.95206396e+02] [-1.36640157e-01 9.90617971e-01 -2.34596319e-03 -2.82050197e+01] [-1.62276675e-02 1.29518360e-04 9.99868314e-01 -6.24348697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.50420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.24, Y:-28.21, Z:-6.24 [[ 9.90571121e-01 1.36117229e-01 1.55226914e-02 1.95236467e+02] [-1.36098407e-01 9.90692728e-01 -2.26744795e-03 -2.82078459e+01] [-1.56868562e-02 1.33454885e-04 9.99876945e-01 -6.24100715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.53420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.27, Y:-28.21, Z:-6.24 [[ 9.90610944e-01 1.35847792e-01 1.53406368e-02 1.95265735e+02] [-1.35829380e-01 9.90729710e-01 -2.24066873e-03 -2.82137557e+01] [-1.55028146e-02 1.35921777e-04 9.99879815e-01 -6.24398729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.564203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.30, Y:-28.22, Z:-6.24 [[ 9.90692741e-01 1.35307335e-01 1.48262561e-02 1.95295603e+02] [-1.35290071e-01 9.90803667e-01 -2.16590299e-03 -2.82176897e+01] [-1.49829714e-02 1.39899137e-04 9.99887739e-01 -6.24479521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.594203822 meters Centerline goodness [0,1] 0.999892449989245 Centerline is valid? [True, True] Translation: X:195.32, Y:-28.22, Z:-6.25 [[ 9.90681168e-01 1.35454114e-01 1.42480618e-02 1.95324612e+02] [-1.35438183e-01 9.90783612e-01 -2.08163465e-03 -2.82212616e+01] [-1.43987121e-02 1.32504652e-04 9.99896324e-01 -6.24790783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.624203822 meters Centerline goodness [0,1] 0.9998501648186995 Centerline is valid? [True, True] Translation: X:195.35, Y:-28.23, Z:-6.25 [[ 9.90586730e-01 1.36095677e-01 1.46934216e-02 1.95354553e+02] [-1.36078810e-01 9.90695690e-01 -2.14631582e-03 -2.82262101e+01] [-1.48488137e-02 1.26648647e-04 9.99889742e-01 -6.24749995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.654203822 meters Centerline goodness [0,1] 0.9998501648186995 Centerline is valid? [True, True] Translation: X:195.38, Y:-28.23, Z:-6.25 [[ 9.90586730e-01 1.36095677e-01 1.46934216e-02 1.95384229e+02] [-1.36078810e-01 9.90695690e-01 -2.14631582e-03 -2.82305449e+01] [-1.48488137e-02 1.26648647e-04 9.99889742e-01 -6.24841581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.684203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.41, Y:-28.24, Z:-6.25 [[ 9.90547895e-01 1.36340392e-01 1.50387888e-02 1.95414017e+02] [-1.36322752e-01 9.90662042e-01 -2.19676474e-03 -2.82360558e+01] [-1.51978650e-02 1.25871609e-04 9.99884498e-01 -6.24783119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.714203822 meters Centerline goodness [0,1] 0.9999785688262146 Centerline is valid? [True, True] Translation: X:195.44, Y:-28.24, Z:-6.25 [[ 9.90485187e-01 1.36820887e-01 1.48033557e-02 1.95442906e+02] [-1.36803846e-01 9.90595796e-01 -2.16256444e-03 -2.82414960e+01] [-1.49600259e-02 1.16832059e-04 9.99888086e-01 -6.25085232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.744203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.47, Y:-28.24, Z:-6.25 [[ 9.90309202e-01 1.38160623e-01 1.41183127e-02 1.95473042e+02] [-1.38145264e-01 9.90409831e-01 -2.06213339e-03 -2.82430869e+01] [-1.42678213e-02 9.17716501e-05 9.99898205e-01 -6.25081977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.774203822 meters Centerline goodness [0,1] 0.9999139969898947 Centerline is valid? [True, True] Translation: X:195.50, Y:-28.25, Z:-6.25 [[ 9.90245477e-01 1.38629283e-01 1.39934986e-02 1.95502202e+02] [-1.38614243e-01 9.90344342e-01 -2.04371694e-03 -2.82467089e+01] [-1.41417012e-02 8.40832346e-05 9.99899998e-01 -6.25475617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.804203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.53, Y:-28.25, Z:-6.25 [[ 9.90228743e-01 1.38784086e-01 1.36386978e-02 1.95532416e+02] [-1.38769809e-01 9.90322660e-01 -1.99223695e-03 -2.82521916e+01] [-1.37832022e-02 8.01308075e-05 9.99905004e-01 -6.25499060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.834203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.56, Y:-28.26, Z:-6.26 [[ 9.90177653e-01 1.39192433e-01 1.31788647e-02 1.95561802e+02] [-1.39179133e-01 9.90265349e-01 -1.92548189e-03 -2.82565947e+01] [-1.33185855e-02 7.23461772e-05 9.99911301e-01 -6.25632576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.864203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.59, Y:-28.26, Z:-6.26 [[ 9.90021383e-01 1.40319904e-01 1.29609264e-02 1.95589858e+02] [-1.40307139e-01 9.90106217e-01 -1.89354460e-03 -2.82601188e+01] [-1.30983958e-02 5.61391463e-05 9.99914211e-01 -6.25843042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.894203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.62, Y:-28.26, Z:-6.26 [[ 9.89668628e-01 1.42777388e-01 1.30622857e-02 1.95619798e+02] [-1.42764645e-01 9.89754827e-01 -1.90767338e-03 -2.82625014e+01] [-1.32008329e-02 2.31319163e-05 9.99912865e-01 -6.25642447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.924203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.65, Y:-28.27, Z:-6.26 [[ 9.89495115e-01 1.43904401e-01 1.38181388e-02 1.95648207e+02] [-1.43890253e-01 9.89591594e-01 -2.01787578e-03 -2.82662032e+01] [-1.39646953e-02 8.38273844e-06 9.99902489e-01 -6.25737952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.954203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.68, Y:-28.27, Z:-6.26 [[ 9.89259804e-01 1.45402178e-01 1.49414481e-02 1.95676315e+02] [-1.45385817e-01 9.89372633e-01 -2.18124827e-03 -2.82696798e+01] [-1.50998181e-02 -1.44533912e-05 9.99885991e-01 -6.25607035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.984203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.71, Y:-28.27, Z:-6.25 [[ 9.89245141e-01 1.45513867e-01 1.48245058e-02 1.95706112e+02] [-1.45497783e-01 9.89356212e-01 -2.16348231e-03 -2.82743015e+01] [-1.49815336e-02 -1.67183782e-05 9.99887770e-01 -6.25472066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.014203822 meters Centerline goodness [0,1] 0.9999135789132548 Centerline is valid? [True, True] Translation: X:195.74, Y:-28.28, Z:-6.26 [[ 9.89280477e-01 1.45240032e-01 1.51483219e-02 1.95735636e+02] [-1.45223212e-01 9.89396449e-01 -2.21034660e-03 -2.82787875e+01] [-1.53087267e-02 -1.32352229e-05 9.99882814e-01 -6.25645117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.04420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.76, Y:-28.29, Z:-6.25 [[ 9.89398678e-01 1.44248403e-01 1.68123338e-02 1.95763937e+02] [-1.44227553e-01 9.89541509e-01 -2.45246805e-03 -2.82869656e+01] [-1.69902667e-02 1.66689265e-06 9.99855655e-01 -6.25453548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.07420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.79, Y:-28.29, Z:-6.26 [[ 9.89467046e-01 1.43769039e-01 1.68946076e-02 1.95793543e+02] [-1.43747921e-01 9.89611269e-01 -2.46408924e-03 -2.82944400e+01] [-1.70733538e-02 9.57037181e-06 9.99854240e-01 -6.25524558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.10420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.82, Y:-28.30, Z:-6.26 [[ 9.89530506e-01 1.43414791e-01 1.61732858e-02 1.95821889e+02] [-1.43395394e-01 9.89662668e-01 -2.35875291e-03 -2.83018309e+01] [-1.63443773e-02 1.48832742e-05 9.99866422e-01 -6.25808079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.13420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.85, Y:-28.31, Z:-6.26 [[ 9.89472217e-01 1.43842067e-01 1.59433900e-02 1.95852447e+02] [-1.43823268e-01 9.89600657e-01 -2.32550253e-03 -2.83063340e+01] [-1.61120943e-02 7.98969006e-06 9.99870192e-01 -6.25759858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.16420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.88, Y:-28.31, Z:-6.26 [[ 9.89301692e-01 1.44967472e-01 1.63277329e-02 1.95881652e+02] [-1.44947911e-01 9.89436421e-01 -2.38138253e-03 -2.83100203e+01] [-1.65004766e-02 -1.07650115e-05 9.99863858e-01 -6.25983753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.19420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.91, Y:-28.31, Z:-6.26 [[ 9.89037794e-01 1.46787944e-01 1.60481008e-02 1.95911560e+02] [-1.46769281e-01 9.89167983e-01 -2.34098415e-03 -2.83132688e+01] [-1.62178958e-02 -4.00464313e-05 9.99868480e-01 -6.25952285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.22420382200002 meters Centerline goodness [0,1] 0.9999786589269708 Centerline is valid? [True, True] Translation: X:195.94, Y:-28.31, Z:-6.26 [[ 9.88244728e-01 1.52060661e-01 1.58086148e-02 1.95942387e+02] [-1.52043220e-01 9.88371155e-01 -2.30641092e-03 -2.83103333e+01] [-1.59754933e-02 -1.24294265e-04 9.99872376e-01 -6.25983876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.25420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.97, Y:-28.30, Z:-6.26 [[ 9.87271837e-01 1.58232535e-01 1.60244919e-02 1.95972662e+02] [-1.58215429e-01 9.87401850e-01 -2.33767017e-03 -2.83012779e+01] [-1.61925084e-02 -2.27405938e-04 9.99868867e-01 -6.26296527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.28420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.00, Y:-28.30, Z:-6.26 [[ 9.86787053e-01 1.61292827e-01 1.53602162e-02 1.96002531e+02] [-1.61277492e-01 9.86906557e-01 -2.24003453e-03 -2.83005707e+01] [-1.55203996e-02 -2.66820085e-04 9.99879516e-01 -6.26464810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.314203822 meters Centerline goodness [0,1] 0.9999131341209173 Centerline is valid? [True, True] Translation: X:196.03, Y:-28.30, Z:-6.27 [[ 9.86306560e-01 1.64305002e-01 1.42561045e-02 1.96031882e+02] [-1.64292105e-01 9.86409540e-01 -2.07911044e-03 -2.83018524e+01] [-1.44039657e-02 -2.91525158e-04 9.99896215e-01 -6.26634974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.344203822 meters Centerline goodness [0,1] 0.9997632422892319 Centerline is valid? [True, True] Translation: X:196.06, Y:-28.30, Z:-6.27 [[ 9.85963948e-01 1.66383281e-01 1.38454440e-02 1.96060027e+02] [-1.66371327e-01 9.86061107e-01 -2.01883027e-03 -2.83006745e+01] [-1.39883534e-02 -3.12991015e-04 9.99902109e-01 -6.26913776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.374203822 meters Centerline goodness [0,1] 0.9999356623560445 Centerline is valid? [True, True] Translation: X:196.09, Y:-28.30, Z:-6.27 [[ 9.85718646e-01 1.67855153e-01 1.35424979e-02 1.96088978e+02] [-1.67843870e-01 9.85811615e-01 -1.97364329e-03 -2.83005917e+01] [-1.36816379e-02 -3.27568257e-04 9.99906348e-01 -6.26921901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.404203822 meters Centerline goodness [0,1] 0.9999361389616195 Centerline is valid? [True, True] Translation: X:196.12, Y:-28.30, Z:-6.27 [[ 9.85699922e-01 1.67928195e-01 1.39923505e-02 1.96117312e+02] [-1.67916164e-01 9.85799171e-01 -2.03865570e-03 -2.83016477e+01] [-1.41359953e-02 -3.40039058e-04 9.99900024e-01 -6.27026315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.434203822 meters Centerline goodness [0,1] 0.9999572695224869 Centerline is valid? [True, True] Translation: X:196.15, Y:-28.30, Z:-6.27 [[ 9.85756041e-01 1.67486690e-01 1.52720950e-02 1.96146167e+02] [-1.67472325e-01 9.85874269e-01 -2.22379843e-03 -2.83036987e+01] [-1.54288221e-02 -3.65530515e-04 9.99880902e-01 -6.26864894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.464203822 meters Centerline goodness [0,1] 0.9999571082373631 Centerline is valid? [True, True] Translation: X:196.18, Y:-28.31, Z:-6.27 [[ 9.85846804e-01 1.66951794e-01 1.52701391e-02 1.96175430e+02] [-1.66937372e-01 9.85964995e-01 -2.22330456e-03 -2.83061945e+01] [-1.54270073e-02 -3.57319203e-04 9.99880933e-01 -6.26973202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.494203822 meters Centerline goodness [0,1] 0.9999784645202972 Centerline is valid? [True, True] Translation: X:196.20, Y:-28.31, Z:-6.27 [[ 9.85902958e-01 1.66612016e-01 1.53556003e-02 1.96203812e+02] [-1.66597419e-01 9.86022469e-01 -2.23393978e-03 -2.83101645e+01] [-1.55131681e-02 -3.55755538e-04 9.99879600e-01 -6.26970561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.524203822 meters Centerline goodness [0,1] 0.9999575938765558 Centerline is valid? [True, True] Translation: X:196.23, Y:-28.31, Z:-6.27 [[ 9.85945147e-01 1.66298580e-01 1.60296542e-02 1.96231863e+02] [-1.66282643e-01 9.86075376e-01 -2.33131752e-03 -2.83084168e+01] [-1.61941421e-02 -3.66902081e-04 9.99868799e-01 -6.27059125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.554203822 meters Centerline goodness [0,1] 0.9998728840490667 Centerline is valid? [True, True] Translation: X:196.26, Y:-28.31, Z:-6.27 [[ 9.85970534e-01 1.66163218e-01 1.58711078e-02 1.96258778e+02] [-1.66147587e-01 9.86098197e-01 -2.30761611e-03 -2.83086683e+01] [-1.60339117e-02 -3.61704779e-04 9.99871383e-01 -6.27195134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.584203822 meters Centerline goodness [0,1] 0.9999149081007488 Centerline is valid? [True, True] Translation: X:196.29, Y:-28.31, Z:-6.27 [[ 9.86109454e-01 1.65347859e-01 1.57553453e-02 1.96287557e+02] [-1.65332380e-01 9.86235248e-01 -2.28898529e-03 -2.83096232e+01] [-1.59169557e-02 -3.47678704e-04 9.99873257e-01 -6.27316198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.614203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.32, Y:-28.31, Z:-6.27 [[ 9.86187077e-01 1.64854779e-01 1.60608691e-02 1.96316172e+02] [-1.64838641e-01 9.86317789e-01 -2.33259059e-03 -2.83135506e+01] [-1.62256596e-02 -3.47081150e-04 9.99868295e-01 -6.27295989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.644203822 meters Centerline goodness [0,1] 0.9999786228863379 Centerline is valid? [True, True] Translation: X:196.34, Y:-28.31, Z:-6.27 [[ 9.86349916e-01 1.63819333e-01 1.66453888e-02 1.96344873e+02] [-1.63801867e-01 9.86490298e-01 -2.41661622e-03 -2.83128420e+01] [-1.68164030e-02 -3.42916542e-04 9.99858535e-01 -6.27397913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.674203822 meters Centerline goodness [0,1] 0.9999570391373459 Centerline is valid? [True, True] Translation: X:196.37, Y:-28.32, Z:-6.27 [[ 9.86512433e-01 1.62783189e-01 1.71713038e-02 1.96373459e+02] [-1.62764459e-01 9.86661806e-01 -2.49209710e-03 -2.83172095e+01] [-1.73479411e-02 -3.36393208e-04 9.99849457e-01 -6.27207519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.704203822 meters Centerline goodness [0,1] 0.9999359822457429 Centerline is valid? [True, True] Translation: X:196.40, Y:-28.32, Z:-6.27 [[ 9.86695731e-01 1.61600001e-01 1.78037630e-02 1.96401797e+02] [-1.61579690e-01 9.86856287e-01 -2.58294452e-03 -2.83186909e+01] [-1.79871593e-02 -3.28146170e-04 9.99838164e-01 -6.27257996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.734203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.43, Y:-28.32, Z:-6.27 [[ 9.86930640e-01 1.60177061e-01 1.76414611e-02 1.96429403e+02] [-1.60156904e-01 9.87088253e-01 -2.55868759e-03 -2.83207329e+01] [-1.78235221e-02 -3.00154617e-04 9.99841103e-01 -6.27446062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.764203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.46, Y:-28.32, Z:-6.28 [[ 9.87275115e-01 1.58171787e-01 1.64174821e-02 1.96457846e+02] [-1.58154071e-01 9.87411578e-01 -2.38014405e-03 -2.83246225e+01] [-1.65872836e-02 -2.46634634e-04 9.99862391e-01 -6.27623853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.79420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.49, Y:-28.32, Z:-6.28 [[ 9.87571503e-01 1.56425371e-01 1.52849326e-02 1.96486043e+02] [-1.56409813e-01 9.87689760e-01 -2.21547206e-03 -2.83245215e+01] [-1.54433275e-02 -2.02776382e-04 9.99880724e-01 -6.28081173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.82420382200002 meters Centerline goodness [0,1] 0.9998524607440193 Centerline is valid? [True, True] Translation: X:196.51, Y:-28.33, Z:-6.28 [[ 9.87718094e-01 1.55537867e-01 1.48639813e-02 1.96514135e+02] [-1.55523061e-01 9.87829914e-01 -2.15390329e-03 -2.83262116e+01] [-1.50180989e-02 -1.84242625e-04 9.99887205e-01 -6.28374568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.85420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.54, Y:-28.33, Z:-6.28 [[ 9.87871397e-01 1.54584171e-01 1.46231791e-02 1.96543032e+02] [-1.54569762e-01 9.87979608e-01 -2.11730340e-03 -2.83310277e+01] [-1.47747044e-02 -1.68677849e-04 9.99890834e-01 -6.28143797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.88420382200002 meters Centerline goodness [0,1] 0.9999356789091143 Centerline is valid? [True, True] Translation: X:196.57, Y:-28.33, Z:-6.28 [[ 9.87977716e-01 1.53864392e-01 1.50260357e-02 1.96570746e+02] [-1.53849099e-01 9.88091961e-01 -2.17536233e-03 -2.83300242e+01] [-1.51818159e-02 -1.62532549e-04 9.99884736e-01 -6.28399250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.91420382200002 meters Centerline goodness [0,1] 0.9999785334020265 Centerline is valid? [True, True] Translation: X:196.60, Y:-28.33, Z:-6.28 [[ 9.88151751e-01 1.52754707e-01 1.49035463e-02 1.96600054e+02] [-1.52739564e-01 9.88264124e-01 -2.15582167e-03 -2.83308724e+01] [-1.50579521e-02 -1.46082204e-04 9.99886612e-01 -6.28357983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.94420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.63, Y:-28.34, Z:-6.29 [[ 9.88521215e-01 1.50381899e-01 1.45290023e-02 1.96627855e+02] [-1.50367261e-01 9.88627975e-01 -2.10093841e-03 -2.83357617e+01] [-1.46797213e-02 -1.07864098e-04 9.99892241e-01 -6.28668201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.97420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.66, Y:-28.34, Z:-6.29 [[ 9.88761647e-01 1.48746067e-01 1.50004076e-02 1.96655011e+02] [-1.48730282e-01 9.88875422e-01 -2.16866890e-03 -2.83390744e+01] [-1.51561153e-02 -8.67182124e-05 9.99885136e-01 -6.28883940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.00420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.68, Y:-28.34, Z:-6.29 [[ 9.89006661e-01 1.47036083e-01 1.56912561e-02 1.96683434e+02] [-1.47018622e-01 9.89131127e-01 -2.26692149e-03 -2.83436746e+01] [-1.58540291e-02 -6.49063973e-05 9.99874315e-01 -6.28637243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.03420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.71, Y:-28.35, Z:-6.29 [[ 9.89239722e-01 1.45391046e-01 1.63161151e-02 1.96710735e+02] [-1.45371953e-01 9.89374268e-01 -2.35648221e-03 -2.83472936e+01] [-1.64853558e-02 -4.07797098e-05 9.99864106e-01 -6.28880550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.064203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.74, Y:-28.35, Z:-6.29 [[ 9.89678050e-01 1.42354554e-01 1.65087282e-02 1.96738492e+02] [-1.42334606e-01 9.89815731e-01 -2.38304830e-03 -2.83535095e+01] [-1.66798366e-02 8.68727392e-06 9.99860882e-01 -6.28978804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.094203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.77, Y:-28.36, Z:-6.29 [[ 9.90035486e-01 1.40009937e-01 1.50649807e-02 1.96765158e+02] [-1.39993058e-01 9.90150098e-01 -2.17440250e-03 -2.83595461e+01] [-1.52210300e-02 4.37429247e-05 9.99884152e-01 -6.29483034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.124203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.79, Y:-28.36, Z:-6.29 [[ 9.90160403e-01 1.39221169e-01 1.41365534e-02 1.96793660e+02] [-1.39206243e-01 9.90261311e-01 -2.03919433e-03 -2.83644587e+01] [-1.42827809e-02 5.12329913e-05 9.99897995e-01 -6.29482014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.154203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.82, Y:-28.37, Z:-6.30 [[ 9.90280794e-01 1.38417994e-01 1.35797234e-02 1.96821717e+02] [-1.38404154e-01 9.90373897e-01 -1.95826477e-03 -2.83693777e+01] [-1.37200626e-02 5.97418709e-05 9.99905874e-01 -6.29647152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.184203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.85, Y:-28.37, Z:-6.30 [[ 9.90379921e-01 1.37603176e-01 1.45937610e-02 1.96849047e+02] [-1.37587113e-01 9.90487436e-01 -2.10383914e-03 -2.83733017e+01] [-1.47444318e-02 7.56865985e-05 9.99891292e-01 -6.29820901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.214203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.88, Y:-28.38, Z:-6.30 [[ 9.90454551e-01 1.37018170e-01 1.50267823e-02 1.96877623e+02] [-1.37001090e-01 9.90568531e-01 -2.16506585e-03 -2.83767179e+01] [-1.51817110e-02 8.57137672e-05 9.99884748e-01 -6.29642500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.244203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.90, Y:-28.38, Z:-6.30 [[ 9.90576865e-01 1.36070710e-01 1.55639719e-02 1.96904418e+02] [-1.36052280e-01 9.90699123e-01 -2.24181793e-03 -2.83821607e+01] [-1.57242591e-02 1.03179108e-04 9.99876361e-01 -6.29804529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.274203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.93, Y:-28.39, Z:-6.30 [[ 9.90841589e-01 1.34098982e-01 1.58242935e-02 1.96932681e+02] [-1.34079699e-01 9.90967933e-01 -2.27811513e-03 -2.83913014e+01] [-1.59868604e-02 1.35534708e-04 9.99872193e-01 -6.29883568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.304203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.96, Y:-28.40, Z:-6.30 [[ 9.90955494e-01 1.33240558e-01 1.59424562e-02 1.96960536e+02] [-1.33220887e-01 9.91083716e-01 -2.29435110e-03 -2.83980259e+01] [-1.61060094e-02 1.49731678e-04 9.99870279e-01 -6.29978717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.334203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.99, Y:-28.41, Z:-6.30 [[ 9.91150042e-01 1.31740329e-01 1.63119595e-02 1.96988583e+02] [-1.31719546e-01 9.91284245e-01 -2.34672845e-03 -2.84071184e+01] [-1.64789472e-02 1.77356111e-04 9.99864197e-01 -6.30033922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.364203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.02, Y:-28.41, Z:-6.30 [[ 9.91202964e-01 1.31351695e-01 1.62300860e-02 1.97015428e+02] [-1.31331076e-01 9.91335815e-01 -2.33441675e-03 -2.84130160e+01] [-1.63960951e-02 1.82366137e-04 9.99865558e-01 -6.30242670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.394203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.04, Y:-28.42, Z:-6.30 [[ 9.91241094e-01 1.31119519e-01 1.57723011e-02 1.97044118e+02] [-1.31100036e-01 9.91366552e-01 -2.26737794e-03 -2.84160129e+01] [-1.59334293e-02 1.79768938e-04 9.99873039e-01 -6.30169092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.424203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.07, Y:-28.42, Z:-6.30 [[ 9.91358526e-01 1.30319659e-01 1.50019699e-02 1.97072651e+02] [-1.30301957e-01 9.91472013e-01 -2.15559537e-03 -2.84245243e+01] [-1.51549497e-02 1.82181810e-04 9.99885141e-01 -6.30414837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.454203822 meters Centerline goodness [0,1] 0.9999785191072541 Centerline is valid? [True, True] Translation: X:197.10, Y:-28.43, Z:-6.31 [[ 9.91428047e-01 1.29816336e-01 1.47697889e-02 1.97100493e+02] [-1.29799122e-01 9.91538040e-01 -2.12226068e-03 -2.84318621e+01] [-1.49203116e-02 1.86963126e-04 9.99888668e-01 -6.30605829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.484203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.13, Y:-28.44, Z:-6.31 [[ 9.91479277e-01 1.29396032e-01 1.50170005e-02 1.97127604e+02] [-1.29378206e-01 9.91592975e-01 -2.15665754e-03 -2.84423773e+01] [-1.51698151e-02 1.95408684e-04 9.99884913e-01 -6.30674958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.514203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.16, Y:-28.45, Z:-6.31 [[ 9.91318543e-01 1.30525960e-01 1.58278349e-02 1.97155576e+02] [-1.30506309e-01 9.91444874e-01 -2.27255970e-03 -2.84490472e+01] [-1.59890538e-02 1.87198259e-04 9.99872149e-01 -6.30824734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.54420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.19, Y:-28.45, Z:-6.31 [[ 9.91118893e-01 1.32019978e-01 1.59394095e-02 1.97185647e+02] [-1.32000247e-01 9.91247042e-01 -2.28827503e-03 -2.84517196e+01] [-1.61019906e-02 1.63946625e-04 9.99870341e-01 -6.30689326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.57420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.21, Y:-28.45, Z:-6.31 [[ 9.90457741e-01 1.36822564e-01 1.65242078e-02 1.97214188e+02] [-1.36802029e-01 9.90595567e-01 -2.37212546e-03 -2.84513604e+01] [-1.66933673e-02 8.89448737e-05 9.99860652e-01 -6.30736796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.60420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.24, Y:-28.46, Z:-6.31 [[ 9.90464115e-01 1.36776402e-01 1.65243226e-02 1.97242231e+02] [-1.36755873e-01 9.90601942e-01 -2.37132522e-03 -2.84552928e+01] [-1.66933674e-02 8.89143606e-05 9.99860652e-01 -6.30823278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.63420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.27, Y:-28.46, Z:-6.31 [[ 9.90058876e-01 1.39641903e-01 1.68392769e-02 1.97271260e+02] [-1.39621012e-01 9.90202069e-01 -2.41571781e-03 -2.84562663e+01] [-1.70116222e-02 4.05859915e-05 9.99855291e-01 -6.30745767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.66420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.30, Y:-28.46, Z:-6.31 [[ 9.89287556e-01 1.45002403e-01 1.68651719e-02 1.97300386e+02] [-1.44982240e-01 9.89431301e-01 -2.41860941e-03 -2.84567807e+01] [-1.70376332e-02 -5.24502109e-05 9.99854848e-01 -6.30869486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.69420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.33, Y:-28.46, Z:-6.31 [[ 9.88993000e-01 1.46978722e-01 1.70323846e-02 1.97327965e+02] [-1.46958462e-01 9.89139650e-01 -2.44188180e-03 -2.84596545e+01] [-1.72063116e-02 -8.80490501e-05 9.99851957e-01 -6.31014845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.72420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.36, Y:-28.46, Z:-6.31 [[ 9.88731002e-01 1.48705997e-01 1.72491483e-02 1.97356979e+02] [-1.48685503e-01 9.88881445e-01 -2.47169555e-03 -2.84627353e+01] [-1.74249187e-02 -1.20856284e-04 9.99848167e-01 -6.31068021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.75420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.39, Y:-28.46, Z:-6.31 [[ 9.88247745e-01 1.51757758e-01 1.83296745e-02 1.97386280e+02] [-1.51735159e-01 9.88417699e-01 -2.62553425e-03 -2.84628641e+01] [-1.85158198e-02 -1.86577770e-04 9.99828550e-01 -6.30919444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.78420382200002 meters Centerline goodness [0,1] 0.9999787563996346 Centerline is valid? [True, True] Translation: X:197.41, Y:-28.46, Z:-6.31 [[ 9.88021603e-01 1.53180443e-01 1.86832745e-02 1.97414644e+02] [-1.53157233e-01 9.88198211e-01 -2.67535877e-03 -2.84632857e+01] [-1.88725911e-02 -2.18166359e-04 9.99821873e-01 -6.31118113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.814203822 meters Centerline goodness [0,1] 0.999956930895622 Centerline is valid? [True, True] Translation: X:197.44, Y:-28.46, Z:-6.31 [[ 9.87556053e-01 1.56299397e-01 1.74224048e-02 1.97444260e+02] [-1.56279725e-01 9.87709689e-01 -2.49335291e-03 -2.84634832e+01] [-1.75979876e-02 -2.60442882e-04 9.99845110e-01 -6.31312547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.844203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.47, Y:-28.46, Z:-6.31 [[ 9.87362615e-01 1.57480633e-01 1.77458660e-02 1.97471760e+02] [-1.57460411e-01 9.87522034e-01 -2.53984824e-03 -2.84648110e+01] [-1.79244106e-02 -2.86520168e-04 9.99839304e-01 -6.31450399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.874203822 meters Centerline goodness [0,1] 0.999978561934571 Centerline is valid? [True, True] Translation: X:197.50, Y:-28.47, Z:-6.31 [[ 9.87211290e-01 1.58423969e-01 1.77683997e-02 1.97500642e+02] [-1.58403878e-01 9.87371132e-01 -2.54140051e-03 -2.84695048e+01] [-1.79466237e-02 -3.05684144e-04 9.99838900e-01 -6.31404486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.904203822 meters Centerline goodness [0,1] 0.9999574902227513 Centerline is valid? [True, True] Translation: X:197.53, Y:-28.47, Z:-6.32 [[ 9.87096836e-01 1.59169882e-01 1.74581187e-02 1.97528469e+02] [-1.59150612e-01 9.87251159e-01 -2.49654016e-03 -2.84681340e+01] [-1.76329220e-02 -3.14143395e-04 9.99844479e-01 -6.31672864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.934203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.56, Y:-28.47, Z:-6.32 [[ 9.87098257e-01 1.59193509e-01 1.71597969e-02 1.97556680e+02] [-1.59174925e-01 9.87247350e-01 -2.45216692e-03 -2.84722380e+01] [-1.73313331e-02 -3.10879691e-04 9.99849753e-01 -6.31712724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.964203822 meters Centerline goodness [0,1] 0.9999787500796872 Centerline is valid? [True, True] Translation: X:197.59, Y:-28.47, Z:-6.32 [[ 9.87135132e-01 1.59092160e-01 1.59347366e-02 1.97585326e+02] [-1.59076130e-01 9.87263694e-01 -2.27659282e-03 -2.84703077e+01] [-1.60939750e-02 -2.87531473e-04 9.99870442e-01 -6.32125291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.994203822 meters Centerline goodness [0,1] 0.9999786853099156 Centerline is valid? [True, True] Translation: X:197.61, Y:-28.47, Z:-6.32 [[ 9.87220181e-01 1.58648161e-01 1.50690070e-02 1.97614397e+02] [-1.58633790e-01 9.87335146e-01 -2.15187444e-03 -2.84734053e+01] [-1.52195512e-02 -2.66079821e-04 9.99884141e-01 -6.32339009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.024203822 meters Centerline goodness [0,1] 0.9999574757611839 Centerline is valid? [True, True] Translation: X:197.64, Y:-28.48, Z:-6.33 [[ 9.87364343e-01 1.57782261e-01 1.47109823e-02 1.97641961e+02] [-1.57768476e-01 9.87473897e-01 -2.10024980e-03 -2.84766037e+01] [-1.48580932e-02 -2.47217499e-04 9.99889582e-01 -6.32556618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.054203822 meters Centerline goodness [0,1] 0.9999356043531458 Centerline is valid? [True, True] Translation: X:197.67, Y:-28.49, Z:-6.33 [[ 9.87848995e-01 1.54786610e-01 1.39809884e-02 1.97669534e+02] [-1.54773871e-01 9.87947908e-01 -1.99511745e-03 -2.84855837e+01] [-1.41213057e-02 -1.93016937e-04 9.99900271e-01 -6.32731476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.084203822 meters Centerline goodness [0,1] 0.9999574676222274 Centerline is valid? [True, True] Translation: X:197.70, Y:-28.49, Z:-6.33 [[ 9.88212556e-01 1.52416241e-01 1.43259535e-02 1.97696829e+02] [-1.52402625e-01 9.88316378e-01 -2.04377425e-03 -2.84905102e+01] [-1.44700789e-02 -1.63629556e-04 9.99895290e-01 -6.32820479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.114203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.73, Y:-28.50, Z:-6.33 [[ 9.88565118e-01 1.50094051e-01 1.45183956e-02 1.97725554e+02] [-1.50079836e-01 9.88671714e-01 -2.06990543e-03 -2.84972890e+01] [-1.46646076e-02 -1.32682130e-04 9.99892460e-01 -6.32734052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.144203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.75, Y:-28.50, Z:-6.33 [[ 9.89222998e-01 1.45594394e-01 1.54962105e-02 1.97753161e+02] [-1.45577655e-01 9.89344362e-01 -2.20883544e-03 -2.85047725e+01] [-1.56526826e-02 -7.08711612e-05 9.99877487e-01 -6.32890705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.174203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.78, Y:-28.51, Z:-6.33 [[ 9.89764542e-01 1.41940928e-01 1.47961024e-02 1.97780796e+02] [-1.41925270e-01 9.89875130e-01 -2.10835303e-03 -2.85134902e+01] [-1.49455554e-02 -1.31677602e-05 9.99888309e-01 -6.33071657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.204203822 meters Centerline goodness [0,1] 0.9998710537061314 Centerline is valid? [True, True] Translation: X:197.81, Y:-28.52, Z:-6.34 [[ 9.89893207e-01 1.41120622e-01 1.40146169e-02 1.97809311e+02] [-1.41106500e-01 9.89992409e-01 -1.99640497e-03 -2.85174993e+01] [-1.41560982e-02 -1.32581904e-06 9.99899797e-01 -6.33501010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.234203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.84, Y:-28.52, Z:-6.33 [[ 9.90022829e-01 1.40227936e-01 1.38175029e-02 1.97837641e+02] [-1.40214129e-01 9.90119248e-01 -1.96773198e-03 -2.85210255e+01] [-1.39569066e-02 1.06904345e-05 9.99902598e-01 -6.33158960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.264203822 meters Centerline goodness [0,1] 0.9999574947399741 Centerline is valid? [True, True] Translation: X:197.86, Y:-28.53, Z:-6.34 [[ 9.90067673e-01 1.39893992e-01 1.39883265e-02 1.97864930e+02] [-1.39879816e-01 9.90166486e-01 -1.99153895e-03 -2.85250168e+01] [-1.41293764e-02 1.50737937e-05 9.99900175e-01 -6.33619900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.29420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.89, Y:-28.53, Z:-6.34 [[ 9.90072445e-01 1.39912618e-01 1.34541113e-02 1.97893358e+02] [-1.39899516e-01 9.90163855e-01 -1.91476258e-03 -2.85262579e+01] [-1.35896741e-02 1.35300165e-05 9.99907656e-01 -6.33647796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.32420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.92, Y:-28.53, Z:-6.34 [[ 9.90051671e-01 1.40088787e-01 1.31461363e-02 1.97922501e+02] [-1.40076308e-01 9.90138946e-01 -1.86985233e-03 -2.85255304e+01] [-1.32784468e-02 9.78819330e-06 9.99911837e-01 -6.33562212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.35420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.95, Y:-28.53, Z:-6.34 [[ 9.90115738e-01 1.39588269e-01 1.36360257e-02 1.97950258e+02] [-1.39574802e-01 9.90209632e-01 -1.93900262e-03 -2.85302899e+01] [-1.37731860e-02 1.65914260e-05 9.99905145e-01 -6.33862630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.38420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.98, Y:-28.54, Z:-6.34 [[ 9.90202579e-01 1.38972670e-01 1.36179474e-02 1.97978942e+02] [-1.38959195e-01 9.90296216e-01 -1.93543068e-03 -2.85361069e+01] [-1.37547738e-02 2.41294444e-05 9.99905398e-01 -6.33679866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.41420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.01, Y:-28.54, Z:-6.34 [[ 9.90330976e-01 1.38051491e-01 1.36507480e-02 1.98005820e+02] [-1.38037869e-01 9.90425052e-01 -1.93960817e-03 -2.85413731e+01] [-1.37878086e-02 3.65338776e-05 9.99904943e-01 -6.33874490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.44420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.03, Y:-28.54, Z:-6.34 [[ 9.90515081e-01 1.36774661e-01 1.31364505e-02 1.98034146e+02] [-1.36761947e-01 9.90602185e-01 -1.86554516e-03 -2.85448139e+01] [-1.32681559e-02 5.12840641e-05 9.99911973e-01 -6.33982373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.47420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.06, Y:-28.55, Z:-6.34 [[ 9.90733756e-01 1.35117849e-01 1.37765118e-02 1.98061793e+02] [-1.35103713e-01 9.90829532e-01 -1.95589914e-03 -2.85510516e+01] [-1.39144516e-02 7.65174045e-05 9.99903186e-01 -6.33996544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.50420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.09, Y:-28.56, Z:-6.34 [[ 9.90896989e-01 1.33871272e-01 1.42000233e-02 1.98088750e+02] [-1.33856139e-01 9.90998725e-01 -2.01510005e-03 -2.85578136e+01] [-1.43419690e-02 9.59962729e-05 9.99897144e-01 -6.34277365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.53420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.12, Y:-28.56, Z:-6.34 [[ 9.91095297e-01 1.32418037e-01 1.39848035e-02 1.98116445e+02] [-1.32403227e-01 9.91193952e-01 -1.98371691e-03 -2.85639289e+01] [-1.41243326e-02 1.14419382e-04 9.99900240e-01 -6.34385718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.564203822 meters Centerline goodness [0,1] 0.9999354227656277 Centerline is valid? [True, True] Translation: X:198.14, Y:-28.57, Z:-6.34 [[ 9.91425445e-01 1.29938701e-01 1.38391087e-02 1.98144569e+02] [-1.29923968e-01 9.91522018e-01 -1.96216916e-03 -2.85704072e+01] [-1.39767427e-02 1.47312511e-04 9.99902310e-01 -6.34317917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.594203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.17, Y:-28.58, Z:-6.34 [[ 9.91594313e-01 1.28545803e-01 1.47205584e-02 1.98171864e+02] [-1.28528990e-01 9.91703557e-01 -2.08651368e-03 -2.85781103e+01] [-1.48666427e-02 1.76956601e-04 9.99889470e-01 -6.34201294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.624203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.20, Y:-28.59, Z:-6.34 [[ 9.91912384e-01 1.26054669e-01 1.48338303e-02 1.98199948e+02] [-1.26037340e-01 9.92023273e-01 -2.10109140e-03 -2.85885903e+01] [-1.49803573e-02 2.14482074e-04 9.99887765e-01 -6.34235553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.654203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.23, Y:-28.60, Z:-6.34 [[ 9.92069557e-01 1.24900494e-01 1.40663097e-02 1.98229127e+02] [-1.24884799e-01 9.92169249e-01 -1.99208241e-03 -2.85957910e+01] [-1.42049720e-02 2.19616046e-04 9.99899080e-01 -6.34403703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.684203822 meters Centerline goodness [0,1] 0.999978507565337 Centerline is valid? [True, True] Translation: X:198.26, Y:-28.60, Z:-6.35 [[ 9.92200332e-01 1.23910345e-01 1.35914794e-02 1.98257296e+02] [-1.23895602e-01 9.92293392e-01 -1.92472999e-03 -2.86030484e+01] [-1.37252292e-02 2.25793211e-04 9.99905779e-01 -6.34610383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.714203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.29, Y:-28.61, Z:-6.35 [[ 9.92328565e-01 1.22879555e-01 1.35880287e-02 1.98285623e+02] [-1.22864732e-01 9.92421562e-01 -1.92356103e-03 -2.86131787e+01] [-1.37214190e-02 2.39315062e-04 9.99905828e-01 -6.34687752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.744203822 meters Centerline goodness [0,1] 0.9999786634804131 Centerline is valid? [True, True] Translation: X:198.31, Y:-28.62, Z:-6.35 [[ 9.92296118e-01 1.23114394e-01 1.38296863e-02 1.98314172e+02] [-1.23099068e-01 9.92392457e-01 -1.95723397e-03 -2.86199428e+01] [-1.39654400e-02 2.39734172e-04 9.99902450e-01 -6.34784196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.774203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.34, Y:-28.63, Z:-6.35 [[ 9.92016391e-01 1.25324895e-01 1.40410249e-02 1.98342913e+02] [-1.25309319e-01 9.92115732e-01 -1.98716207e-03 -2.86260017e+01] [-1.41793626e-02 2.11826084e-04 9.99899445e-01 -6.34767879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.804203822 meters Centerline goodness [0,1] 0.999935710612035 Centerline is valid? [True, True] Translation: X:198.37, Y:-28.63, Z:-6.35 [[ 9.91766619e-01 1.27346339e-01 1.34863781e-02 1.98372805e+02] [-1.27332160e-01 9.91858296e-01 -1.90838273e-03 -2.86285465e+01] [-1.36196015e-02 1.75420639e-04 9.99907234e-01 -6.34872464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.834203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.40, Y:-28.63, Z:-6.35 [[ 9.91463688e-01 1.29747881e-01 1.28546997e-02 1.98401547e+02] [-1.29735198e-01 9.91547008e-01 -1.81916396e-03 -2.86300790e+01] [-1.29820717e-02 1.35927994e-04 9.99915720e-01 -6.34869591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.864203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.43, Y:-28.63, Z:-6.35 [[ 9.90733764e-01 1.35226139e-01 1.26688581e-02 1.98430709e+02] [-1.35214276e-01 9.90814759e-01 -1.79226045e-03 -2.86296480e+01] [-1.27948520e-02 6.26424643e-05 9.99918141e-01 -6.34942175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.894203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.46, Y:-28.63, Z:-6.35 [[ 9.90345320e-01 1.38015381e-01 1.29576665e-02 1.98458824e+02] [-1.38003215e-01 9.90430085e-01 -1.83265485e-03 -2.86304739e+01] [-1.30865973e-02 2.67615155e-05 9.99914366e-01 -6.35193364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.924203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.49, Y:-28.63, Z:-6.35 [[ 9.89538324e-01 1.43721779e-01 1.25680504e-02 1.98488449e+02] [-1.43710805e-01 9.89618132e-01 -1.77661212e-03 -2.86279792e+01] [-1.26929084e-02 -4.81388692e-05 9.99919441e-01 -6.35258533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.954203822 meters Centerline goodness [0,1] 0.9999567941240008 Centerline is valid? [True, True] Translation: X:198.52, Y:-28.63, Z:-6.35 [[ 9.89177399e-01 1.46216998e-01 1.21927046e-02 1.98516978e+02] [-1.46206867e-01 9.89252538e-01 -1.72303624e-03 -2.86307263e+01] [-1.23136011e-02 -7.82686231e-05 9.99924182e-01 -6.35262659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.984203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.55, Y:-28.63, Z:-6.35 [[ 9.88836965e-01 1.48471502e-01 1.25566363e-02 1.98545390e+02] [-1.48460947e-01 9.88916680e-01 -1.77379233e-03 -2.86331352e+01] [-1.26808247e-02 -1.10178683e-04 9.99919589e-01 -6.35272813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.014203822 meters Centerline goodness [0,1] 0.9999358714007823 Centerline is valid? [True, True] Translation: X:198.57, Y:-28.63, Z:-6.35 [[ 9.88077972e-01 1.53369175e-01 1.34095757e-02 1.98574309e+02] [-1.53357595e-01 9.88168944e-01 -1.89371297e-03 -2.86296709e+01] [-1.35413635e-02 -1.85324213e-04 9.99908294e-01 -6.35405619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.04420382200001 meters Centerline goodness [0,1] 0.9999567352413092 Centerline is valid? [True, True] Translation: X:198.60, Y:-28.63, Z:-6.35 [[ 9.87743741e-01 1.55530684e-01 1.31342251e-02 1.98602573e+02] [-1.55519776e-01 9.87831039e-01 -1.85404352e-03 -2.86316622e+01] [-1.32627559e-02 -2.11311872e-04 9.99912023e-01 -6.35366042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.07420382200002 meters Centerline goodness [0,1] 0.9999785177228786 Centerline is valid? [True, True] Translation: X:198.63, Y:-28.63, Z:-6.36 [[ 9.87443311e-01 1.57435231e-01 1.30328997e-02 1.98630897e+02] [-1.57424668e-01 9.87529287e-01 -1.83894550e-03 -2.86313555e+01] [-1.31598850e-02 -2.35845478e-04 9.99913377e-01 -6.35608141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.10420382200002 meters Centerline goodness [0,1] 0.9999786073376832 Centerline is valid? [True, True] Translation: X:198.66, Y:-28.63, Z:-6.36 [[ 9.87148419e-01 1.59245426e-01 1.33750914e-02 1.98659134e+02] [-1.59234473e-01 9.87238990e-01 -1.88673863e-03 -2.86314778e+01] [-1.35048663e-02 -2.67284584e-04 9.99908769e-01 -6.35733030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.13420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.69, Y:-28.64, Z:-6.36 [[ 9.87208548e-01 1.58838266e-01 1.37727468e-02 1.98686754e+02] [-1.58826635e-01 9.87304579e-01 -1.94119410e-03 -2.86358305e+01] [-1.39062319e-02 -2.71115633e-04 9.99903267e-01 -6.35812295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.16420382200002 meters Centerline goodness [0,1] 0.9999786224293471 Centerline is valid? [True, True] Translation: X:198.71, Y:-28.65, Z:-6.36 [[ 9.87716491e-01 1.55584563e-01 1.44767568e-02 1.98713984e+02] [-1.55571379e-01 9.87822548e-01 -2.03931445e-03 -2.86484209e+01] [-1.46177527e-02 -2.37904505e-04 9.99893127e-01 -6.35515237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.19420382200002 meters Centerline goodness [0,1] 0.9999786753102743 Centerline is valid? [True, True] Translation: X:198.74, Y:-28.66, Z:-6.36 [[ 9.88051626e-01 1.53391843e-01 1.49975610e-02 1.98741385e+02] [-1.53377450e-01 9.88165420e-01 -2.11207144e-03 -2.86552397e+01] [-1.51440457e-02 -2.13452047e-04 9.99885300e-01 -6.35576200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.22420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.77, Y:-28.66, Z:-6.36 [[ 9.88366414e-01 1.51372713e-01 1.47693303e-02 1.98769323e+02] [-1.51358545e-01 9.88476742e-01 -2.07888856e-03 -2.86636193e+01] [-1.49138265e-02 -1.80760710e-04 9.99888766e-01 -6.35513260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.25420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.80, Y:-28.67, Z:-6.36 [[ 9.88903361e-01 1.47908512e-01 1.39001964e-02 1.98796209e+02] [-1.47895626e-01 9.89001040e-01 -1.95613564e-03 -2.86709152e+01] [-1.40366378e-02 -1.21349149e-04 9.99901474e-01 -6.36061746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.28420382200002 meters Centerline goodness [0,1] 0.9998272100909307 Centerline is valid? [True, True] Translation: X:198.82, Y:-28.68, Z:-6.36 [[ 9.89162155e-01 1.46256463e-01 1.29336417e-02 1.98824335e+02] [-1.46245177e-01 9.89246703e-01 -1.81920791e-03 -2.86795577e+01] [-1.30606333e-02 -9.19911048e-05 9.99914702e-01 -6.36293065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.314203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.85, Y:-28.69, Z:-6.37 [[ 9.89743394e-01 1.42274474e-01 1.28836253e-02 1.98850969e+02] [-1.42262943e-01 9.89827244e-01 -1.81174351e-03 -2.86916518e+01] [-1.30103282e-02 -3.97012885e-05 9.99915361e-01 -6.36501905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.344203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.88, Y:-28.70, Z:-6.36 [[ 9.90018297e-01 1.40252851e-01 1.38892043e-02 1.98878773e+02] [-1.40239269e-01 9.90115719e-01 -1.95187916e-03 -2.86995933e+01] [-1.40256761e-02 -1.54157816e-05 9.99901635e-01 -6.36414360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.374203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.91, Y:-28.71, Z:-6.36 [[ 9.90309013e-01 1.38161494e-01 1.41230257e-02 1.98906686e+02] [-1.38147248e-01 9.90409714e-01 -1.98404356e-03 -2.87074218e+01] [-1.42617003e-02 1.37590803e-05 9.99898297e-01 -6.36441473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.404203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.94, Y:-28.72, Z:-6.36 [[ 9.90723079e-01 1.35174108e-01 1.39907450e-02 1.98935803e+02] [-1.35159844e-01 9.90821860e-01 -1.96443514e-03 -2.87167804e+01] [-1.41278768e-02 5.52243119e-05 9.99900195e-01 -6.36428310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.434203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.96, Y:-28.72, Z:-6.37 [[ 9.90831924e-01 1.34393918e-01 1.37975760e-02 1.98964931e+02] [-1.34379974e-01 9.90927985e-01 -1.93698972e-03 -2.87218702e+01] [-1.39327238e-02 6.51133446e-05 9.99902933e-01 -6.36583920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.464203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.99, Y:-28.73, Z:-6.37 [[ 9.90838208e-01 1.34347585e-01 1.37975677e-02 1.98992989e+02] [-1.34333636e-01 9.90934267e-01 -1.93704868e-03 -2.87257161e+01] [-1.39327205e-02 6.58244033e-05 9.99902933e-01 -6.36670404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.494203822 meters Centerline goodness [0,1] 0.9999566207569678 Centerline is valid? [True, True] Translation: X:199.02, Y:-28.73, Z:-6.37 [[ 9.90848877e-01 1.34329470e-01 1.31945662e-02 1.99023383e+02] [-1.34316731e-01 9.90936723e-01 -1.85101428e-03 -2.87296278e+01] [-1.33236259e-02 6.18244303e-05 9.99911235e-01 -6.36785752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.524203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.05, Y:-28.73, Z:-6.37 [[ 9.90685277e-01 1.35605023e-01 1.24080223e-02 1.99052270e+02] [-1.35593849e-01 9.90762977e-01 -1.74133733e-03 -2.87327686e+01] [-1.25295432e-02 4.26657458e-05 9.99921501e-01 -6.37078828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.554203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.08, Y:-28.74, Z:-6.37 [[ 9.90608426e-01 1.36225561e-01 1.17278302e-02 1.99081234e+02] [-1.36215624e-01 9.90677846e-01 -1.64574527e-03 -2.87360927e+01] [-1.18426942e-02 3.27754203e-05 9.99929872e-01 -6.37107801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.584203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.11, Y:-28.74, Z:-6.37 [[ 9.90540065e-01 1.36684893e-01 1.21498472e-02 1.99108597e+02] [-1.36674267e-01 9.90614577e-01 -1.70452521e-03 -2.87424770e+01] [-1.22687985e-02 2.78290525e-05 9.99924735e-01 -6.37456079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.614203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.14, Y:-28.75, Z:-6.38 [[ 9.90602846e-01 1.36217082e-01 1.22844707e-02 1.99136611e+02] [-1.36206202e-01 9.90679012e-01 -1.72194650e-03 -2.87490155e+01] [-1.24045258e-02 3.25440020e-05 9.99923060e-01 -6.37764660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.644203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.17, Y:-28.76, Z:-6.38 [[ 9.90712374e-01 1.35454623e-01 1.18758787e-02 1.99166052e+02] [-1.35444403e-01 9.90783550e-01 -1.66437257e-03 -2.87550929e+01] [-1.19918722e-02 4.03932017e-05 9.99928094e-01 -6.37674404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.674203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.20, Y:-28.77, Z:-6.38 [[ 9.91057869e-01 1.32933723e-01 1.15293350e-02 1.99195458e+02] [-1.32923928e-01 9.91124927e-01 -1.61510403e-03 -2.87652258e+01] [-1.16417131e-02 6.81370572e-05 9.99932231e-01 -6.37635469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.704203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.23, Y:-28.77, Z:-6.38 [[ 9.91231027e-01 1.31631201e-01 1.15878066e-02 1.99225051e+02] [-1.31621218e-01 9.91298754e-01 -1.62329511e-03 -2.87730698e+01] [-1.17006546e-02 8.38592620e-05 9.99931541e-01 -6.37699574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.734203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.25, Y:-28.79, Z:-6.38 [[ 9.91546489e-01 1.29163606e-01 1.23419045e-02 1.99254251e+02] [-1.29152093e-01 9.91623290e-01 -1.72871072e-03 -2.87861645e+01] [-1.24618064e-02 1.20114255e-04 9.99922341e-01 -6.37841955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.764203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.28, Y:-28.79, Z:-6.38 [[ 9.91640150e-01 1.28474876e-01 1.20007636e-02 1.99284906e+02] [-1.28463942e-01 9.91712756e-01 -1.68083762e-03 -2.87945443e+01] [-1.21172557e-02 1.25120677e-04 9.99926576e-01 -6.37763608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.79420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.31, Y:-28.80, Z:-6.38 [[ 9.91659429e-01 1.28336895e-01 1.18835047e-02 1.99314457e+02] [-1.28326157e-01 9.91730621e-01 -1.66493561e-03 -2.88033831e+01] [-1.19989082e-02 1.26084606e-04 9.99928003e-01 -6.37958424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.82420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.34, Y:-28.81, Z:-6.38 [[ 9.91431973e-01 1.30150484e-01 1.11128199e-02 1.99344306e+02] [-1.30141206e-01 9.91494247e-01 -1.55707737e-03 -2.88088821e+01] [-1.12209514e-02 9.75005121e-05 9.99937038e-01 -6.38221879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.85420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.38, Y:-28.81, Z:-6.38 [[ 9.91219919e-01 1.31771363e-01 1.09260850e-02 1.99376012e+02] [-1.31762494e-01 9.91280133e-01 -1.53079826e-03 -2.88110502e+01] [-1.10325263e-02 7.77095245e-05 9.99939137e-01 -6.38206195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.88420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.41, Y:-28.81, Z:-6.38 [[ 9.90667276e-01 1.35859020e-01 1.09851818e-02 1.99406198e+02] [-1.35850298e-01 9.90728179e-01 -1.53983381e-03 -2.88124130e+01] [-1.10925295e-02 3.31227491e-05 9.99938475e-01 -6.38229272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.91420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.44, Y:-28.82, Z:-6.39 [[ 9.90386848e-01 1.37850764e-01 1.14480874e-02 1.99435141e+02] [-1.37841421e-01 9.90453011e-01 -1.60495960e-03 -2.88158297e+01] [-1.15600375e-02 1.15102411e-05 9.99933180e-01 -6.38572392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.94420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.47, Y:-28.82, Z:-6.38 [[ 9.90112337e-01 1.39771353e-01 1.18965902e-02 1.99465475e+02] [-1.39761407e-01 9.90183806e-01 -1.66743813e-03 -2.88187614e+01] [-1.20128710e-02 -1.17331146e-05 9.99927843e-01 -6.38354997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.97420382200002 meters Centerline goodness [0,1] 0.9998714983294783 Centerline is valid? [True, True] Translation: X:199.50, Y:-28.82, Z:-6.39 [[ 9.89637594e-01 1.43041493e-01 1.25125255e-02 1.99495229e+02] [-1.43030755e-01 9.89716691e-01 -1.75350859e-03 -2.88201731e+01] [-1.26346798e-02 -5.43379478e-05 9.99920178e-01 -6.38601208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.00420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.52, Y:-28.82, Z:-6.38 [[ 9.89462124e-01 1.44149552e-01 1.36239394e-02 1.99524425e+02] [-1.44136917e-01 9.89555911e-01 -1.90995145e-03 -2.88228855e+01] [-1.37569684e-02 -7.38880033e-05 9.99905366e-01 -6.38442809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.03420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.55, Y:-28.83, Z:-6.38 [[ 9.89197299e-01 1.45906961e-01 1.41372783e-02 1.99553549e+02] [-1.45893535e-01 9.89298311e-01 -1.98191451e-03 -2.88262069e+01] [-1.42751607e-02 -1.02033035e-04 9.99898099e-01 -6.38405899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.064203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.58, Y:-28.83, Z:-6.39 [[ 9.89143065e-01 1.46260591e-01 1.42771444e-02 1.99582347e+02] [-1.46246937e-01 9.89246091e-01 -2.00136082e-03 -2.88302428e+01] [-1.44163295e-02 -1.08356467e-04 9.99896073e-01 -6.38585911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.094203822 meters Centerline goodness [0,1] 0.9999785968066436 Centerline is valid? [True, True] Translation: X:199.61, Y:-28.84, Z:-6.39 [[ 9.89110009e-01 1.46534165e-01 1.37523977e-02 1.99611780e+02] [-1.46521536e-01 9.89205604e-01 -1.92695082e-03 -2.88364941e+01] [-1.38863130e-02 -1.09056082e-04 9.99903575e-01 -6.38652209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.124203822 meters Centerline goodness [0,1] 0.9999785403120238 Centerline is valid? [True, True] Translation: X:199.64, Y:-28.85, Z:-6.39 [[ 9.89185882e-01 1.46037905e-01 1.35728322e-02 1.99641376e+02] [-1.46025561e-01 9.89278990e-01 -1.90143325e-03 -2.88486013e+01] [-1.37049990e-02 -1.01109498e-04 9.99906077e-01 -6.38648740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.154203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.67, Y:-28.86, Z:-6.39 [[ 9.89282396e-01 1.45384856e-01 1.35493418e-02 1.99671033e+02] [-1.45372494e-01 9.89375174e-01 -1.89814246e-03 -2.88559218e+01] [-1.36813436e-02 -9.19026823e-05 9.99906402e-01 -6.38730671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.184203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.70, Y:-28.86, Z:-6.39 [[ 9.89480827e-01 1.43984870e-01 1.40018142e-02 1.99701134e+02] [-1.43971531e-01 9.89579886e-01 -1.96132892e-03 -2.88620884e+01] [-1.41383154e-02 -7.51652664e-05 9.99900046e-01 -6.38863303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.214203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.73, Y:-28.87, Z:-6.39 [[ 9.89574897e-01 1.43367336e-01 1.36868571e-02 1.99731947e+02] [-1.43354532e-01 9.89669542e-01 -1.91716276e-03 -2.88691261e+01] [-1.38203241e-02 -6.48968520e-05 9.99904493e-01 -6.38875273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.244203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.76, Y:-28.88, Z:-6.39 [[ 9.89727733e-01 1.42339566e-01 1.33590147e-02 1.99762337e+02] [-1.42327305e-01 9.89817885e-01 -1.86896678e-03 -2.88831738e+01] [-1.34890195e-02 -5.15842962e-05 9.99909018e-01 -6.38953957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.274203822 meters Centerline goodness [0,1] 0.9998935649360325 Centerline is valid? [True, True] Translation: X:199.79, Y:-28.89, Z:-6.40 [[ 9.89777924e-01 1.41972155e-01 1.35487030e-02 1.99792668e+02] [-1.41959457e-01 9.89870651e-01 -1.89931015e-03 -2.88915854e+01] [-1.36811126e-02 -4.34712665e-05 9.99906408e-01 -6.39529025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.304203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.82, Y:-28.90, Z:-6.39 [[ 9.89819463e-01 1.41675182e-01 1.36225638e-02 1.99824431e+02] [-1.41662321e-01 9.89913199e-01 -1.90935401e-03 -2.89003158e+01] [-1.37556637e-02 -3.98882370e-05 9.99905386e-01 -6.39156764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.334203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.85, Y:-28.91, Z:-6.39 [[ 9.89831873e-01 1.41521168e-01 1.43046119e-02 1.99854343e+02] [-1.41506916e-01 9.89935229e-01 -2.00876246e-03 -2.89084814e+01] [-1.44449217e-02 -3.58644017e-05 9.99895666e-01 -6.39479177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.364203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.89, Y:-28.92, Z:-6.39 [[ 9.89771029e-01 1.41977522e-01 1.39890481e-02 1.99886372e+02] [-1.41963913e-01 9.89869881e-01 -1.96612628e-03 -2.89152625e+01] [-1.41264831e-02 -3.99251820e-05 9.99900215e-01 -6.39386617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.394203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.92, Y:-28.92, Z:-6.39 [[ 9.89596492e-01 1.43255270e-01 1.32932596e-02 1.99917846e+02] [-1.43243061e-01 9.89685771e-01 -1.87095732e-03 -2.89219867e+01] [-1.34241744e-02 -5.26744049e-05 9.99909890e-01 -6.39465059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.424203822 meters Centerline goodness [0,1] 0.9999565793187295 Centerline is valid? [True, True] Translation: X:199.95, Y:-28.93, Z:-6.40 [[ 9.89464953e-01 1.44212190e-01 1.27260138e-02 1.99949396e+02] [-1.44201055e-01 9.89546785e-01 -1.79307327e-03 -2.89274759e+01] [-1.28515691e-02 -6.09214625e-05 9.99917413e-01 -6.39834816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.454203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.98, Y:-28.93, Z:-6.40 [[ 9.89298516e-01 1.45349459e-01 1.27271937e-02 1.99980692e+02] [-1.45338390e-01 9.89380377e-01 -1.79526787e-03 -2.89332372e+01] [-1.28529769e-02 -7.36940050e-05 9.99917394e-01 -6.40000748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.484203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.01, Y:-28.94, Z:-6.40 [[ 9.89161980e-01 1.46335172e-01 1.20247255e-02 2.00011979e+02] [-1.46325337e-01 9.89235064e-01 -1.69843098e-03 -2.89406785e+01] [-1.21438203e-02 -7.94986552e-05 9.99926258e-01 -6.40011472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.514203822 meters Centerline goodness [0,1] 0.9999356444139351 Centerline is valid? [True, True] Translation: X:200.04, Y:-28.95, Z:-6.40 [[ 9.88901469e-01 1.48155513e-01 1.11278066e-02 2.00043655e+02] [-1.48147189e-01 9.88964072e-01 -1.57326854e-03 -2.89479466e+01] [-1.12380893e-02 -9.27456958e-05 9.99936846e-01 -6.40408322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.54420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.08, Y:-28.95, Z:-6.40 [[ 9.88765359e-01 1.49047334e-01 1.13117738e-02 2.00075585e+02] [-1.49038767e-01 9.88830057e-01 -1.60130938e-03 -2.89531642e+01] [-1.14240928e-02 -1.02573576e-04 9.99934738e-01 -6.40270548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.57420382200002 meters Centerline goodness [0,1] 0.9999142183143899 Centerline is valid? [True, True] Translation: X:200.11, Y:-28.96, Z:-6.40 [[ 9.88459806e-01 1.51090676e-01 1.09004182e-02 2.00107393e+02] [-1.51082827e-01 9.88519900e-01 -1.54474191e-03 -2.89590615e+01] [-1.10086765e-02 -1.19950719e-04 9.99939395e-01 -6.40365102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.60420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.14, Y:-28.96, Z:-6.40 [[ 9.88273309e-01 1.52235386e-01 1.18429040e-02 2.00138734e+02] [-1.52226170e-01 9.88344255e-01 -1.68104466e-03 -2.89633282e+01] [-1.19607807e-02 -1.41468351e-04 9.99928457e-01 -6.40445817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.63420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.17, Y:-28.97, Z:-6.40 [[ 9.88031458e-01 1.53646262e-01 1.36624776e-02 2.00170402e+02] [-1.53634093e-01 9.88125900e-01 -1.94211137e-03 -2.89679369e+01] [-1.37986461e-02 -1.80155214e-04 9.99904778e-01 -6.40235239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.66420382200002 meters Centerline goodness [0,1] 0.9999788198415724 Centerline is valid? [True, True] Translation: X:200.20, Y:-28.97, Z:-6.40 [[ 9.87395018e-01 1.57489944e-01 1.57478892e-02 2.00202120e+02] [-1.57474193e-01 9.87520555e-01 -2.24305786e-03 -2.89710066e+01] [-1.59046234e-02 -2.65101994e-04 9.99873478e-01 -6.39839394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.69420382200002 meters Centerline goodness [0,1] 0.9999366339979723 Centerline is valid? [True, True] Translation: X:200.23, Y:-28.97, Z:-6.40 [[ 9.87014068e-01 1.59856293e-01 1.57859165e-02 2.00233294e+02] [-1.59840760e-01 9.87140250e-01 -2.24899442e-03 -2.89720083e+01] [-1.59424295e-02 -3.03443763e-04 9.99872865e-01 -6.39943648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.72420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.27, Y:-28.97, Z:-6.40 [[ 9.86224201e-01 1.64575240e-01 1.66377982e-02 2.00265007e+02] [-1.64558579e-01 9.86364453e-01 -2.37493229e-03 -2.89723701e+01] [-1.68017878e-02 -3.95676733e-04 9.99858762e-01 -6.39679793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.75420382200002 meters Centerline goodness [0,1] 0.9999141980737467 Centerline is valid? [True, True] Translation: X:200.30, Y:-28.98, Z:-6.40 [[ 9.85819165e-01 1.66953981e-01 1.69393648e-02 2.00297229e+02] [-1.66937087e-01 9.85964588e-01 -2.41647052e-03 -2.89753164e+01] [-1.71050532e-02 -4.45605268e-04 9.99853599e-01 -6.39684989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.78420382200002 meters Centerline goodness [0,1] 0.9994095193909615 Centerline is valid? [True, True] Translation: X:200.33, Y:-28.97, Z:-6.40 [[ 9.85206414e-01 1.70671828e-01 1.54741241e-02 2.00328856e+02] [-1.70658118e-01 9.85327821e-01 -2.21197341e-03 -2.89674410e+01] [-1.56246066e-02 -4.61534508e-04 9.99877822e-01 -6.40279429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.814203822 meters Centerline goodness [0,1] 0.9997011037810372 Centerline is valid? [True, True] Translation: X:200.36, Y:-28.97, Z:-6.40 [[ 9.84992624e-01 1.71973042e-01 1.46561681e-02 2.00359244e+02] [-1.71960882e-01 9.85101550e-01 -2.09540274e-03 -2.89697352e+01] [-1.47981667e-02 -4.56331339e-04 9.99890397e-01 -6.40438671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.844203822 meters Centerline goodness [0,1] 0.9995099710243737 Centerline is valid? [True, True] Translation: X:200.39, Y:-28.97, Z:-6.41 [[ 9.84849729e-01 1.72819382e-01 1.42994123e-02 2.00389005e+02] [-1.72807893e-01 9.84953426e-01 -2.04458833e-03 -2.89733930e+01] [-1.44375996e-02 -4.57439033e-04 9.99895668e-01 -6.40548931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.874203822 meters Centerline goodness [0,1] 0.9948977440438541 Centerline is valid? [True, True] Translation: X:200.42, Y:-28.97, Z:-6.41 [[ 9.84764975e-01 1.73309335e-01 1.42062742e-02 2.00417792e+02] [-1.73298052e-01 9.84867332e-01 -2.03080623e-03 -2.89706232e+01] [-1.43432531e-02 -4.62052806e-04 9.99897023e-01 -6.40939131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.904203822 meters Centerline goodness [0,1] 0.9977743060757164 Centerline is valid? [True, True] Translation: X:200.45, Y:-28.97, Z:-6.41 [[ 9.84754570e-01 1.73432924e-01 1.33962199e-02 2.00447439e+02] [-1.73422895e-01 9.84845587e-01 -1.91558459e-03 -2.89748716e+01] [-1.35254335e-02 -4.36830554e-04 9.99908432e-01 -6.40897808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.934203822 meters Centerline goodness [0,1] 0.9995294620896161 Centerline is valid? [True, True] Translation: X:200.48, Y:-28.98, Z:-6.41 [[ 9.84857451e-01 1.72856413e-01 1.32838883e-02 2.00476972e+02] [-1.72846503e-01 9.84946942e-01 -1.89923102e-03 -2.89763706e+01] [-1.34122194e-02 -4.25601820e-04 9.99909962e-01 -6.40846593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.964203822 meters Centerline goodness [0,1] 0.9994681982556903 Centerline is valid? [True, True] Translation: X:200.51, Y:-28.98, Z:-6.41 [[ 9.84970836e-01 1.72142814e-01 1.41174911e-02 2.00505623e+02] [-1.72131550e-01 9.85071904e-01 -2.01821951e-03 -2.89771183e+01] [-1.42541658e-02 -4.42178259e-04 9.99898306e-01 -6.40890163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.994203822 meters Centerline goodness [0,1] 0.9995089981427321 Centerline is valid? [True, True] Translation: X:200.54, Y:-28.98, Z:-6.41 [[ 9.85119788e-01 1.71273366e-01 1.42981312e-02 2.00535224e+02] [-1.71261732e-01 9.85223449e-01 -2.04332210e-03 -2.89788960e+01] [-1.44368208e-02 -4.35805688e-04 9.99895689e-01 -6.40890330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.024203822 meters Centerline goodness [0,1] 0.9996385593400519 Centerline is valid? [True, True] Translation: X:200.56, Y:-28.98, Z:-6.41 [[ 9.85319475e-01 1.70098916e-01 1.45564479e-02 2.00563868e+02] [-1.70086729e-01 9.85426901e-01 -2.08025212e-03 -2.89816967e+01] [-1.46981640e-02 -4.26145693e-04 9.99891885e-01 -6.40905717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.054203822 meters Centerline goodness [0,1] 0.999848978447067 Centerline is valid? [True, True] Translation: X:200.59, Y:-28.99, Z:-6.41 [[ 9.85832604e-01 1.67148293e-01 1.39830436e-02 2.00593404e+02] [-1.67136767e-01 9.85931698e-01 -1.99713459e-03 -2.89887809e+01] [-1.41201435e-02 -3.68240306e-04 9.99900238e-01 -6.40854125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.084203822 meters Centerline goodness [0,1] 0.9998727141584285 Centerline is valid? [True, True] Translation: X:200.62, Y:-28.99, Z:-6.41 [[ 9.86115294e-01 1.65465075e-01 1.40689605e-02 2.00621852e+02] [-1.65453238e-01 9.86215589e-01 -2.00929077e-03 -2.89907052e+01] [-1.42074956e-02 -3.46362711e-04 9.99899008e-01 -6.41085929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.114203822 meters Centerline goodness [0,1] 0.9999148356327713 Centerline is valid? [True, True] Translation: X:200.65, Y:-28.99, Z:-6.41 [[ 9.86650246e-01 1.62262541e-01 1.38621468e-02 2.00651470e+02] [-1.62250734e-01 9.86747577e-01 -1.97967007e-03 -2.89933763e+01] [-1.39996661e-02 -2.95901528e-04 9.99901956e-01 -6.41192255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.144203822 meters Centerline goodness [0,1] 0.9999574748570093 Centerline is valid? [True, True] Translation: X:200.68, Y:-29.00, Z:-6.41 [[ 9.86895896e-01 1.60770189e-01 1.37636230e-02 2.00681367e+02] [-1.60758411e-01 9.86991830e-01 -1.96507813e-03 -2.89971841e+01] [-1.39005094e-02 -2.73290625e-04 9.99903346e-01 -6.41177657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.174203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.71, Y:-29.00, Z:-6.41 [[ 9.87151567e-01 1.59190358e-01 1.37918252e-02 2.00710458e+02] [-1.59178377e-01 9.87247875e-01 -1.96914218e-03 -2.90007478e+01] [-1.39294186e-02 -2.51518567e-04 9.99902949e-01 -6.41219437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.204203822 meters Centerline goodness [0,1] 0.9999787243096039 Centerline is valid? [True, True] Translation: X:200.74, Y:-29.00, Z:-6.42 [[ 9.87578723e-01 1.56569899e-01 1.31959256e-02 2.00739541e+02] [-1.56558698e-01 9.87666859e-01 -1.88397838e-03 -2.89997671e+01] [-1.33281527e-02 -2.05359968e-04 9.99911155e-01 -6.41601668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.234203822 meters Centerline goodness [0,1] 0.9999566574202496 Centerline is valid? [True, True] Translation: X:200.77, Y:-29.00, Z:-6.42 [[ 9.87782142e-01 1.55326165e-01 1.26579033e-02 2.00768755e+02] [-1.55315765e-01 9.87863224e-01 -1.80652479e-03 -2.90040159e+01] [-1.27848778e-02 -1.81519021e-04 9.99918254e-01 -6.41653367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.264203822 meters Centerline goodness [0,1] 0.9999150562752177 Centerline is valid? [True, True] Translation: X:200.80, Y:-29.00, Z:-6.42 [[ 9.88208308e-01 1.52573175e-01 1.28750529e-02 2.00797584e+02] [-1.52562188e-01 9.88292165e-01 -1.83705515e-03 -2.90045800e+01] [-1.30045993e-02 -1.48853082e-04 9.99915426e-01 -6.41912659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.29420382200001 meters Centerline goodness [0,1] 0.9999576665819998 Centerline is valid? [True, True] Translation: X:200.83, Y:-29.01, Z:-6.42 [[ 9.88377062e-01 1.51482608e-01 1.27985880e-02 2.00827389e+02] [-1.51471660e-01 9.88459914e-01 -1.82605121e-03 -2.90086620e+01] [-1.29275062e-02 -1.33796238e-04 9.99916427e-01 -6.41818988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.32420382200002 meters Centerline goodness [0,1] 0.999935757420018 Centerline is valid? [True, True] Translation: X:200.86, Y:-29.01, Z:-6.42 [[ 9.88514363e-01 1.50638871e-01 1.21361195e-02 2.00857139e+02] [-1.50628967e-01 9.88588851e-01 -1.73129636e-03 -2.90116289e+01] [-1.22584329e-02 -1.16639826e-04 9.99924856e-01 -6.41773228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.35420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.89, Y:-29.01, Z:-6.42 [[ 9.88595182e-01 1.50140075e-01 1.17270455e-02 2.00886344e+02] [-1.50130795e-01 9.88664729e-01 -1.67271397e-03 -2.90119152e+01] [-1.18452577e-02 -1.06953693e-04 9.99929837e-01 -6.42014980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.38420382200002 meters Centerline goodness [0,1] 0.9999786552828175 Centerline is valid? [True, True] Translation: X:200.91, Y:-29.01, Z:-6.42 [[ 9.88703720e-01 1.49449082e-01 1.13985201e-02 2.00914948e+02] [-1.49440265e-01 9.88769418e-01 -1.62619626e-03 -2.90101745e+01] [-1.15135417e-02 -9.55715744e-05 9.99933712e-01 -6.42188217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.41420382200002 meters Centerline goodness [0,1] 0.9999786552828175 Centerline is valid? [True, True] Translation: X:200.94, Y:-29.01, Z:-6.42 [[ 9.88710721e-01 1.49402750e-01 1.13986494e-02 2.00943000e+02] [-1.49393940e-01 9.88776420e-01 -1.62528914e-03 -2.90140795e+01] [-1.15135384e-02 -9.59483530e-05 9.99933712e-01 -6.42274708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.44420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.97, Y:-29.02, Z:-6.42 [[ 9.88763655e-01 1.49072296e-01 1.11303716e-02 2.00971745e+02] [-1.49063881e-01 9.88826295e-01 -1.58654309e-03 -2.90154380e+01] [-1.12425138e-02 -9.04202445e-05 9.99936797e-01 -6.42362663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.47420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.00, Y:-29.01, Z:-6.43 [[ 9.88853366e-01 1.48500618e-01 1.07975000e-02 2.01000298e+02] [-1.48492666e-01 9.88912311e-01 -1.53894759e-03 -2.90135222e+01] [-1.09063153e-02 -8.15560480e-05 9.99940521e-01 -6.42553478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.50420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.03, Y:-29.01, Z:-6.43 [[ 9.88926493e-01 1.48010879e-01 1.08245746e-02 2.01028953e+02] [-1.48002869e-01 9.88985730e-01 -1.54176570e-03 -2.90147738e+01] [-1.09335479e-02 -7.73751555e-05 9.99940224e-01 -6.42629042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.53420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.06, Y:-29.02, Z:-6.42 [[ 9.89055841e-01 1.47199328e-01 1.00449522e-02 2.01058126e+02] [-1.47192392e-01 9.89106846e-01 -1.43040284e-03 -2.90173864e+01] [-1.01460854e-02 -6.37922604e-05 9.99948525e-01 -6.42492602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.564203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.09, Y:-29.02, Z:-6.43 [[ 9.89543310e-01 1.43849190e-01 1.05568624e-02 2.01086027e+02] [-1.43841342e-01 9.89599621e-01 -1.50293413e-03 -2.90200383e+01] [-1.06632629e-02 -3.12948463e-05 9.99943145e-01 -6.42837332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.594203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.11, Y:-29.03, Z:-6.43 [[ 9.89906987e-01 1.41343598e-01 1.03026164e-02 2.01112834e+02] [-1.41335995e-01 9.89960599e-01 -1.46606797e-03 -2.90257736e+01] [-1.04064036e-02 -4.85960860e-06 9.99945852e-01 -6.42981998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.624203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.14, Y:-29.03, Z:-6.43 [[ 9.90507708e-01 1.37102848e-01 9.86357250e-03 2.01142029e+02] [-1.37095680e-01 9.90556817e-01 -1.40237337e-03 -2.90338186e+01] [-9.96269836e-03 3.68084499e-05 9.99950370e-01 -6.42729479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.654203822 meters Centerline goodness [0,1] 0.9999145499989319 Centerline is valid? [True, True] Translation: X:201.17, Y:-29.04, Z:-6.43 [[ 9.90675385e-01 1.35869655e-01 1.00855324e-02 2.01169676e+02] [-1.35862093e-01 9.90726720e-01 -1.43440719e-03 -2.90386749e+01] [-1.01868989e-02 5.07903545e-05 9.99948111e-01 -6.43176019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.684203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.20, Y:-29.04, Z:-6.43 [[ 9.90824795e-01 1.34771055e-01 1.01482797e-02 2.01197250e+02] [-1.34763348e-01 9.90876763e-01 -1.44263747e-03 -2.90402145e+01] [-1.02501203e-02 6.17848293e-05 9.99947464e-01 -6.43004785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.714203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.23, Y:-29.04, Z:-6.43 [[ 9.90793779e-01 1.35010575e-01 9.99157343e-03 2.01226595e+02] [-1.35003123e-01 9.90844156e-01 -1.41960768e-03 -2.90404269e+01] [-1.00917542e-02 5.76448428e-05 9.99949075e-01 -6.42801352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.744203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.25, Y:-29.04, Z:-6.43 [[ 9.90702348e-01 1.35687050e-01 9.89358725e-03 2.01254393e+02] [-1.35679780e-01 9.90751746e-01 -1.40545166e-03 -2.90420019e+01] [-9.99279043e-03 5.00245209e-05 9.99950070e-01 -6.43032004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.774203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.28, Y:-29.04, Z:-6.43 [[ 9.90575988e-01 1.36615490e-01 9.76834397e-03 2.01283691e+02] [-1.36608456e-01 9.90624150e-01 -1.38680916e-03 -2.90435453e+01] [-9.86621705e-03 3.93014592e-05 9.99951327e-01 -6.43101388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.804203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.31, Y:-29.05, Z:-6.44 [[ 9.90508034e-01 1.37082910e-01 1.01049322e-02 2.01311166e+02] [-1.37075410e-01 9.90559577e-01 -1.43436196e-03 -2.90467332e+01] [-1.02061638e-02 3.56093242e-05 9.99947915e-01 -6.43761806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.834203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.34, Y:-29.05, Z:-6.43 [[ 9.90549954e-01 1.36780679e-01 1.00913194e-02 2.01339875e+02] [-1.36773193e-01 9.90601355e-01 -1.43144560e-03 -2.90476243e+01] [-1.01922687e-02 3.76963942e-05 9.99948057e-01 -6.43245187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.864203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.37, Y:-29.05, Z:-6.43 [[ 9.90650012e-01 1.36018614e-01 1.05589160e-02 2.01367656e+02] [-1.36010380e-01 9.90706281e-01 -1.49741431e-03 -2.90522431e+01] [-1.06644606e-02 4.72913305e-05 9.99943132e-01 -6.43485386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.894203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.40, Y:-29.06, Z:-6.43 [[ 9.90765518e-01 1.35159571e-01 1.07507877e-02 2.01396608e+02] [-1.35150994e-01 9.90823843e-01 -1.52369759e-03 -2.90564458e+01] [-1.08580791e-02 5.66473850e-05 9.99941048e-01 -6.43290986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.924203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.42, Y:-29.06, Z:-6.43 [[ 9.91022711e-01 1.33221415e-01 1.12267547e-02 2.01423451e+02] [-1.33211941e-01 9.91086297e-01 -1.59076222e-03 -2.90624594e+01] [-1.13386063e-02 8.09437029e-05 9.99935713e-01 -6.43416617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.954203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.45, Y:-29.07, Z:-6.44 [[ 9.91118003e-01 1.32466116e-01 1.17401655e-02 2.01450889e+02] [-1.32455713e-01 9.91187530e-01 -1.66268326e-03 -2.90679655e+01] [-1.18569548e-02 9.28633195e-05 9.99929700e-01 -6.43629765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.984203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.48, Y:-29.07, Z:-6.43 [[ 9.91127376e-01 1.32353103e-01 1.22139732e-02 2.01479945e+02] [-1.32341847e-01 9.91202626e-01 -1.72878156e-03 -2.90707009e+01] [-1.23353319e-02 9.70229505e-05 9.99923912e-01 -6.43257058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.014203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.51, Y:-29.08, Z:-6.43 [[ 9.90864346e-01 1.34171180e-01 1.36360908e-02 2.01508277e+02] [-1.34157338e-01 9.90958166e-01 -1.92901114e-03 -2.90754680e+01] [-1.37716132e-02 8.20067246e-05 9.99905163e-01 -6.43363462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.04420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.54, Y:-29.08, Z:-6.43 [[ 9.90603867e-01 1.36031008e-01 1.41260089e-02 2.01537689e+02] [-1.36016353e-01 9.90704578e-01 -1.99754079e-03 -2.90774774e+01] [-1.42664292e-02 5.74034223e-05 9.99898228e-01 -6.43212511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.07420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.57, Y:-29.07, Z:-6.43 [[ 9.89767789e-01 1.41968763e-01 1.43036311e-02 2.01567217e+02] [-1.41954359e-01 9.89871138e-01 -2.02250917e-03 -2.90722540e+01] [-1.44458847e-02 -2.86483489e-05 9.99895652e-01 -6.43136578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.10420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.60, Y:-29.07, Z:-6.43 [[ 9.89249543e-01 1.45554655e-01 1.41132497e-02 2.01596764e+02] [-1.45541000e-01 9.89350209e-01 -1.99528457e-03 -2.90694209e+01] [-1.42533695e-02 -8.02221359e-05 9.99898412e-01 -6.43303042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.13420382200002 meters Centerline goodness [0,1] 0.9999787224988297 Centerline is valid? [True, True] Translation: X:201.63, Y:-29.07, Z:-6.44 [[ 9.88666712e-01 1.49468605e-01 1.40452294e-02 2.01625339e+02] [-1.49455484e-01 9.88766463e-01 -1.98517836e-03 -2.90652339e+01] [-1.41841736e-02 -1.36456785e-04 9.99899390e-01 -6.43512251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.16420382200002 meters Centerline goodness [0,1] 0.999957791659632 Centerline is valid? [True, True] Translation: X:201.66, Y:-29.05, Z:-6.44 [[ 9.87428500e-01 1.57391778e-01 1.45871659e-02 2.01656297e+02] [-1.57378503e-01 9.87536207e-01 -2.06067137e-03 -2.90518294e+01] [-1.47296872e-02 -2.60940706e-04 9.99891478e-01 -6.43641207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.19420382200002 meters Centerline goodness [0,1] 0.9999139211086961 Centerline is valid? [True, True] Translation: X:201.69, Y:-29.05, Z:-6.44 [[ 9.86900250e-01 1.60710725e-01 1.41406711e-02 2.01685854e+02] [-1.60698605e-01 9.87001506e-01 -1.99665030e-03 -2.90502858e+01] [-1.42777468e-02 -3.01891431e-04 9.99898022e-01 -6.43674891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.22420382200002 meters Centerline goodness [0,1] 0.9999141041058237 Centerline is valid? [True, True] Translation: X:201.72, Y:-29.05, Z:-6.44 [[ 9.86409260e-01 1.63711854e-01 1.39714520e-02 2.01715148e+02] [-1.63700327e-01 9.86508141e-01 -1.97249902e-03 -2.90475799e+01] [-1.41058726e-02 -3.41439950e-04 9.99900449e-01 -6.43850052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.25420382200002 meters Centerline goodness [0,1] 0.9993599453820059 Centerline is valid? [True, True] Translation: X:201.75, Y:-29.04, Z:-6.44 [[ 9.85593353e-01 1.68546067e-01 1.40700122e-02 2.01745745e+02] [-1.68534885e-01 9.85693690e-01 -1.98524437e-03 -2.90373279e+01] [-1.42033273e-02 -4.14644229e-04 9.99899042e-01 -6.44023502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.28420382200002 meters Centerline goodness [0,1] 0.9993823610844887 Centerline is valid? [True, True] Translation: X:201.77, Y:-29.04, Z:-6.44 [[ 9.85287123e-01 1.70312271e-01 1.42483887e-02 2.01774333e+02] [-1.70300978e-01 9.85390041e-01 -2.01111658e-03 -2.90374658e+01] [-1.43827382e-02 -4.44987262e-04 9.99896464e-01 -6.44005788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.314203822 meters Centerline goodness [0,1] 0.9993127442979254 Centerline is valid? [True, True] Translation: X:201.81, Y:-29.03, Z:-6.44 [[ 9.85001959e-01 1.72042166e-01 1.31390331e-02 2.01805158e+02] [-1.72032744e-01 9.85089490e-01 -1.85244860e-03 -2.90333176e+01] [-1.32618226e-02 -4.35678415e-04 9.99911963e-01 -6.44176430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.344203822 meters Centerline goodness [0,1] 0.9985725242883927 Centerline is valid? [True, True] Translation: X:201.83, Y:-29.03, Z:-6.44 [[ 9.85032311e-01 1.71859731e-01 1.32506134e-02 2.01833760e+02] [-1.71850128e-01 9.85121334e-01 -1.86846733e-03 -2.90300200e+01] [-1.33745762e-02 -4.36618920e-04 9.99910461e-01 -6.44450823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.374203822 meters Centerline goodness [0,1] 0.9992354740061162 Centerline is valid? [True, True] Translation: X:201.86, Y:-29.03, Z:-6.44 [[ 9.85180224e-01 1.70983136e-01 1.35902308e-02 2.01862651e+02] [-1.70972966e-01 9.85273859e-01 -1.91528221e-03 -2.90329217e+01] [-1.37175801e-02 -4.36663907e-04 9.99905814e-01 -6.44370181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.404203822 meters Centerline goodness [0,1] 0.9996173713411135 Centerline is valid? [True, True] Translation: X:201.89, Y:-29.03, Z:-6.45 [[ 9.85461882e-01 1.69335540e-01 1.37968964e-02 2.01891698e+02] [-1.69324882e-01 9.85558369e-01 -1.94550391e-03 -2.90347608e+01] [-1.39270896e-02 -4.18937903e-04 9.99902926e-01 -6.44519379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.434203822 meters Centerline goodness [0,1] 0.9998292240367168 Centerline is valid? [True, True] Translation: X:201.92, Y:-29.04, Z:-6.45 [[ 9.86313806e-01 1.64298847e-01 1.38190195e-02 2.01920484e+02] [-1.64287721e-01 9.86410546e-01 -1.94427428e-03 -2.90392682e+01] [-1.39506685e-02 -3.52630643e-04 9.99902623e-01 -6.44707995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.464203822 meters Centerline goodness [0,1] 0.9998316321161739 Centerline is valid? [True, True] Translation: X:201.95, Y:-29.04, Z:-6.45 [[ 9.86861919e-01 1.60943818e-01 1.41647693e-02 2.01948833e+02] [-1.60931786e-01 9.86963520e-01 -1.99274867e-03 -2.90420928e+01] [-1.43008311e-02 -3.12993833e-04 9.99897689e-01 -6.44953167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.494203822 meters Centerline goodness [0,1] 0.9999785209528105 Centerline is valid? [True, True] Translation: X:201.98, Y:-29.05, Z:-6.45 [[ 9.87965991e-01 1.54015732e-01 1.42251819e-02 2.01977268e+02] [-1.54002890e-01 9.88068372e-01 -2.00035957e-03 -2.90543365e+01] [-1.43635392e-02 -2.14431906e-04 9.99896816e-01 -6.44713870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.524203822 meters Centerline goodness [0,1] 0.9999788122126406 Centerline is valid? [True, True] Translation: X:202.00, Y:-29.06, Z:-6.45 [[ 9.88563505e-01 1.50129575e-01 1.42585573e-02 2.02004449e+02] [-1.50116254e-01 9.88666317e-01 -2.00605760e-03 -2.90576620e+01] [-1.43981239e-02 -1.57325868e-04 9.99896329e-01 -6.45156178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.554203822 meters Centerline goodness [0,1] 0.9999787238569392 Centerline is valid? [True, True] Translation: X:202.03, Y:-29.06, Z:-6.45 [[ 9.89093355e-01 1.46602419e-01 1.42149536e-02 2.02032437e+02] [-1.46588842e-01 9.89195491e-01 -1.99805164e-03 -2.90645031e+01] [-1.43542872e-02 -1.07493988e-04 9.99896966e-01 -6.45187056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.584203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.06, Y:-29.07, Z:-6.45 [[ 9.90091276e-01 1.39639375e-01 1.48361299e-02 2.02060132e+02] [-1.39623813e-01 9.90202426e-01 -2.08463447e-03 -2.90743720e+01] [-1.49818689e-02 -7.49864286e-06 9.99887765e-01 -6.45114851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.614203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.09, Y:-29.08, Z:-6.45 [[ 9.90519515e-01 1.36534187e-01 1.51494600e-02 2.02087829e+02] [-1.36517603e-01 9.90635359e-01 -2.12831019e-03 -2.90803481e+01] [-1.52981778e-02 3.99648118e-05 9.99882975e-01 -6.45004489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.644203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.11, Y:-29.09, Z:-6.45 [[ 9.90860650e-01 1.34044386e-01 1.50756595e-02 2.02114777e+02] [-1.34027696e-01 9.90975326e-01 -2.11665835e-03 -2.90857043e+01] [-1.52233328e-02 7.67575706e-05 9.99884115e-01 -6.45154619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.674203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.14, Y:-29.09, Z:-6.45 [[ 9.91364637e-01 1.30270261e-01 1.50271636e-02 2.02142742e+02] [-1.30253260e-01 9.91478513e-01 -2.10876573e-03 -2.90912357e+01] [-1.51738192e-02 1.33218726e-04 9.99884862e-01 -6.45249668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.704203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.17, Y:-29.09, Z:-6.45 [[ 9.91516119e-01 1.29080860e-01 1.52943358e-02 2.02170997e+02] [-1.29063120e-01 9.91634060e-01 -2.14549796e-03 -2.90945950e+01] [-1.54433270e-02 1.53361122e-04 9.99880733e-01 -6.45261549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.734203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.20, Y:-29.09, Z:-6.45 [[ 9.91576905e-01 1.28522704e-01 1.60360899e-02 2.02199445e+02] [-1.28503139e-01 9.91706552e-01 -2.24886951e-03 -2.90949842e+01] [-1.61921262e-02 1.69239181e-04 9.99868885e-01 -6.45162700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.764203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.23, Y:-29.10, Z:-6.45 [[ 9.91518144e-01 1.28950621e-01 1.62328973e-02 2.02228201e+02] [-1.28930648e-01 9.91651003e-01 -2.27532646e-03 -2.90956111e+01] [-1.63907736e-02 1.63109507e-04 9.99865649e-01 -6.45094339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.79420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.26, Y:-29.10, Z:-6.45 [[ 9.91408653e-01 1.29721108e-01 1.67725236e-02 2.02257536e+02] [-1.29699914e-01 9.91550508e-01 -2.34992742e-03 -2.90975113e+01] [-1.69356395e-02 1.54343514e-04 9.99856570e-01 -6.45178480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.82420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.29, Y:-29.10, Z:-6.45 [[ 9.91052606e-01 1.32263533e-01 1.79190004e-02 2.02286217e+02] [-1.32239765e-01 9.91214580e-01 -2.51012139e-03 -2.90956301e+01] [-1.80935720e-02 1.18057947e-04 9.99836291e-01 -6.45220265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.85420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.32, Y:-29.10, Z:-6.45 [[ 9.90816930e-01 1.34019153e-01 1.79074904e-02 2.02315567e+02] [-1.33995724e-01 9.90978738e-01 -2.50727726e-03 -2.90952194e+01] [-1.80819654e-02 8.47256211e-05 9.99836504e-01 -6.45191112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.88420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.34, Y:-29.09, Z:-6.45 [[ 9.90262273e-01 1.37959821e-01 1.86471992e-02 2.02343889e+02] [-1.37935130e-01 9.90437826e-01 -2.61000430e-03 -2.90917810e+01] [-1.88289671e-02 1.24849425e-05 9.99822719e-01 -6.45306562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.91420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.37, Y:-29.09, Z:-6.45 [[ 9.89938914e-01 1.40205283e-01 1.90637060e-02 2.02373575e+02] [-1.40179919e-01 9.90122456e-01 -2.66692251e-03 -2.90904140e+01] [-1.92493201e-02 -3.22584010e-05 9.99814714e-01 -6.45297899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.94420382200002 meters Centerline goodness [0,1] 0.9999786853099156 Centerline is valid? [True, True] Translation: X:202.40, Y:-29.09, Z:-6.45 [[ 9.89678762e-01 1.42143530e-01 1.81979496e-02 2.02402965e+02] [-1.42120760e-01 9.89846055e-01 -2.54501946e-03 -2.90892578e+01] [-1.83749267e-02 -6.75547183e-05 9.99831165e-01 -6.45477152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.97420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.43, Y:-29.08, Z:-6.46 [[ 9.89161983e-01 1.46024152e-01 1.53465963e-02 2.02432438e+02] [-1.46008437e-01 9.89281018e-01 -2.14554926e-03 -2.90844373e+01] [-1.54953984e-02 -1.18436777e-04 9.99879932e-01 -6.46166554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.00420382200002 meters Centerline goodness [0,1] 0.9999787147995999 Centerline is valid? [True, True] Translation: X:202.46, Y:-29.08, Z:-6.46 [[ 9.88886116e-01 1.47908454e-01 1.50777820e-02 2.02461555e+02] [-1.47893483e-01 9.89001046e-01 -2.10929419e-03 -2.90842705e+01] [-1.52239246e-02 -1.44053967e-04 9.99884099e-01 -6.46286298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.03420382200002 meters Centerline goodness [0,1] 0.9999155494563496 Centerline is valid? [True, True] Translation: X:202.49, Y:-29.08, Z:-6.47 [[ 9.88295737e-01 1.51727100e-01 1.58247787e-02 2.02490260e+02] [-1.51711165e-01 9.88422400e-01 -2.20963270e-03 -2.90776522e+01] [-1.59768269e-02 -2.17025040e-04 9.99872339e-01 -6.46519336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.06420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.52, Y:-29.08, Z:-6.47 [[ 9.88052541e-01 1.53339516e-01 1.54651225e-02 2.02519284e+02] [-1.53324483e-01 9.88173536e-01 -2.16010771e-03 -2.90788100e+01] [-1.56134547e-02 -2.36882010e-04 9.99878075e-01 -6.46548477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.094203822 meters Centerline goodness [0,1] 0.9998729997459995 Centerline is valid? [True, True] Translation: X:202.55, Y:-29.07, Z:-6.47 [[ 9.87592149e-01 1.56225532e-01 1.59790359e-02 2.02548216e+02] [-1.56209932e-01 9.87721365e-01 -2.22745656e-03 -2.90703293e+01] [-1.61308207e-02 -2.96265502e-04 9.99869846e-01 -6.46744469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.124203822 meters Centerline goodness [0,1] 0.9999786151148369 Centerline is valid? [True, True] Translation: X:202.58, Y:-29.07, Z:-6.46 [[ 9.87370670e-01 1.57531261e-01 1.68244447e-02 2.02576887e+02] [-1.57514150e-01 9.87513944e-01 -2.34572443e-03 -2.90730045e+01] [-1.69838987e-02 -3.33988602e-04 9.99855707e-01 -6.46365124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.154203822 meters Centerline goodness [0,1] 0.999957263130903 Centerline is valid? [True, True] Translation: X:202.60, Y:-29.07, Z:-6.46 [[ 9.87166509e-01 1.58746709e-01 1.73713943e-02 2.02604824e+02] [-1.58728733e-01 9.87319272e-01 -2.41752375e-03 -2.90699664e+01] [-1.75348863e-02 -3.70840927e-04 9.99846183e-01 -6.46489232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.184203822 meters Centerline goodness [0,1] 0.9999785568778814 Centerline is valid? [True, True] Translation: X:202.63, Y:-29.07, Z:-6.47 [[ 9.86896482e-01 1.60345633e-01 1.80170123e-02 2.02633496e+02] [-1.60326584e-01 9.87060842e-01 -2.50614175e-03 -2.90690764e+01] [-1.81857362e-02 -4.15303560e-04 9.99834540e-01 -6.46602340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.214203822 meters Centerline goodness [0,1] 0.999978646166987 Centerline is valid? [True, True] Translation: X:202.66, Y:-29.07, Z:-6.47 [[ 9.86914387e-01 1.60259576e-01 1.78006108e-02 2.02661807e+02] [-1.60240974e-01 9.87074820e-01 -2.47573430e-03 -2.90711471e+01] [-1.79672948e-02 -4.09049416e-04 9.99838491e-01 -6.46808853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.244203822 meters Centerline goodness [0,1] 0.9999787982869016 Centerline is valid? [True, True] Translation: X:202.69, Y:-29.07, Z:-6.47 [[ 9.87102805e-01 1.59220366e-01 1.66411551e-02 2.02690183e+02] [-1.59204007e-01 9.87242999e-01 -2.31175667e-03 -2.90729148e+01] [-1.67969426e-02 -3.67397076e-04 9.99858854e-01 -6.47039425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.274203822 meters Centerline goodness [0,1] 0.9998312058233991 Centerline is valid? [True, True] Translation: X:202.72, Y:-29.07, Z:-6.47 [[ 9.87213507e-01 1.58596614e-01 1.60189198e-02 2.02717488e+02] [-1.58581446e-01 9.87343402e-01 -2.22082095e-03 -2.90704203e+01] [-1.61683894e-02 -3.47879020e-04 9.99869223e-01 -6.47444641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.304203822 meters Centerline goodness [0,1] 0.9998312058233991 Centerline is valid? [True, True] Translation: X:202.74, Y:-29.07, Z:-6.48 [[ 9.87242397e-01 1.58416677e-01 1.60189114e-02 2.02744702e+02] [-1.58401485e-01 9.87372289e-01 -2.22088316e-03 -2.90739798e+01] [-1.61684541e-02 -3.44869331e-04 9.99869223e-01 -6.47528503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.334203822 meters Centerline goodness [0,1] 0.9999570797029915 Centerline is valid? [True, True] Translation: X:202.77, Y:-29.08, Z:-6.48 [[ 9.87399266e-01 1.57445456e-01 1.59253679e-02 2.02773517e+02] [-1.57430365e-01 9.87527630e-01 -2.20473435e-03 -2.90774902e+01] [-1.60738662e-02 -3.30183405e-04 9.99870753e-01 -6.47528722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.364203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.80, Y:-29.08, Z:-6.48 [[ 9.87568552e-01 1.56377690e-01 1.59490718e-02 2.02801633e+02] [-1.56362457e-01 9.87697281e-01 -2.20540988e-03 -2.90818914e+01] [-1.60977318e-02 -3.15842609e-04 9.99870373e-01 -6.47514030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.394203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.83, Y:-29.09, Z:-6.48 [[ 9.87887266e-01 1.54273843e-01 1.66832644e-02 2.02829332e+02] [-1.54256954e-01 9.88028082e-01 -2.30226715e-03 -2.90856153e+01] [-1.68387134e-02 -2.99129148e-04 9.99858174e-01 -6.47644575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.424203822 meters Centerline goodness [0,1] 0.999957274999466 Centerline is valid? [True, True] Translation: X:202.86, Y:-29.09, Z:-6.48 [[ 9.88107937e-01 1.52796666e-01 1.72013008e-02 2.02857851e+02] [-1.52778482e-01 9.88257608e-01 -2.37406432e-03 -2.90917834e+01] [-1.73620654e-02 -2.82156819e-04 9.99849228e-01 -6.47605900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.454203822 meters Centerline goodness [0,1] 0.9999786429746065 Centerline is valid? [True, True] Translation: X:202.89, Y:-29.10, Z:-6.48 [[ 9.88501169e-01 1.50127982e-01 1.80839225e-02 2.02885798e+02] [-1.50107525e-01 9.88666539e-01 -2.49103734e-03 -2.90962745e+01] [-1.82529435e-02 -2.52139536e-04 9.99833369e-01 -6.47617001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.484203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.91, Y:-29.10, Z:-6.48 [[ 9.88677908e-01 1.48960204e-01 1.80790233e-02 2.02914124e+02] [-1.48939579e-01 9.88843165e-01 -2.48950563e-03 -2.91015394e+01] [-1.82481559e-02 -2.31362911e-04 9.99833462e-01 -6.47569153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.514203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.94, Y:-29.10, Z:-6.48 [[ 9.88851491e-01 1.47828388e-01 1.78744397e-02 2.02941940e+02] [-1.47808056e-01 9.89013005e-01 -2.46061141e-03 -2.91039765e+01] [-1.80418015e-02 -2.08806911e-04 9.99837212e-01 -6.47733981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.54420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.97, Y:-29.11, Z:-6.48 [[ 9.89085019e-01 1.46051108e-01 1.94909822e-02 2.02970318e+02] [-1.46026616e-01 9.89277027e-01 -2.68162861e-03 -2.91071216e+01] [-1.96736358e-02 -1.93843484e-04 9.99806437e-01 -6.47601127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.57420382200002 meters Centerline goodness [0,1] 0.9999572421165153 Centerline is valid? [True, True] Translation: X:203.00, Y:-29.11, Z:-6.48 [[ 9.89216875e-01 1.45168612e-01 1.93919474e-02 2.02998098e+02] [-1.45144215e-01 9.89406915e-01 -2.66719677e-03 -2.91115470e+01] [-1.95737201e-02 -1.76192929e-04 9.99808401e-01 -6.47814483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.60420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.03, Y:-29.12, Z:-6.48 [[ 9.89332670e-01 1.44416718e-01 1.90966096e-02 2.03026572e+02] [-1.44392942e-01 9.89516946e-01 -2.62532822e-03 -2.91174349e+01] [-1.92755601e-02 -1.60092675e-04 9.99814196e-01 -6.47779286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.63420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.05, Y:-29.12, Z:-6.48 [[ 9.89392375e-01 1.44028560e-01 1.89341452e-02 2.03053410e+02] [-1.44005115e-01 9.89573520e-01 -2.60303354e-03 -2.91170722e+01] [-1.91116398e-02 -1.51192213e-04 9.99817345e-01 -6.48048243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.66420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.08, Y:-29.12, Z:-6.48 [[ 9.89375253e-01 1.44127537e-01 1.90751849e-02 2.03081524e+02] [-1.44103823e-01 9.89559108e-01 -2.61914949e-03 -2.91197616e+01] [-1.92535145e-02 -1.57485369e-04 9.99814622e-01 -6.48061017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.69420382200002 meters Centerline goodness [0,1] 0.9999786498142533 Centerline is valid? [True, True] Translation: X:203.11, Y:-29.12, Z:-6.48 [[ 9.89258167e-01 1.44906112e-01 1.92482983e-02 2.03109942e+02] [-1.44882143e-01 9.89445394e-01 -2.64135863e-03 -2.91206132e+01] [-1.94278891e-02 -1.75749103e-04 9.99811245e-01 -6.48137931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.72420382200002 meters Centerline goodness [0,1] 0.9999784157133607 Centerline is valid? [True, True] Translation: X:203.14, Y:-29.12, Z:-6.48 [[ 9.89097422e-01 1.45923400e-01 1.98154296e-02 2.03138379e+02] [-1.45898227e-01 9.89295871e-01 -2.71793075e-03 -2.91200067e+01] [-1.99999323e-02 -2.02737751e-04 9.99799961e-01 -6.48297406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.75420382200002 meters Centerline goodness [0,1] 0.9999785301758378 Centerline is valid? [True, True] Translation: X:203.17, Y:-29.12, Z:-6.48 [[ 9.88782320e-01 1.48018465e-01 2.00014148e-02 2.03167353e+02] [-1.47993248e-01 9.88984566e-01 -2.74336369e-03 -2.91181252e+01] [-2.01871590e-02 -2.47484811e-04 9.99796188e-01 -6.48235310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.78420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.20, Y:-29.12, Z:-6.49 [[ 9.88695297e-01 1.48695119e-01 1.92710108e-02 2.03195529e+02] [-1.48671916e-01 9.88883055e-01 -2.63918814e-03 -2.91166038e+01] [-1.94492104e-02 -2.55705204e-04 9.99810814e-01 -6.48632279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.81420382200002 meters Centerline goodness [0,1] 0.999957791659632 Centerline is valid? [True, True] Translation: X:203.22, Y:-29.12, Z:-6.49 [[ 9.88681182e-01 1.48922704e-01 1.82084788e-02 2.03224123e+02] [-1.48902039e-01 9.88848809e-01 -2.49303724e-03 -2.91181591e+01] [-1.83767025e-02 -2.46460626e-04 9.99831104e-01 -6.48853026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.844203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.25, Y:-29.12, Z:-6.49 [[ 9.88717248e-01 1.48709142e-01 1.79942695e-02 2.03251770e+02] [-1.48688971e-01 9.88880950e-01 -2.46119958e-03 -2.91205966e+01] [-1.81601932e-02 -2.42118937e-04 9.99835061e-01 -6.48861593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.874203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.28, Y:-29.12, Z:-6.49 [[ 9.88980074e-01 1.46906022e-01 1.83584940e-02 2.03280732e+02] [-1.46884789e-01 9.89150430e-01 -2.50702725e-03 -2.91225661e+01] [-1.85276097e-02 -2.17183536e-04 9.99828326e-01 -6.48910469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.904203822 meters Centerline goodness [0,1] 0.9998701973001038 Centerline is valid? [True, True] Translation: X:203.31, Y:-29.13, Z:-6.49 [[ 9.89220384e-01 1.45188027e-01 1.90648790e-02 2.03309481e+02] [-1.45164878e-01 9.89404062e-01 -2.59996093e-03 -2.91282652e+01] [-1.92403519e-02 -1.95616478e-04 9.99814868e-01 -6.49202151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.934203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.34, Y:-29.14, Z:-6.49 [[ 9.89883842e-01 1.40680499e-01 1.84113118e-02 2.03337414e+02] [-1.40658207e-01 9.90055042e-01 -2.50667616e-03 -2.91371577e+01] [-1.85808526e-02 -1.08383879e-04 9.99827355e-01 -6.49035635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.964203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.36, Y:-29.14, Z:-6.49 [[ 9.90263228e-01 1.37911422e-01 1.89520271e-02 2.03364867e+02] [-1.37887310e-01 9.90444565e-01 -2.57943750e-03 -2.91433971e+01] [-1.91266662e-02 -5.89219408e-05 9.99817067e-01 -6.49141336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.994203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.39, Y:-29.15, Z:-6.49 [[ 9.90620555e-01 1.35202520e-01 1.97786270e-02 2.03391911e+02] [-1.35175745e-01 9.90817985e-01 -2.69061073e-03 -2.91499760e+01] [-1.99607967e-02 -8.21634434e-06 9.99800763e-01 -6.49102278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.024203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.42, Y:-29.16, Z:-6.49 [[ 9.91021753e-01 1.32168937e-01 2.01806086e-02 2.03419052e+02] [-1.32140456e-01 9.91227204e-01 -2.74417186e-03 -2.91568469e+01] [-2.03662626e-02 5.28591776e-05 9.99792585e-01 -6.49067180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.054203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.45, Y:-29.17, Z:-6.49 [[ 9.91714472e-01 1.26830581e-01 2.04061350e-02 2.03447050e+02] [-1.26800366e-01 9.91924381e-01 -2.77309113e-03 -2.91671588e+01] [-2.05930555e-02 1.62609237e-04 9.99787927e-01 -6.49090971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.084203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.47, Y:-29.18, Z:-6.49 [[ 9.91970063e-01 1.24804355e-01 2.04760142e-02 2.03474244e+02] [-1.24773519e-01 9.92181350e-01 -2.78167112e-03 -2.91758653e+01] [-2.06630841e-02 2.04470125e-04 9.99786475e-01 -6.49381299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.114203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.50, Y:-29.18, Z:-6.49 [[ 9.92323908e-01 1.21847423e-01 2.11297852e-02 2.03501858e+02] [-1.21813945e-01 9.92548805e-01 -2.86910838e-03 -2.91837462e+01] [-2.13219365e-02 2.73182345e-04 9.99772624e-01 -6.49288913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.144203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.53, Y:-29.19, Z:-6.49 [[ 9.92421153e-01 1.21024346e-01 2.12923340e-02 2.03529366e+02] [-1.20990191e-01 9.92649496e-01 -2.88985154e-03 -2.91892911e+01] [-2.14855671e-02 2.91786235e-04 9.99769116e-01 -6.49391844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.174203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.56, Y:-29.19, Z:-6.49 [[ 9.92447619e-01 1.20717545e-01 2.17944430e-02 2.03557737e+02] [-1.20681714e-01 9.92686850e-01 -2.95673091e-03 -2.91903192e+01] [-2.19919863e-02 3.04209820e-04 9.99758101e-01 -6.49245203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.204203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.58, Y:-29.20, Z:-6.49 [[ 9.92435707e-01 1.20817428e-01 2.17834073e-02 2.03584155e+02] [-1.20781684e-01 9.92674699e-01 -2.95398721e-03 -2.91951466e+01] [-2.19807304e-02 3.00605769e-04 9.99758349e-01 -6.49333265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.234203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.61, Y:-29.20, Z:-6.50 [[ 9.92369329e-01 1.21350544e-01 2.18439903e-02 2.03611452e+02] [-1.21314796e-01 9.92609673e-01 -2.95922287e-03 -2.92011031e+01] [-2.20416594e-02 2.86642781e-04 9.99757012e-01 -6.49556884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.264203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.64, Y:-29.20, Z:-6.50 [[ 9.92113852e-01 1.23456869e-01 2.16450127e-02 2.03639957e+02] [-1.23422301e-01 9.92349911e-01 -2.93087781e-03 -2.92029575e+01] [-2.18412635e-02 2.36287200e-04 9.99761423e-01 -6.49683463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.29420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.67, Y:-29.21, Z:-6.50 [[ 9.91956394e-01 1.24626794e-01 2.21511642e-02 2.03668409e+02] [-1.24590906e-01 9.92203667e-01 -2.99831294e-03 -2.92054227e+01] [-2.23521365e-02 2.14362070e-04 9.99750137e-01 -6.49745953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.32420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.70, Y:-29.21, Z:-6.50 [[ 9.91623806e-01 1.27310941e-01 2.17750199e-02 2.03696328e+02] [-1.27276929e-01 9.91862844e-01 -2.94646905e-03 -2.92062581e+01] [-2.19729509e-02 1.50331194e-04 9.99758554e-01 -6.49904423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.35420382200002 meters Centerline goodness [0,1] 0.9999568099855314 Centerline is valid? [True, True] Translation: X:203.73, Y:-29.21, Z:-6.50 [[ 9.91466326e-01 1.28553849e-01 2.16432879e-02 2.03725161e+02] [-1.28520574e-01 9.91702523e-01 -2.92723556e-03 -2.92077122e+01] [-2.18400106e-02 1.20647692e-04 9.99761471e-01 -6.49957777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.38420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.75, Y:-29.21, Z:-6.50 [[ 9.91326878e-01 1.29649333e-01 2.14958343e-02 2.03752403e+02] [-1.29616775e-01 9.91559903e-01 -2.90694521e-03 -2.92088592e+01] [-2.16912909e-02 9.55121895e-05 9.99764712e-01 -6.50081285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.41420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.78, Y:-29.21, Z:-6.50 [[ 9.91109043e-01 1.31413164e-01 2.08193632e-02 2.03780432e+02] [-1.31383074e-01 9.91327684e-01 -2.81248532e-03 -2.92104613e+01] [-2.10084087e-02 5.21676915e-05 9.99779298e-01 -6.50288917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.44420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.81, Y:-29.22, Z:-6.50 [[ 9.91083579e-01 1.31662422e-01 2.04535260e-02 2.03809019e+02] [-1.31633468e-01 9.91294610e-01 -2.76141737e-03 -2.92152168e+01] [-2.06390450e-02 4.44268457e-05 9.99786991e-01 -6.50474947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.47420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.84, Y:-29.22, Z:-6.50 [[ 9.91065963e-01 1.31752581e-01 2.07247517e-02 2.03837238e+02] [-1.31722894e-01 9.91282632e-01 -2.79705495e-03 -2.92200120e+01] [-2.09126056e-02 4.21416944e-05 9.99781307e-01 -6.50430480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.50420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.86, Y:-29.23, Z:-6.50 [[ 9.91028852e-01 1.31740140e-01 2.25022002e-02 2.03864757e+02] [-1.31705167e-01 9.91284285e-01 -3.03569039e-03 -2.92275908e+01] [-2.27059997e-02 4.48007184e-05 9.99742185e-01 -6.50455984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.53420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.89, Y:-29.23, Z:-6.51 [[ 9.91083552e-01 1.31313042e-01 2.25893224e-02 2.03891288e+02] [-1.31277706e-01 9.91340952e-01 -3.04657715e-03 -2.92333284e+01] [-2.27937757e-02 5.39380711e-05 9.99740187e-01 -6.50507755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.56420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.92, Y:-29.24, Z:-6.51 [[ 9.91175216e-01 1.30637293e-01 2.24852928e-02 2.03920066e+02] [-1.30602157e-01 9.91430226e-01 -3.03042711e-03 -2.92391132e+01] [-2.26884857e-02 6.70565140e-05 9.99742581e-01 -6.50569464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.594203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.95, Y:-29.25, Z:-6.51 [[ 9.91355259e-01 1.29125924e-01 2.32646970e-02 2.03946915e+02] [-1.29087916e-01 9.91628199e-01 -3.13448407e-03 -2.92477779e+01] [-2.34746727e-02 1.04196025e-04 9.99724426e-01 -6.50517456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.624203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.97, Y:-29.26, Z:-6.51 [[ 9.91437808e-01 1.28495230e-01 2.32389575e-02 2.03973820e+02] [-1.28457175e-01 9.91710120e-01 -3.12922979e-03 -2.92551342e+01] [-2.34484004e-02 1.17225895e-04 9.99725042e-01 -6.50648122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.654203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.00, Y:-29.27, Z:-6.51 [[ 9.91589745e-01 1.27550618e-01 2.19230099e-02 2.03999737e+02] [-1.27516545e-01 9.91832054e-01 -2.95089627e-03 -2.92663960e+01] [-2.21203326e-02 1.30531995e-04 9.99755307e-01 -6.51000304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.684203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.03, Y:-29.27, Z:-6.51 [[ 9.91571053e-01 1.27708013e-01 2.18519869e-02 2.04026841e+02] [-1.27674234e-01 9.91811801e-01 -2.93978689e-03 -2.92714802e+01] [-2.20484928e-02 1.25071896e-04 9.99756895e-01 -6.51094603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.714203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.05, Y:-29.27, Z:-6.51 [[ 9.91440055e-01 1.28708014e-01 2.19286052e-02 2.04054359e+02] [-1.28674278e-01 9.91682528e-01 -2.94843112e-03 -2.92749902e+01] [-2.21257014e-02 1.01545259e-04 9.99755192e-01 -6.51198542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.744203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.08, Y:-29.28, Z:-6.51 [[ 9.90916720e-01 1.32701534e-01 2.17797155e-02 2.04082890e+02] [-1.32669249e-01 9.91156044e-01 -2.92703413e-03 -2.92754324e+01] [-2.19755185e-02 1.09485565e-05 9.99758509e-01 -6.51324722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.774203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.11, Y:-29.28, Z:-6.51 [[ 9.90563860e-01 1.35373980e-01 2.13804635e-02 2.04111288e+02] [-1.35343508e-01 9.90794572e-01 -2.87254285e-03 -2.92766607e+01] [-2.15725147e-02 -4.82697917e-05 9.99767285e-01 -6.51399980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.804203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.14, Y:-29.27, Z:-6.52 [[ 9.89743848e-01 1.41306626e-01 2.09655031e-02 2.04139436e+02] [-1.41278673e-01 9.89965861e-01 -2.81598092e-03 -2.92724931e+01] [-2.11530491e-02 -1.74878660e-04 9.99776234e-01 -6.51564175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.834203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.17, Y:-29.27, Z:-6.52 [[ 9.89345018e-01 1.44063029e-01 2.10304312e-02 2.04167934e+02] [-1.44035581e-01 9.89568485e-01 -2.82205298e-03 -2.92719623e+01] [-2.12176054e-02 -2.37146321e-04 9.99774853e-01 -6.51745507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.864203822 meters Centerline goodness [0,1] 0.9999787360721273 Centerline is valid? [True, True] Translation: X:204.20, Y:-29.27, Z:-6.52 [[ 9.88594640e-01 1.49159416e-01 2.07871516e-02 2.04198108e+02] [-1.49133757e-01 9.88813102e-01 -2.78784724e-03 -2.92687176e+01] [-2.09704415e-02 -3.44015173e-04 9.99780037e-01 -6.51938077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.894203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.23, Y:-29.27, Z:-6.52 [[ 9.88293169e-01 1.51153916e-01 2.07148623e-02 2.04225909e+02] [-1.51128874e-01 9.88510165e-01 -2.77811398e-03 -2.92674949e+01] [-2.08967748e-02 -3.85022757e-04 9.99781564e-01 -6.52020192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.924203822 meters Centerline goodness [0,1] 0.9999786164866887 Centerline is valid? [True, True] Translation: X:204.25, Y:-29.27, Z:-6.52 [[ 9.88082496e-01 1.52570620e-01 2.03761262e-02 2.04254916e+02] [-1.52546700e-01 9.88292487e-01 -2.73228335e-03 -2.92700794e+01] [-2.05544386e-02 -4.08589451e-04 9.99788652e-01 -6.52033645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.954203822 meters Centerline goodness [0,1] 0.9999571376524292 Centerline is valid? [True, True] Translation: X:204.28, Y:-29.27, Z:-6.52 [[ 9.87885486e-01 1.53882506e-01 2.00609482e-02 2.04284124e+02] [-1.53859659e-01 9.88089058e-01 -2.68663507e-03 -2.92705830e+01] [-2.02354296e-02 -4.32482866e-04 9.99795149e-01 -6.52271760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.984203822 meters Centerline goodness [0,1] 0.9999572375454351 Centerline is valid? [True, True] Translation: X:204.31, Y:-29.27, Z:-6.53 [[ 9.87947414e-01 1.53515702e-01 1.98200906e-02 2.04311492e+02] [-1.53493412e-01 9.88146117e-01 -2.65012154e-03 -2.92715111e+01] [-1.99919809e-02 -4.24072608e-04 9.99800050e-01 -6.52574243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.014203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.34, Y:-29.28, Z:-6.53 [[ 9.88100138e-01 1.52559369e-01 1.95896910e-02 2.04339808e+02] [-1.52537421e-01 9.88294227e-01 -2.61857961e-03 -2.92783564e+01] [-1.97598673e-02 -4.00742058e-04 9.99804674e-01 -6.52643067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.04420382200001 meters Centerline goodness [0,1] 0.9999575767860173 Centerline is valid? [True, True] Translation: X:204.37, Y:-29.28, Z:-6.53 [[ 9.88448078e-01 1.50212058e-01 2.01676509e-02 2.04367176e+02] [-1.50188403e-01 9.88653732e-01 -2.69111426e-03 -2.92823874e+01] [-2.03430611e-02 -3.68920569e-04 9.99792990e-01 -6.52780151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.07420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.40, Y:-29.29, Z:-6.53 [[ 9.88689407e-01 1.48669415e-01 1.97651587e-02 2.04395511e+02] [-1.48646413e-01 9.88886897e-01 -2.63611362e-03 -2.92871230e+01] [-1.99374159e-02 -3.31722323e-04 9.99801175e-01 -6.52902086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.10420382200002 meters Centerline goodness [0,1] 0.9999574784734772 Centerline is valid? [True, True] Translation: X:204.42, Y:-29.29, Z:-6.53 [[ 9.89231875e-01 1.44903026e-01 2.05769432e-02 2.04423198e+02] [-1.44877302e-01 9.89445825e-01 -2.74332689e-03 -2.92944173e+01] [-2.07572869e-02 -2.67345613e-04 9.99784509e-01 -6.52929410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.13420382200002 meters Centerline goodness [0,1] 0.9999784612733695 Centerline is valid? [True, True] Translation: X:204.45, Y:-29.30, Z:-6.53 [[ 9.89597733e-01 1.42408079e-01 2.04026164e-02 2.04451114e+02] [-1.42382278e-01 9.89808008e-01 -2.71911638e-03 -2.93020464e+01] [-2.05818973e-02 -2.14139609e-04 9.99788147e-01 -6.52969628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.16420382200002 meters Centerline goodness [0,1] 0.9999787730842709 Centerline is valid? [True, True] Translation: X:204.48, Y:-29.31, Z:-6.53 [[ 9.89976320e-01 1.39714837e-01 2.06555094e-02 2.04478413e+02] [-1.39687825e-01 9.90191768e-01 -2.75192646e-03 -2.93086163e+01] [-2.08374003e-02 -1.60981150e-04 9.99782865e-01 -6.53281547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.19420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.51, Y:-29.32, Z:-6.53 [[ 9.90731957e-01 1.34359311e-01 1.99440698e-02 2.04505945e+02] [-1.34333067e-01 9.90932678e-01 -2.65589060e-03 -2.93228069e+01] [-2.01200741e-02 -4.78723798e-05 9.99797570e-01 -6.53290361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.22420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.53, Y:-29.33, Z:-6.53 [[ 9.90741260e-01 1.34290680e-01 1.99441610e-02 2.04533193e+02] [-1.34264436e-01 9.90941982e-01 -2.65520542e-03 -2.93263001e+01] [-2.01200758e-02 -4.71699652e-05 9.99797570e-01 -6.53374277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.25420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.56, Y:-29.33, Z:-6.54 [[ 9.91066108e-01 1.31936981e-01 1.95090497e-02 2.04559291e+02] [-1.31911429e-01 9.91258106e-01 -2.59649617e-03 -2.93336174e+01] [-1.96810775e-02 -1.67267754e-07 9.99806309e-01 -6.53533320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.28420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.59, Y:-29.34, Z:-6.53 [[ 9.91481271e-01 1.28598222e-01 2.06733217e-02 2.04586489e+02] [-1.28568872e-01 9.91696775e-01 -2.74811765e-03 -2.93423090e+01] [-2.08550695e-02 6.67615192e-05 9.99782507e-01 -6.53439798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.31420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.61, Y:-29.35, Z:-6.53 [[ 9.91586856e-01 1.27734189e-01 2.09638784e-02 2.04614176e+02] [-1.27703840e-01 9.91808434e-01 -2.78559400e-03 -2.93474718e+01] [-2.11479670e-02 8.49906324e-05 9.99776353e-01 -6.53452374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.344203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.64, Y:-29.35, Z:-6.54 [[ 9.91647183e-01 1.27233791e-01 2.11524717e-02 2.04641746e+02] [-1.27202811e-01 9.91872751e-01 -2.80917585e-03 -2.93524442e+01] [-2.13379824e-02 9.50574495e-05 9.99772315e-01 -6.53521230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.374203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.67, Y:-29.36, Z:-6.54 [[ 9.91699706e-01 1.26799647e-01 2.12965553e-02 2.04669377e+02] [-1.26768176e-01 9.91928344e-01 -2.82682458e-03 -2.93579262e+01] [-2.14830972e-02 1.03635649e-04 9.99769206e-01 -6.53586079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.404203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.70, Y:-29.36, Z:-6.53 [[ 9.91673101e-01 1.26601390e-01 2.35912777e-02 2.04696678e+02] [-1.26562759e-01 9.91953665e-01 -3.12949287e-03 -2.93631220e+01] [-2.37976525e-02 1.17656705e-04 9.99716789e-01 -6.53308806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.434203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.73, Y:-29.37, Z:-6.53 [[ 9.91659494e-01 1.26590505e-01 2.42134792e-02 2.04725287e+02] [-1.26549842e-01 9.91955054e-01 -3.21053304e-03 -2.93675736e+01] [-2.44251060e-02 1.19543601e-04 9.99701655e-01 -6.53297569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.464203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.75, Y:-29.37, Z:-6.53 [[ 9.91770429e-01 1.25812180e-01 2.37215393e-02 2.04752928e+02] [-1.25772956e-01 9.92054070e-01 -3.14425682e-03 -2.93745194e+01] [-2.39286354e-02 1.34852801e-04 9.99713660e-01 -6.53471900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.494203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.78, Y:-29.38, Z:-6.54 [[ 9.91821839e-01 1.25362908e-01 2.39495704e-02 2.04779564e+02] [-1.25322816e-01 9.92110941e-01 -3.17360139e-03 -2.93795269e+01] [-2.41584827e-02 1.46219565e-04 9.99708131e-01 -6.53567271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.524203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.81, Y:-29.39, Z:-6.54 [[ 9.91866490e-01 1.25076252e-01 2.35965479e-02 2.04807461e+02] [-1.25037301e-01 9.92147121e-01 -3.12478469e-03 -2.93850799e+01] [-2.38020834e-02 1.48920554e-04 9.99716679e-01 -6.53739133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.554203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.83, Y:-29.39, Z:-6.54 [[ 9.91978037e-01 1.24504064e-01 2.18703334e-02 2.04834536e+02] [-1.24470483e-01 9.92219086e-01 -2.89540349e-03 -2.93939479e+01] [-2.20606518e-02 1.49965699e-04 9.99756623e-01 -6.54201357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.584203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.86, Y:-29.40, Z:-6.54 [[ 9.92008946e-01 1.24391413e-01 2.10956522e-02 2.04861483e+02] [-1.24360168e-01 9.92233216e-01 -2.79172424e-03 -2.94001839e+01] [-2.12790734e-02 1.45956576e-04 9.99773564e-01 -6.54491240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.614203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.89, Y:-29.41, Z:-6.55 [[ 9.92153137e-01 1.23587022e-01 1.89314815e-02 2.04887800e+02] [-1.23561730e-01 9.92333727e-01 -2.50444602e-03 -2.94102702e+01] [-1.90958647e-02 1.45587366e-04 9.99817647e-01 -6.55002163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.644203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.92, Y:-29.42, Z:-6.55 [[ 9.92218092e-01 1.23152342e-01 1.83509748e-02 2.04916415e+02] [-1.23128525e-01 9.92387766e-01 -2.42643499e-03 -2.94169548e+01] [-1.85101040e-02 1.48024244e-04 9.99828662e-01 -6.55170239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.674203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.94, Y:-29.42, Z:-6.55 [[ 9.92251325e-01 1.22827852e-01 1.87250509e-02 2.04942734e+02] [-1.22802999e-01 9.92427979e-01 -2.47576689e-03 -2.94224173e+01] [-1.88873576e-02 1.57090573e-04 9.99821606e-01 -6.55191601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.704203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.97, Y:-29.43, Z:-6.55 [[ 9.92182080e-01 1.23278873e-01 1.94175319e-02 2.04970209e+02] [-1.23252271e-01 9.92372055e-01 -2.56538909e-03 -2.94300372e+01] [-1.95856743e-02 1.52078174e-04 9.99808171e-01 -6.55132761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.734203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.00, Y:-29.43, Z:-6.55 [[ 9.92023186e-01 1.24527941e-01 1.95650276e-02 2.04998672e+02] [-1.24501194e-01 9.92216093e-01 -2.58401763e-03 -2.94335072e+01] [-1.97345176e-02 1.27536110e-04 9.99805247e-01 -6.55162273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.764203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.03, Y:-29.43, Z:-6.55 [[ 9.91397088e-01 1.29315671e-01 2.02304630e-02 2.05027472e+02] [-1.29288088e-01 9.91603477e-01 -2.67097554e-03 -2.94315674e+01] [-2.04059965e-02 3.24394862e-05 9.99791775e-01 -6.55088270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.79420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.06, Y:-29.43, Z:-6.55 [[ 9.90989624e-01 1.32361216e-01 2.04956769e-02 2.05056313e+02] [-1.32333574e-01 9.91201547e-01 -2.70513946e-03 -2.94319731e+01] [-2.06734022e-02 -3.15010337e-05 9.99786282e-01 -6.54753544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.82420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.08, Y:-29.43, Z:-6.55 [[ 9.90495472e-01 1.35955915e-01 2.08496709e-02 2.05084550e+02] [-1.35928125e-01 9.90714882e-01 -2.75094741e-03 -2.94300357e+01] [-2.10300868e-02 -1.09255706e-04 9.99778837e-01 -6.55112983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.85420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.12, Y:-29.42, Z:-6.55 [[ 9.89463848e-01 1.43376754e-01 2.01097110e-02 2.05115143e+02] [-1.43352465e-01 9.89668146e-01 -2.65168879e-03 -2.94242731e+01] [-2.02821309e-02 -2.59026438e-04 9.99794263e-01 -6.54899264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.88420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.14, Y:-29.42, Z:-6.55 [[ 9.88944118e-01 1.46897535e-01 2.02644027e-02 2.05143402e+02] [-1.46873604e-01 9.89151658e-01 -2.67232433e-03 -2.94213384e+01] [-2.04371254e-02 -3.33526437e-04 9.99791085e-01 -6.55020192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.91420382200002 meters Centerline goodness [0,1] 0.999914337723525 Centerline is valid? [True, True] Translation: X:205.17, Y:-29.42, Z:-6.55 [[ 9.88487982e-01 1.49925838e-01 2.03409198e-02 2.05171589e+02] [-1.49902393e-01 9.88697165e-01 -2.68115678e-03 -2.94180485e+01] [-2.05129845e-02 -3.98861310e-04 9.99789507e-01 -6.55166724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.94420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.20, Y:-29.41, Z:-6.55 [[ 9.87816235e-01 1.54344999e-01 1.99175092e-02 2.05201753e+02] [-1.54323445e-01 9.88016897e-01 -2.62395179e-03 -2.94139457e+01] [-2.00838295e-02 -4.81756454e-04 9.99798183e-01 -6.55304106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.97420382200002 meters Centerline goodness [0,1] 0.9997877758913413 Centerline is valid? [True, True] Translation: X:205.23, Y:-29.40, Z:-6.56 [[ 9.87645475e-01 1.55478080e-01 1.95699179e-02 2.05230819e+02] [-1.55457503e-01 9.87839218e-01 -2.57772434e-03 -2.94040110e+01] [-1.97327120e-02 -4.96412785e-04 9.99805168e-01 -6.55923474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.00420382200002 meters Centerline goodness [0,1] 0.9999147466911059 Centerline is valid? [True, True] Translation: X:205.26, Y:-29.41, Z:-6.56 [[ 9.87596984e-01 1.55904158e-01 1.86035189e-02 2.05258202e+02] [-1.55885634e-01 9.87772071e-01 -2.45066395e-03 -2.94144228e+01] [-1.87581050e-02 -4.79753002e-04 9.99823936e-01 -6.55851052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.03420382200002 meters Centerline goodness [0,1] 0.9996986720044768 Centerline is valid? [True, True] Translation: X:205.29, Y:-29.41, Z:-6.56 [[ 9.87700034e-01 1.55302429e-01 1.81603470e-02 2.05286889e+02] [-1.55284747e-01 9.87866865e-01 -2.38837962e-03 -2.94067481e+01] [-1.83109262e-02 -4.61022244e-04 9.99832235e-01 -6.56477219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.06420382200002 meters Centerline goodness [0,1] 0.999978646166987 Centerline is valid? [True, True] Translation: X:205.31, Y:-29.42, Z:-6.56 [[ 9.87900784e-01 1.53975336e-01 1.85374574e-02 2.05314482e+02] [-1.53956694e-01 9.88074591e-01 -2.43713528e-03 -2.94188701e+01] [-1.86916494e-02 -4.46317799e-04 9.99825196e-01 -6.56067108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.094203822 meters Centerline goodness [0,1] 0.9999787093614938 Centerline is valid? [True, True] Translation: X:205.34, Y:-29.42, Z:-6.57 [[ 9.88648352e-01 1.49027190e-01 1.91136953e-02 2.05343986e+02] [-1.49006541e-01 9.88833030e-01 -2.50795830e-03 -2.94191958e+01] [-1.92740073e-02 -3.68576795e-04 9.99814171e-01 -6.56503086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.124203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.37, Y:-29.43, Z:-6.56 [[ 9.89193105e-01 1.45349516e-01 1.92488783e-02 2.05371555e+02] [-1.45327876e-01 9.89380326e-01 -2.52583345e-03 -2.94339724e+01] [-1.94115902e-02 -2.98861558e-04 9.99811533e-01 -6.56145498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.154203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.40, Y:-29.46, Z:-6.56 [[ 9.90420627e-01 1.36171612e-01 2.28970340e-02 2.05400562e+02] [-1.36474190e-01 9.90568385e-01 1.22094121e-02 -2.94595519e+01] [-2.10185027e-02 -1.52173077e-02 9.99663271e-01 -6.56454331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.184203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.43, Y:-29.45, Z:-6.56 [[ 9.90986101e-01 1.32793016e-01 1.76794244e-02 2.05427575e+02] [-1.32485398e-01 9.91029270e-01 -1.75671592e-02 -2.94497236e+01] [-1.98536231e-02 1.50665450e-02 9.99689368e-01 -6.55903393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.214203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.45, Y:-29.47, Z:-6.56 [[ 9.91506656e-01 1.28482464e-01 2.01694857e-02 2.05454476e+02] [-1.28455294e-01 9.91711780e-01 -2.64232178e-03 -2.94678279e+01] [-2.03418086e-02 2.90024103e-05 9.99793084e-01 -6.56112624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.244203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.48, Y:-29.48, Z:-6.56 [[ 9.92212543e-01 1.22936401e-01 2.00227784e-02 2.05481203e+02] [-1.22908512e-01 9.92414541e-01 -2.62225243e-03 -2.94794921e+01] [-2.01932667e-02 1.40861864e-04 9.99796085e-01 -6.56256774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.274203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.51, Y:-29.49, Z:-6.56 [[ 9.92426013e-01 1.21379037e-01 1.89139676e-02 2.05509620e+02] [-1.21353892e-01 9.92606218e-01 -2.47585380e-03 -2.94850099e+01] [-1.90746386e-02 1.61818141e-04 9.99818049e-01 -6.56473775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.304203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.54, Y:-29.49, Z:-6.57 [[ 9.92519510e-01 1.20882536e-01 1.71007186e-02 2.05537045e+02] [-1.20861917e-01 9.92666806e-01 -2.23797326e-03 -2.94878415e+01] [-1.72458476e-02 1.54406503e-04 9.99851267e-01 -6.57005834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.334203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.57, Y:-29.49, Z:-6.57 [[ 9.92399861e-01 1.21891387e-01 1.68821261e-02 2.05566012e+02] [-1.21871457e-01 9.92543436e-01 -2.20824012e-03 -2.94865770e+01] [-1.70254089e-02 1.34007884e-04 9.99855048e-01 -6.56906164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.364203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.59, Y:-29.49, Z:-6.57 [[ 9.92211193e-01 1.23422599e-01 1.68466966e-02 2.05594474e+02] [-1.23402983e-01 9.92354196e-01 -2.20294695e-03 -2.94866288e+01] [-1.69897835e-02 1.06856001e-04 9.99855658e-01 -6.56986701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.394203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.62, Y:-29.48, Z:-6.57 [[ 9.91721442e-01 1.27111941e-01 1.81971302e-02 2.05623683e+02] [-1.27089701e-01 9.91888377e-01 -2.37814128e-03 -2.94834908e+01] [-1.83518121e-02 4.57858738e-05 9.99831590e-01 -6.56862877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.424203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.65, Y:-29.48, Z:-6.57 [[ 9.91456138e-01 1.29100395e-01 1.86497708e-02 2.05651695e+02] [-1.29077402e-01 9.91631528e-01 -2.43649945e-03 -2.94839611e+01] [-1.88082538e-02 8.41837577e-06 9.99823109e-01 -6.56988600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.454203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.68, Y:-29.48, Z:-6.57 [[ 9.90868888e-01 1.33587775e-01 1.82524641e-02 2.05681622e+02] [-1.33566534e-01 9.91036982e-01 -2.38339502e-03 -2.94800794e+01] [-1.84072594e-02 -7.62863876e-05 9.99830569e-01 -6.57048193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.484203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.71, Y:-29.48, Z:-6.57 [[ 9.90551799e-01 1.35910863e-01 1.83131386e-02 2.05710859e+02] [-1.35889894e-01 9.90721062e-01 -2.39043612e-03 -2.94786460e+01] [-1.84680983e-02 -1.20719652e-04 9.99829443e-01 -6.57123801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.514203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.74, Y:-29.47, Z:-6.57 [[ 9.89976177e-01 1.39913901e-01 1.92683256e-02 2.05739671e+02] [-1.39891455e-01 9.90163652e-01 -2.51457705e-03 -2.94700170e+01] [-1.94306199e-02 -2.06102720e-04 9.99811186e-01 -6.57061329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.54420382200001 meters Centerline goodness [0,1] 0.9999785416934895 Centerline is valid? [True, True] Translation: X:205.77, Y:-29.47, Z:-6.57 [[ 9.89753012e-01 1.41487631e-01 1.92412673e-02 2.05769035e+02] [-1.41465587e-01 9.89939995e-01 -2.50887493e-03 -2.94694630e+01] [-1.94026749e-02 -2.38810657e-04 9.99811722e-01 -6.57099583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.57420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.80, Y:-29.47, Z:-6.57 [[ 9.89562178e-01 1.42850910e-01 1.89819119e-02 2.05798367e+02] [-1.42829724e-01 9.89744183e-01 -2.47418405e-03 -2.94705239e+01] [-1.91406763e-02 -2.62822271e-04 9.99816766e-01 -6.57088331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.60420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.83, Y:-29.47, Z:-6.57 [[ 9.89185933e-01 1.45478211e-01 1.86354556e-02 2.05826695e+02] [-1.45458271e-01 9.89361408e-01 -2.42827603e-03 -2.94658367e+01] [-1.87904618e-02 -3.08664655e-04 9.99823396e-01 -6.57241205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.63420382200002 meters Centerline goodness [0,1] 0.9999578263711701 Centerline is valid? [True, True] Translation: X:205.86, Y:-29.46, Z:-6.57 [[ 9.88963008e-01 1.46968056e-01 1.87765447e-02 2.05855308e+02] [-1.46948097e-01 9.89141180e-01 -2.44584686e-03 -2.94626042e+01] [-1.89321149e-02 -3.40325446e-04 9.99820714e-01 -6.57480013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.66420382200002 meters Centerline goodness [0,1] 0.9999785444558874 Centerline is valid? [True, True] Translation: X:205.89, Y:-29.46, Z:-6.57 [[ 9.88520091e-01 1.49934973e-01 1.86422401e-02 2.05885993e+02] [-1.49915872e-01 9.88695781e-01 -2.42590339e-03 -2.94586902e+01] [-1.87952319e-02 -3.96713435e-04 9.99823275e-01 -6.57379278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.69420382200002 meters Centerline goodness [0,1] 0.9999360327512313 Centerline is valid? [True, True] Translation: X:205.91, Y:-29.46, Z:-6.57 [[ 9.88319202e-01 1.51184047e-01 1.91973604e-02 2.05914070e+02] [-1.51164021e-01 9.88505537e-01 -2.49839012e-03 -2.94553633e+01] [-1.93544138e-02 -4.32743259e-04 9.99812592e-01 -6.57428655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.72420382200002 meters Centerline goodness [0,1] 0.9999365951600973 Centerline is valid? [True, True] Translation: X:205.94, Y:-29.45, Z:-6.57 [[ 9.88166308e-01 1.52082479e-01 1.99566107e-02 2.05943415e+02] [-1.52061044e-01 9.88367694e-01 -2.59608872e-03 -2.94547908e+01] [-2.01192889e-02 -4.69255640e-04 9.99797476e-01 -6.57358616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.75420382200002 meters Centerline goodness [0,1] 0.9999789096277549 Centerline is valid? [True, True] Translation: X:205.97, Y:-29.45, Z:-6.58 [[ 9.88109416e-01 1.52414756e-01 2.02367025e-02 2.05972593e+02] [-1.52392878e-01 9.88316500e-01 -2.62793075e-03 -2.94460398e+01] [-2.04008024e-02 -4.87246216e-04 9.99791763e-01 -6.57627571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.78420382200002 meters Centerline goodness [0,1] 0.999935683046051 Centerline is valid? [True, True] Translation: X:206.00, Y:-29.45, Z:-6.58 [[ 9.88306359e-01 1.51181237e-01 1.98689358e-02 2.06001498e+02] [-1.51159900e-01 9.88505957e-01 -2.58008587e-03 -2.94500101e+01] [-2.00306220e-02 -4.53471074e-04 9.99799264e-01 -6.57583596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.81420382200002 meters Centerline goodness [0,1] 0.9999573706198311 Centerline is valid? [True, True] Translation: X:206.03, Y:-29.45, Z:-6.58 [[ 9.88578238e-01 1.49410562e-01 1.97370781e-02 2.06030394e+02] [-1.49389219e-01 9.88775156e-01 -2.55970121e-03 -2.94539700e+01] [-1.98979788e-02 -4.18041760e-04 9.99801928e-01 -6.57666735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.844203822 meters Centerline goodness [0,1] 0.999978608252936 Centerline is valid? [True, True] Translation: X:206.06, Y:-29.46, Z:-6.58 [[ 9.89315017e-01 1.44526460e-01 1.91807055e-02 2.06059348e+02] [-1.44505469e-01 9.89500886e-01 -2.48324773e-03 -2.94604530e+01] [-1.93382201e-02 -3.15002571e-04 9.99812950e-01 -6.57922842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.874203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.09, Y:-29.47, Z:-6.58 [[ 9.89740272e-01 1.41630335e-01 1.88425829e-02 2.06086663e+02] [-1.41609546e-01 9.89919585e-01 -2.43975672e-03 -2.94660455e+01] [-1.89981854e-02 -2.53564130e-04 9.99819486e-01 -6.58142287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.904203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.11, Y:-29.47, Z:-6.58 [[ 9.90447312e-01 1.36588209e-01 1.89151453e-02 2.06114689e+02] [-1.36566380e-01 9.90627900e-01 -2.44706403e-03 -2.94732447e+01] [-1.90721108e-02 -1.59484939e-04 9.99818098e-01 -6.58033569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.934203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.14, Y:-29.48, Z:-6.58 [[ 9.90784150e-01 1.34080363e-01 1.92152004e-02 2.06142540e+02] [-1.34057380e-01 9.90970455e-01 -2.48506530e-03 -2.94771214e+01] [-1.93748943e-02 -1.13776103e-04 9.99812283e-01 -6.58119488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.964203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.17, Y:-29.48, Z:-6.58 [[ 9.91131917e-01 1.31476877e-01 1.92705648e-02 2.06170740e+02] [-1.31453294e-01 9.91319235e-01 -2.49094139e-03 -2.94818065e+01] [-1.94307828e-02 -6.43277147e-05 9.99811202e-01 -6.58032609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.994203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.20, Y:-29.49, Z:-6.58 [[ 9.91741311e-01 1.26772508e-01 1.94397485e-02 2.06198672e+02] [-1.26747621e-01 9.91931817e-01 -2.51198932e-03 -2.94856812e+01] [-1.96013562e-02 2.73017099e-05 9.99807875e-01 -6.58106929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.024203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.23, Y:-29.49, Z:-6.58 [[ 9.92041901e-01 1.24295964e-01 2.00843362e-02 2.06225197e+02] [-1.24268903e-01 9.92245185e-01 -2.59469977e-03 -2.94904062e+01] [-2.02510966e-02 7.81924638e-05 9.99794922e-01 -6.58140096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.054203822 meters Centerline goodness [0,1] 0.9999785038693035 Centerline is valid? [True, True] Translation: X:206.25, Y:-29.50, Z:-6.58 [[ 9.92605817e-01 1.19532695e-01 2.11098976e-02 2.06252892e+02] [-1.19501796e-01 9.92830248e-01 -2.72372544e-03 -2.94981246e+01] [-2.12841191e-02 1.80915042e-04 9.99773451e-01 -6.57913865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.084203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.28, Y:-29.50, Z:-6.58 [[ 9.92860446e-01 1.17349943e-01 2.13805200e-02 2.06281016e+02] [-1.17317771e-01 9.93090599e-01 -2.75721583e-03 -2.95038368e+01] [-2.15563525e-02 2.29215596e-04 9.99767609e-01 -6.57988053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.114203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.31, Y:-29.51, Z:-6.58 [[ 9.92868784e-01 1.17279357e-01 2.13806231e-02 2.06308276e+02] [-1.17247186e-01 9.93098937e-01 -2.75641591e-03 -2.95072236e+01] [-2.15563447e-02 2.29941419e-04 9.99767609e-01 -6.58072149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.144203822 meters Centerline goodness [0,1] 0.9999574667177066 Centerline is valid? [True, True] Translation: X:206.34, Y:-29.51, Z:-6.58 [[ 9.93143805e-01 1.14927963e-01 2.13763140e-02 2.06335273e+02] [-1.14895290e-01 9.93373789e-01 -2.75445868e-03 -2.95133907e+01] [-2.15512343e-02 2.79535773e-04 9.99767706e-01 -6.58183129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.174203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.36, Y:-29.52, Z:-6.58 [[ 9.93649269e-01 1.10603062e-01 2.06904157e-02 2.06363991e+02] [-1.10571564e-01 9.93864595e-01 -2.66371538e-03 -2.95236755e+01] [-2.08580867e-02 3.59027218e-04 9.99782382e-01 -6.58401746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.204203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.39, Y:-29.53, Z:-6.59 [[ 9.93847731e-01 1.08872410e-01 2.03343798e-02 2.06390590e+02] [-1.08841627e-01 9.94055656e-01 -2.61775948e-03 -2.95315804e+01] [-2.04985071e-02 3.88427333e-04 9.99789808e-01 -6.58594795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.234203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.42, Y:-29.54, Z:-6.59 [[ 9.94055169e-01 1.07058530e-01 1.98189869e-02 2.06418646e+02] [-1.07028953e-01 9.94252634e-01 -2.55016573e-03 -2.95369843e+01] [-1.99780969e-02 4.13800010e-04 9.99800332e-01 -6.58721938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.264203822 meters Centerline goodness [0,1] 0.999978708001533 Centerline is valid? [True, True] Translation: X:206.45, Y:-29.54, Z:-6.59 [[ 9.94070295e-01 1.06963328e-01 1.95728102e-02 2.06446146e+02] [-1.06934478e-01 9.94262882e-01 -2.51770632e-03 -2.95415166e+01] [-1.97298209e-02 4.09768824e-04 9.99805264e-01 -6.58857208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.29420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.47, Y:-29.55, Z:-6.59 [[ 9.94068490e-01 1.07005988e-01 1.94307814e-02 2.06473507e+02] [-1.06977583e-01 9.94258294e-01 -2.49843317e-03 -2.95457617e+01] [-1.95865629e-02 4.04955656e-04 9.99808083e-01 -6.58948592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.32420382200002 meters Centerline goodness [0,1] 0.9999785706632379 Centerline is valid? [True, True] Translation: X:206.50, Y:-29.55, Z:-6.59 [[ 9.93909551e-01 1.08472367e-01 1.94306460e-02 2.06502108e+02] [-1.08444275e-01 9.94099394e-01 -2.49679956e-03 -2.95482451e+01] [-1.95868271e-02 3.74450624e-04 9.99808090e-01 -6.58950159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.35420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.53, Y:-29.55, Z:-6.59 [[ 9.93758562e-01 1.09867687e-01 1.93134911e-02 2.06529722e+02] [-1.09840211e-01 9.93946162e-01 -2.48095618e-03 -2.95519722e+01] [-1.94691473e-02 3.44073506e-04 9.99810399e-01 -6.59083607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.38420382200002 meters Centerline goodness [0,1] 0.9999569002672184 Centerline is valid? [True, True] Translation: X:206.56, Y:-29.55, Z:-6.59 [[ 9.93355429e-01 1.13528609e-01 1.88745166e-02 2.06559025e+02] [-1.13503051e-01 9.93534692e-01 -2.42335140e-03 -2.95508145e+01] [-1.90276068e-02 2.64934052e-04 9.99818924e-01 -6.59170840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.41420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.59, Y:-29.55, Z:-6.59 [[ 9.93101238e-01 1.15681736e-01 1.91746339e-02 2.06587812e+02] [-1.15655778e-01 9.93286305e-01 -2.46095406e-03 -2.95520226e+01] [-1.93305888e-02 2.26319311e-04 9.99813121e-01 -6.59132474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.44420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.62, Y:-29.55, Z:-6.59 [[ 9.92833950e-01 1.17970922e-01 1.90685679e-02 2.06617039e+02] [-1.17945689e-01 9.93017034e-01 -2.44645067e-03 -2.95534671e+01] [-1.92240228e-02 1.79863896e-04 9.99815185e-01 -6.59214739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.47420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.64, Y:-29.55, Z:-6.59 [[ 9.92241534e-01 1.22856836e-01 1.90508870e-02 2.06644644e+02] [-1.22832566e-01 9.92424400e-01 -2.44338445e-03 -2.95543753e+01] [-1.92067516e-02 8.43582099e-05 9.99815530e-01 -6.59341470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.50420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.67, Y:-29.56, Z:-6.60 [[ 9.91895714e-01 1.25623321e-01 1.90177002e-02 2.06672716e+02] [-1.25599666e-01 9.92078011e-01 -2.43795718e-03 -2.95550167e+01] [-1.91733064e-02 2.95824901e-05 9.99816175e-01 -6.59502823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.53420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.70, Y:-29.55, Z:-6.60 [[ 9.91117861e-01 1.31648944e-01 1.88133102e-02 2.06702418e+02] [-1.31626903e-01 9.91296398e-01 -2.41049055e-03 -2.95503934e+01] [-1.89669052e-02 -8.72575143e-05 9.99820108e-01 -6.59587168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.56420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.73, Y:-29.55, Z:-6.60 [[ 9.90780321e-01 1.34178317e-01 1.87225692e-02 2.06730721e+02] [-1.34156953e-01 9.90957194e-01 -2.39810950e-03 -2.95500667e+01] [-1.88750389e-02 -1.35763140e-04 9.99821841e-01 -6.59697639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.594203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.76, Y:-29.55, Z:-6.60 [[ 9.90490080e-01 1.36298710e-01 1.87633583e-02 2.06758744e+02] [-1.36277655e-01 9.90667770e-01 -2.40220339e-03 -2.95492828e+01] [-1.89156716e-02 -1.77667847e-04 9.99821067e-01 -6.59899988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.624203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.79, Y:-29.55, Z:-6.60 [[ 9.90187835e-01 1.38505121e-01 1.85575728e-02 2.06787814e+02] [-1.38484909e-01 9.90361694e-01 -2.37602716e-03 -2.95517738e+01] [-1.87078012e-02 -2.17230608e-04 9.99824970e-01 -6.60013401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.654203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.82, Y:-29.56, Z:-6.60 [[ 9.90161069e-01 1.38787684e-01 1.78616015e-02 2.06816170e+02] [-1.38769056e-01 9.90322135e-01 -2.28416686e-03 -2.95575201e+01] [-1.80057535e-02 -2.16944474e-04 9.99837860e-01 -6.60159977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.684203822 meters Centerline goodness [0,1] 0.9998939329656343 Centerline is valid? [True, True] Translation: X:206.84, Y:-29.56, Z:-6.60 [[ 9.90226112e-01 1.38381648e-01 1.74002145e-02 2.06843045e+02] [-1.38363976e-01 9.90378956e-01 -2.22124110e-03 -2.95631794e+01] [-1.75401853e-02 -2.08031928e-04 9.99846137e-01 -6.60462781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.714203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.87, Y:-29.57, Z:-6.60 [[ 9.90349267e-01 1.37496515e-01 1.74079791e-02 2.06871442e+02] [-1.37478697e-01 9.90502232e-01 -2.22185694e-03 -2.95691081e+01] [-1.75481397e-02 -1.92811887e-04 9.99846001e-01 -6.60447190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.744203822 meters Centerline goodness [0,1] 0.9999788054766648 Centerline is valid? [True, True] Translation: X:206.90, Y:-29.57, Z:-6.61 [[ 9.90498954e-01 1.36360909e-01 1.78192444e-02 2.06898868e+02] [-1.36342136e-01 9.90659210e-01 -2.26986196e-03 -2.95743907e+01] [-1.79623190e-02 -1.81217944e-04 9.99838648e-01 -6.60603210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.774203822 meters Centerline goodness [0,1] 0.9999786589269708 Centerline is valid? [True, True] Translation: X:206.93, Y:-29.58, Z:-6.61 [[ 9.90897092e-01 1.33436838e-01 1.78203074e-02 2.06925898e+02] [-1.33417603e-01 9.91057311e-01 -2.26927168e-03 -2.95847388e+01] [-1.79637503e-02 -1.28927981e-04 9.99838631e-01 -6.60767383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.804203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.95, Y:-29.59, Z:-6.61 [[ 9.91134592e-01 1.31666205e-01 1.77828851e-02 2.06953137e+02] [-1.31646799e-01 9.91294104e-01 -2.26259775e-03 -2.95921652e+01] [-1.79259768e-02 -9.85210059e-05 9.99839312e-01 -6.60887474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.834203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.98, Y:-29.60, Z:-6.61 [[ 9.91557624e-01 1.28273732e-01 1.89559442e-02 2.06981242e+02] [-1.28251063e-01 9.91738800e-01 -2.41175556e-03 -2.96038754e+01] [-1.91087102e-02 -3.97253840e-05 9.99817411e-01 -6.60643449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.864203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.01, Y:-29.61, Z:-6.61 [[ 9.91743312e-01 1.26786754e-01 1.92437322e-02 2.07009676e+02] [-1.26763194e-01 9.91929997e-01 -2.44413883e-03 -2.96116711e+01] [-1.93983197e-02 -1.54386295e-05 9.99811835e-01 -6.60666916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.894203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.04, Y:-29.62, Z:-6.61 [[ 9.91941978e-01 1.25308203e-01 1.86806658e-02 2.07036321e+02] [-1.25285753e-01 9.92117863e-01 -2.37191555e-03 -2.96193143e+01] [-1.88306427e-02 1.23813183e-05 9.99822688e-01 -6.60892550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.924203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.06, Y:-29.63, Z:-6.61 [[ 9.92222625e-01 1.23144819e-01 1.81553480e-02 2.07064064e+02] [-1.23123273e-01 9.92388710e-01 -2.30403673e-03 -2.96281988e+01] [-1.83008925e-02 5.07715034e-05 9.99832523e-01 -6.61052172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.954203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.09, Y:-29.64, Z:-6.61 [[ 9.92322832e-01 1.22276263e-01 1.85449044e-02 2.07090307e+02] [-1.22253640e-01 9.92496101e-01 -2.35298469e-03 -2.96360248e+01] [-1.86934595e-02 6.77383687e-05 9.99825260e-01 -6.61164222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.984203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.12, Y:-29.64, Z:-6.61 [[ 9.92336114e-01 1.22120970e-01 1.88548593e-02 2.07119002e+02] [-1.22097593e-01 9.92515221e-01 -2.39038915e-03 -2.96412506e+01] [-1.90056515e-02 6.99365416e-05 9.99819374e-01 -6.60887865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.014203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.15, Y:-29.65, Z:-6.61 [[ 9.92313078e-01 1.22306011e-01 1.88678098e-02 2.07145976e+02] [-1.22282645e-01 9.92492436e-01 -2.39150675e-03 -2.96464586e+01] [-1.90186542e-02 6.59177272e-05 9.99819127e-01 -6.61026459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.04420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.17, Y:-29.65, Z:-6.61 [[ 9.92270487e-01 1.22697894e-01 1.85609340e-02 2.07172330e+02] [-1.22675381e-01 9.92444066e-01 -2.35101310e-03 -2.96507743e+01] [-1.87091532e-02 5.58712609e-05 9.99824967e-01 -6.61250336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.07420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.20, Y:-29.65, Z:-6.62 [[ 9.92127276e-01 1.23960412e-01 1.78124719e-02 2.07200077e+02] [-1.23939913e-01 9.92287164e-01 -2.25444626e-03 -2.96547014e+01] [-1.79545493e-02 2.90214019e-05 9.99838804e-01 -6.61502974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.10420382200002 meters Centerline goodness [0,1] 0.9998704131660223 Centerline is valid? [True, True] Translation: X:207.23, Y:-29.66, Z:-6.62 [[ 9.91951818e-01 1.25497383e-01 1.67928090e-02 2.07228754e+02] [-1.25479402e-01 9.92093951e-01 -2.12433069e-03 -2.96578162e+01] [-1.69266421e-02 8.20682742e-08 9.99856734e-01 -6.61716263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.13420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.26, Y:-29.66, Z:-6.62 [[ 9.91810800e-01 1.26631372e-01 1.66082261e-02 2.07257310e+02] [-1.26613957e-01 9.91949845e-01 -2.10020014e-03 -2.96618011e+01] [-1.67404786e-02 -1.98320407e-05 9.99859868e-01 -6.61800172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.16420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.29, Y:-29.66, Z:-6.62 [[ 9.91697073e-01 1.27526930e-01 1.65468150e-02 2.07285162e+02] [-1.27509778e-01 9.91835108e-01 -2.09179319e-03 -2.96649866e+01] [-1.66784720e-02 -3.54555298e-05 9.99860904e-01 -6.62084233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.19420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.31, Y:-29.67, Z:-6.62 [[ 9.91503364e-01 1.29048549e-01 1.63570033e-02 2.07313936e+02] [-1.29032015e-01 9.91638275e-01 -2.06661985e-03 -2.96684009e+01] [-1.64869248e-02 -6.15165581e-05 9.99864080e-01 -6.62074417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.22420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.34, Y:-29.67, Z:-6.62 [[ 9.91387246e-01 1.29968001e-01 1.61135515e-02 2.07342172e+02] [-1.29952079e-01 9.91518186e-01 -2.03570784e-03 -2.96703404e+01] [-1.62414562e-02 -7.58147260e-05 9.99868096e-01 -6.62190304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.25420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.37, Y:-29.67, Z:-6.62 [[ 9.91233800e-01 1.31151759e-01 1.59615343e-02 2.07371204e+02] [-1.31136322e-01 9.91362298e-01 -2.01447939e-03 -2.96715774e+01] [-1.60878659e-02 -9.63168507e-05 9.99870577e-01 -6.62227784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.28420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.40, Y:-29.67, Z:-6.63 [[ 9.90923023e-01 1.33532764e-01 1.55100987e-02 2.07399353e+02] [-1.33518481e-01 9.91044390e-01 -1.95741766e-03 -2.96705278e+01] [-1.56325757e-02 -1.31234590e-04 9.99877795e-01 -6.62559635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.31420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.43, Y:-29.67, Z:-6.63 [[ 9.90848929e-01 1.34047655e-01 1.57995425e-02 2.07427398e+02] [-1.34032928e-01 9.90974876e-01 -1.99217787e-03 -2.96733508e+01] [-1.59239964e-02 -1.43711628e-04 9.99873195e-01 -6.62634950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.344203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.46, Y:-29.68, Z:-6.62 [[ 9.90857551e-01 1.33918303e-01 1.63463269e-02 2.07455897e+02] [-1.33902547e-01 9.90992364e-01 -2.05958339e-03 -2.96781191e+01] [-1.64749010e-02 -1.48061048e-04 9.99864269e-01 -6.62430083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.374203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.48, Y:-29.68, Z:-6.63 [[ 9.90967511e-01 1.33062391e-01 1.66670820e-02 2.07483680e+02] [-1.33045893e-01 9.91107654e-01 -2.09972648e-03 -2.96825622e+01] [-1.67982672e-02 -1.36726101e-04 9.99858890e-01 -6.62589518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.404203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.51, Y:-29.69, Z:-6.63 [[ 9.91166522e-01 1.31509794e-01 1.71493405e-02 2.07510727e+02] [-1.31492131e-01 9.91314865e-01 -2.15839283e-03 -2.96883678e+01] [-1.72842460e-02 -1.15676618e-04 9.99850610e-01 -6.62671330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.434203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.54, Y:-29.70, Z:-6.62 [[ 9.91683704e-01 1.27455718e-01 1.78457800e-02 2.07538276e+02] [-1.27435958e-01 9.91844261e-01 -2.24477950e-03 -2.96989594e+01] [-1.79863445e-02 -4.80828202e-05 9.99838231e-01 -6.62451027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.464203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.56, Y:-29.71, Z:-6.63 [[ 9.91987853e-01 1.25089178e-01 1.76860720e-02 2.07564572e+02] [-1.25069401e-01 9.92145502e-01 -2.22429215e-03 -2.97059519e+01] [-1.78253916e-02 -5.51563145e-06 9.99841115e-01 -6.62740911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.494203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.59, Y:-29.72, Z:-6.63 [[ 9.92588946e-01 1.20146515e-01 1.82208380e-02 2.07592035e+02] [-1.20124729e-01 9.92756167e-01 -2.28947809e-03 -2.97204656e+01] [-1.83639221e-02 8.37374211e-05 9.99831365e-01 -6.62658617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.524203822 meters Centerline goodness [0,1] 0.9999784338674546 Centerline is valid? [True, True] Translation: X:207.62, Y:-29.73, Z:-6.63 [[ 9.92865160e-01 1.17782949e-01 1.85997438e-02 2.07618582e+02] [-1.17759842e-01 9.93039355e-01 -2.33657774e-03 -2.97298064e+01] [-1.87454866e-02 1.29603750e-04 9.99824280e-01 -6.62827516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.554203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.65, Y:-29.74, Z:-6.63 [[ 9.93069905e-01 1.16003957e-01 1.88479833e-02 2.07645510e+02] [-1.15979941e-01 9.93248738e-01 -2.36604137e-03 -2.97391846e+01] [-1.89952058e-02 1.63656486e-04 9.99819561e-01 -6.62867050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.584203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.67, Y:-29.75, Z:-6.63 [[ 9.93384904e-01 1.13424814e-01 1.79232816e-02 2.07672917e+02] [-1.13402705e-01 9.93546562e-01 -2.24838196e-03 -2.97507885e+01] [-1.80626371e-02 2.00960084e-04 9.99836837e-01 -6.62915026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.614203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.70, Y:-29.76, Z:-6.63 [[ 9.93409810e-01 1.13240780e-01 1.77052214e-02 2.07700807e+02] [-1.13219192e-01 9.93567554e-01 -2.22021222e-03 -2.97585058e+01] [-1.78427521e-02 2.01009746e-04 9.99840785e-01 -6.62891805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.644203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.73, Y:-29.76, Z:-6.63 [[ 9.93310068e-01 1.14176950e-01 1.72839080e-02 2.07729593e+02] [-1.14156532e-01 9.93460413e-01 -2.16659331e-03 -2.97626040e+01] [-1.74182534e-02 1.79027946e-04 9.99848275e-01 -6.62906760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.674203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.76, Y:-29.77, Z:-6.63 [[ 9.93120056e-01 1.15891793e-01 1.67823383e-02 2.07757996e+02] [-1.15872800e-01 9.93261834e-01 -2.10297823e-03 -2.97657565e+01] [-1.69129741e-02 1.43893317e-04 9.99856955e-01 -6.62945777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.704203822 meters Centerline goodness [0,1] 0.9999568481919392 Centerline is valid? [True, True] Translation: X:207.79, Y:-29.77, Z:-6.63 [[ 9.92828120e-01 1.18387594e-01 1.66343479e-02 2.07785724e+02] [-1.18369295e-01 9.92967456e-01 -2.08379567e-03 -2.97683157e+01] [-1.67640617e-02 9.98548942e-05 9.99859468e-01 -6.63087791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.734203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.81, Y:-29.77, Z:-6.63 [[ 9.91934257e-01 1.25509914e-01 1.77113545e-02 2.07813725e+02] [-1.25490321e-01 9.92092365e-01 -2.21778611e-03 -2.97670055e+01] [-1.78496538e-02 -2.27055384e-05 9.99840682e-01 -6.63009110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.764203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.84, Y:-29.76, Z:-6.63 [[ 9.91415359e-01 1.29540827e-01 1.77414666e-02 2.07842533e+02] [-1.29521843e-01 9.91574084e-01 -2.21979464e-03 -2.97647526e+01] [-1.78795325e-02 -9.71689600e-05 9.99840144e-01 -6.62994870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.79420382200001 meters Centerline goodness [0,1] 0.999957633401826 Centerline is valid? [True, True] Translation: X:207.87, Y:-29.76, Z:-6.63 [[ 9.90409463e-01 1.37061996e-01 1.74099028e-02 2.07871842e+02] [-1.37044895e-01 9.90562444e-01 -2.17723159e-03 -2.97569706e+01] [-1.75440115e-02 -2.29587522e-04 9.99846066e-01 -6.63137427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.82420382200002 meters Centerline goodness [0,1] 0.9999576594123126 Centerline is valid? [True, True] Translation: X:207.90, Y:-29.76, Z:-6.63 [[ 9.89942555e-01 1.40373556e-01 1.75784619e-02 2.07900943e+02] [-1.40356662e-01 9.90098571e-01 -2.19723850e-03 -2.97562159e+01] [-1.77128441e-02 -2.92114339e-04 9.99843073e-01 -6.63200052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.85420382200002 meters Centerline goodness [0,1] 0.9999570428283002 Centerline is valid? [True, True] Translation: X:207.93, Y:-29.76, Z:-6.63 [[ 9.89439690e-01 1.43849117e-01 1.77913214e-02 2.07930567e+02] [-1.43832397e-01 9.89599566e-01 -2.22254135e-03 -2.97565401e+01] [-1.79259946e-02 -3.59897772e-04 9.99839252e-01 -6.63135966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.88420382200002 meters Centerline goodness [0,1] 0.9998281196287384 Centerline is valid? [True, True] Translation: X:207.96, Y:-29.75, Z:-6.63 [[ 9.88556345e-01 1.49833924e-01 1.74970911e-02 2.07961168e+02] [-1.49818692e-01 9.88711071e-01 -2.18557775e-03 -2.97487862e+01] [-1.76270414e-02 -4.60824551e-04 9.99844525e-01 -6.63443381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.91420382200002 meters Centerline goodness [0,1] 0.9999363665287941 Centerline is valid? [True, True] Translation: X:207.99, Y:-29.75, Z:-6.63 [[ 9.87879580e-01 1.54262233e-01 1.72365598e-02 2.07991293e+02] [-1.54248127e-01 9.88029797e-01 -2.15282730e-03 -2.97484163e+01] [-1.73623346e-02 -5.31972936e-04 9.99849122e-01 -6.63466886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.94420382200002 meters Centerline goodness [0,1] 0.9997664394759751 Centerline is valid? [True, True] Translation: X:208.02, Y:-29.74, Z:-6.64 [[ 9.87639340e-01 1.55738436e-01 1.77221332e-02 2.08019591e+02] [-1.55723755e-01 9.87798163e-01 -2.21385903e-03 -2.97440397e+01] [-1.78506736e-02 -5.73262852e-04 9.99840500e-01 -6.63643233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.97420382200002 meters Centerline goodness [0,1] 0.9997435459052829 Centerline is valid? [True, True] Translation: X:208.05, Y:-29.75, Z:-6.63 [[ 9.87462984e-01 1.56819327e-01 1.80153991e-02 2.08047487e+02] [-1.56804356e-01 9.87627123e-01 -2.24939456e-03 -2.97495995e+01] [-1.81452453e-02 -6.03699196e-04 9.99835179e-01 -6.63428006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.00420382200002 meters Centerline goodness [0,1] 0.9998493975903614 Centerline is valid? [True, True] Translation: X:208.08, Y:-29.75, Z:-6.64 [[ 9.87389775e-01 1.57282526e-01 1.79899645e-02 2.08075967e+02] [-1.57267694e-01 9.87553458e-01 -2.24511176e-03 -2.97492755e+01] [-1.81191685e-02 -6.12439831e-04 9.99835647e-01 -6.63578767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.03420382200002 meters Centerline goodness [0,1] 0.9998493975903614 Centerline is valid? [True, True] Translation: X:208.10, Y:-29.75, Z:-6.64 [[ 9.87420103e-01 1.57092027e-01 1.79898956e-02 2.08103232e+02] [-1.57077153e-01 9.87583781e-01 -2.24566686e-03 -2.97524758e+01] [-1.81193054e-02 -6.08384972e-04 9.99835647e-01 -6.63662813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.06420382200002 meters Centerline goodness [0,1] 0.9995130626243808 Centerline is valid? [True, True] Translation: X:208.13, Y:-29.75, Z:-6.64 [[ 9.87553830e-01 1.56214179e-01 1.82910503e-02 2.08131351e+02] [-1.56198750e-01 9.87723019e-01 -2.27794446e-03 -2.97505076e+01] [-1.84223386e-02 -6.07446418e-04 9.99830110e-01 -6.63913349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.094203822 meters Centerline goodness [0,1] 0.9996805928197265 Centerline is valid? [True, True] Translation: X:208.16, Y:-29.76, Z:-6.64 [[ 9.88019072e-01 1.53275914e-01 1.80224091e-02 2.08160284e+02] [-1.53260478e-01 9.88183280e-01 -2.24281852e-03 -2.97622546e+01] [-1.81532134e-02 -5.46175553e-04 9.99835068e-01 -6.63879374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.124203822 meters Centerline goodness [0,1] 0.9998273964918337 Centerline is valid? [True, True] Translation: X:208.19, Y:-29.77, Z:-6.64 [[ 9.88333258e-01 1.51314398e-01 1.73586790e-02 2.08188400e+02] [-1.51299742e-01 9.88485566e-01 -2.16211989e-03 -2.97682119e+01] [-1.74859635e-02 -4.89468658e-04 9.99846989e-01 -6.64031048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.154203822 meters Centerline goodness [0,1] 0.9999139155511557 Centerline is valid? [True, True] Translation: X:208.22, Y:-29.77, Z:-6.64 [[ 9.88739396e-01 1.48707086e-01 1.67513793e-02 2.08217226e+02] [-1.48693112e-01 9.88881195e-01 -2.08357593e-03 -2.97744872e+01] [-1.68749665e-02 -4.30701102e-04 9.99857515e-01 -6.64179106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.184203822 meters Centerline goodness [0,1] 0.9999570585077832 Centerline is valid? [True, True] Translation: X:208.25, Y:-29.78, Z:-6.64 [[ 9.89503031e-01 1.43451334e-01 1.74775737e-02 2.08245019e+02] [-1.43435384e-01 9.89657307e-01 -2.16929648e-03 -2.97820697e+01] [-1.76079970e-02 -3.60377062e-04 9.99844902e-01 -6.64231865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.214203822 meters Centerline goodness [0,1] 0.999957677331979 Centerline is valid? [True, True] Translation: X:208.27, Y:-29.79, Z:-6.64 [[ 9.89933012e-01 1.40453497e-01 1.74770628e-02 2.08273036e+02] [-1.40437089e-01 9.90087229e-01 -2.16874526e-03 -2.97896608e+01] [-1.76084245e-02 -3.07515299e-04 9.99844912e-01 -6.64240220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.244203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.30, Y:-29.80, Z:-6.64 [[ 9.90850846e-01 1.33765401e-01 1.79281672e-02 2.08302131e+02] [-1.33747064e-01 9.91013007e-01 -2.22335630e-03 -2.97996796e+01] [-1.80644550e-02 -1.94825247e-04 9.99836805e-01 -6.64232327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.274203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.33, Y:-29.81, Z:-6.64 [[ 9.91353326e-01 1.30032900e-01 1.76076043e-02 2.08329349e+02] [-1.30014617e-01 9.91509672e-01 -2.18400559e-03 -2.98074616e+01] [-1.77421025e-02 -1.24124720e-04 9.99842589e-01 -6.64411863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.304203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.36, Y:-29.82, Z:-6.65 [[ 9.92191011e-01 1.23551783e-01 1.70866861e-02 2.08355689e+02] [-1.23533616e-01 9.92338126e-01 -2.11869033e-03 -2.98199393e+01] [-1.72175380e-02 -8.63462242e-06 9.99851767e-01 -6.64600090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.334203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.38, Y:-29.83, Z:-6.65 [[ 9.92510660e-01 1.20953410e-01 1.71132514e-02 2.08383115e+02] [-1.20934826e-01 9.92658185e-01 -2.12050183e-03 -2.98263442e+01] [-1.72440910e-02 3.50325977e-05 9.99851309e-01 -6.64526206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.364203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.41, Y:-29.83, Z:-6.65 [[ 9.92749738e-01 1.18957435e-01 1.72362174e-02 2.08410460e+02] [-1.18938306e-01 9.92899352e-01 -2.13430088e-03 -2.98323903e+01] [-1.73677201e-02 6.87801253e-05 9.99849167e-01 -6.64719672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.394203822 meters Centerline goodness [0,1] 0.9999356858037131 Centerline is valid? [True, True] Translation: X:208.44, Y:-29.84, Z:-6.65 [[ 9.93028966e-01 1.16441056e-01 1.83017028e-02 2.08438489e+02] [-1.16419082e-01 9.93197597e-01 -2.26515391e-03 -2.98381307e+01] [-1.84409641e-02 1.18696000e-04 9.99829944e-01 -6.64605086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.424203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.47, Y:-29.84, Z:-6.64 [[ 9.93139643e-01 1.15419890e-01 1.87589768e-02 2.08465650e+02] [-1.15396649e-01 9.93316782e-01 -2.32036795e-03 -2.98432383e+01] [-1.89014231e-02 1.39726344e-04 9.99821342e-01 -6.64489526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.454203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.49, Y:-29.85, Z:-6.64 [[ 9.93220795e-01 1.14702940e-01 1.88597064e-02 2.08494411e+02] [-1.14679350e-01 9.93399825e-01 -2.33118876e-03 -2.98466072e+01] [-1.90026232e-02 1.52566277e-04 9.99819422e-01 -6.64446969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.484203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.52, Y:-29.85, Z:-6.65 [[ 9.93205413e-01 1.14908823e-01 1.84111131e-02 2.08521486e+02] [-1.14886388e-01 9.93376032e-01 -2.27512164e-03 -2.98504759e+01] [-1.85505901e-02 1.44476837e-04 9.99827913e-01 -6.64708484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.514203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.55, Y:-29.85, Z:-6.65 [[ 9.93175906e-01 1.15240225e-01 1.79251408e-02 2.08549577e+02] [-1.15219041e-01 9.93337643e-01 -2.21354079e-03 -2.98541713e+01] [-1.80608061e-02 1.33117837e-04 9.99836881e-01 -6.64884620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.54420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.58, Y:-29.86, Z:-6.65 [[ 9.93014529e-01 1.16681564e-01 1.75373041e-02 2.08578076e+02] [-1.16661526e-01 9.93169372e-01 -2.16484081e-03 -2.98566182e+01] [-1.76701103e-02 1.03789721e-04 9.99843866e-01 -6.65005805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.57420382200002 meters Centerline goodness [0,1] 0.9998932809698625 Centerline is valid? [True, True] Translation: X:208.61, Y:-29.86, Z:-6.65 [[ 9.92878094e-01 1.17834481e-01 1.75535258e-02 2.08605394e+02] [-1.17814598e-01 9.93033246e-01 -2.16614244e-03 -2.98580831e+01] [-1.76864810e-02 8.26537867e-05 9.99843579e-01 -6.65286258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.60420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.63, Y:-29.86, Z:-6.65 [[ 9.92582548e-01 1.20286767e-01 1.76346222e-02 2.08634466e+02] [-1.20267109e-01 9.92739186e-01 -2.17491119e-03 -2.98581346e+01] [-1.77681936e-02 3.79138611e-05 9.99842132e-01 -6.65235770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.63420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.66, Y:-29.86, Z:-6.65 [[ 9.92380624e-01 1.21852137e-01 1.82415611e-02 2.08662975e+02] [-1.21831383e-01 9.92548264e-01 -2.24885562e-03 -2.98583789e+01] [-1.83796577e-02 9.32611070e-06 9.99831080e-01 -6.65307579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.66420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.69, Y:-29.86, Z:-6.65 [[ 9.91957625e-01 1.25181362e-01 1.87001629e-02 2.08691728e+02] [-1.25160155e-01 9.92133874e-01 -2.30477368e-03 -2.98553102e+01] [-1.88415798e-02 -5.42774682e-05 9.99822480e-01 -6.65199850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.69420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.72, Y:-29.86, Z:-6.65 [[ 9.91678949e-01 1.27433345e-01 1.82648512e-02 2.08721069e+02] [-1.27413524e-01 9.91847132e-01 -2.24958759e-03 -2.98566224e+01] [-1.84026127e-02 -9.63203856e-05 9.99830653e-01 -6.65211373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.72420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.75, Y:-29.86, Z:-6.66 [[ 9.91389733e-01 1.29607104e-01 1.86653610e-02 2.08749228e+02] [-1.29586804e-01 9.91565418e-01 -2.29809774e-03 -2.98558470e+01] [-1.88057763e-02 -1.40473975e-04 9.99823146e-01 -6.65532753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.75420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.78, Y:-29.85, Z:-6.65 [[ 9.90749847e-01 1.34346729e-01 1.91232008e-02 2.08778283e+02] [-1.34326327e-01 9.90934357e-01 -2.35321099e-03 -2.98524435e+01] [-1.92659829e-02 -2.37305901e-04 9.99814366e-01 -6.65347045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.78420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.81, Y:-29.85, Z:-6.65 [[ 9.90416753e-01 1.36794533e-01 1.90239820e-02 2.08806748e+02] [-1.36774816e-01 9.90599402e-01 -2.33987026e-03 -2.98498934e+01] [-1.91652267e-02 -2.84554938e-04 9.99816290e-01 -6.65485787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.81420382200002 meters Centerline goodness [0,1] 0.9999571459181487 Centerline is valid? [True, True] Translation: X:208.84, Y:-29.84, Z:-6.65 [[ 9.89776916e-01 1.41299247e-01 1.93953420e-02 2.08836932e+02] [-1.41279645e-01 9.89966857e-01 -2.38409202e-03 -2.98426064e+01] [-1.95376162e-02 -3.80447777e-04 9.99809050e-01 -6.65402062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.844203822 meters Centerline goodness [0,1] 0.999957152344838 Centerline is valid? [True, True] Translation: X:208.87, Y:-29.84, Z:-6.66 [[ 9.89519138e-01 1.43065676e-01 1.95981641e-02 2.08865168e+02] [-1.43046018e-01 9.89713108e-01 -2.40855663e-03 -2.98404600e+01] [-1.97411417e-02 -4.20126449e-04 9.99805036e-01 -6.65521026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.874203822 meters Centerline goodness [0,1] 0.999978653460274 Centerline is valid? [True, True] Translation: X:208.89, Y:-29.84, Z:-6.66 [[ 9.89328973e-01 1.44485904e-01 1.87618563e-02 2.08893470e+02] [-1.44468162e-01 9.89506765e-01 -2.30472203e-03 -2.98389977e+01] [-1.88979836e-02 -4.30362614e-04 9.99821325e-01 -6.65787561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.904203822 meters Centerline goodness [0,1] 0.9999573205864152 Centerline is valid? [True, True] Translation: X:208.92, Y:-29.84, Z:-6.66 [[ 9.89190896e-01 1.45602794e-01 1.73550642e-02 2.08922443e+02] [-1.45587776e-01 9.89343041e-01 -2.13244465e-03 -2.98384908e+01] [-1.74806018e-02 -4.17290355e-04 9.99847116e-01 -6.66180341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.934203822 meters Centerline goodness [0,1] 0.9999359001752062 Centerline is valid? [True, True] Translation: X:208.95, Y:-29.84, Z:-6.66 [[ 9.89248272e-01 1.45215700e-01 1.73279346e-02 2.08950270e+02] [-1.45200714e-01 9.89399935e-01 -2.12652273e-03 -2.98405675e+01] [-1.74530618e-02 -4.12369543e-04 9.99847599e-01 -6.66271713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.964203822 meters Centerline goodness [0,1] 0.9999576307092619 Centerline is valid? [True, True] Translation: X:208.98, Y:-29.84, Z:-6.66 [[ 9.89572647e-01 1.42796432e-01 1.88455507e-02 2.08979651e+02] [-1.42778373e-01 9.89751996e-01 -2.30722171e-03 -2.98431227e+01] [-1.89818845e-02 -4.07573578e-04 9.99819745e-01 -6.66164222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.994203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.01, Y:-29.85, Z:-6.66 [[ 9.89907499e-01 1.40369519e-01 1.94818354e-02 2.09007323e+02] [-1.40349787e-01 9.90099115e-01 -2.38325705e-03 -2.98459673e+01] [-1.96234846e-02 -3.75067413e-04 9.99807371e-01 -6.66264181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.024203822 meters Centerline goodness [0,1] 0.9999143267150721 Centerline is valid? [True, True] Translation: X:209.04, Y:-29.85, Z:-6.66 [[ 9.90318152e-01 1.37385308e-01 1.98805357e-02 2.09036238e+02] [-1.37364164e-01 9.90517629e-01 -2.43174041e-03 -2.98512262e+01] [-2.00261065e-02 -3.22676498e-04 9.99799405e-01 -6.66284885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.054203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.06, Y:-29.86, Z:-6.66 [[ 9.91471112e-01 1.28599073e-01 2.11497745e-02 2.09063913e+02] [-1.28573242e-01 9.91696654e-01 -2.58228244e-03 -2.98637152e+01] [-2.13062397e-02 -1.59036640e-04 9.99772984e-01 -6.66223180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.084203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.09, Y:-29.88, Z:-6.66 [[ 9.92666828e-01 1.18888287e-01 2.18664881e-02 2.09091205e+02] [-1.18858317e-01 9.92907635e-01 -2.66980666e-03 -2.98817268e+01] [-2.20288117e-02 5.12145264e-05 9.99757335e-01 -6.66169883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.114203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.12, Y:-29.89, Z:-6.66 [[ 9.93174626e-01 1.14617245e-01 2.16113479e-02 2.09118405e+02] [-1.14587005e-01 9.93409718e-01 -2.63654510e-03 -2.98923716e+01] [-2.17711165e-02 1.42170063e-04 9.99762971e-01 -6.66310171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.144203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.15, Y:-29.90, Z:-6.66 [[ 9.93616538e-01 1.10850804e-01 2.09349898e-02 2.09145875e+02] [-1.10821616e-01 9.93837035e-01 -2.55283955e-03 -2.99012721e+01] [-2.10889525e-02 2.16494201e-04 9.99777580e-01 -6.66466337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.174203822 meters Centerline goodness [0,1] 0.999957274999466 Centerline is valid? [True, True] Translation: X:209.17, Y:-29.91, Z:-6.67 [[ 9.94019448e-01 1.07290080e-01 2.03512999e-02 2.09173087e+02] [-1.07261775e-01 9.94227720e-01 -2.48048034e-03 -2.99101529e+01] [-2.04999575e-02 2.82729135e-04 9.99789814e-01 -6.66677575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.204203822 meters Centerline goodness [0,1] 0.9999785181843569 Centerline is valid? [True, True] Translation: X:209.20, Y:-29.92, Z:-6.67 [[ 9.94609052e-01 1.01874600e-01 1.93494198e-02 2.09201077e+02] [-1.01848014e-01 9.94797179e-01 -2.35702942e-03 -2.99214775e+01] [-1.94888696e-02 3.73622812e-04 9.99810004e-01 -6.66900116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.234203822 meters Centerline goodness [0,1] 0.9999571688617624 Centerline is valid? [True, True] Translation: X:209.23, Y:-29.93, Z:-6.67 [[ 9.95002571e-01 9.81574075e-02 1.83032049e-02 2.09229478e+02] [-9.81330046e-02 9.95170812e-01 -2.22884929e-03 -2.99330988e+01] [-1.84335933e-02 4.21562289e-04 9.99829998e-01 -6.67165817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.264203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.26, Y:-29.94, Z:-6.67 [[ 9.95090739e-01 9.72926439e-02 1.81262685e-02 2.09258196e+02] [-9.72685695e-02 9.95255723e-01 -2.20717891e-03 -2.99379392e+01] [-1.82550148e-02 4.33227085e-04 9.99833269e-01 -6.67238551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.29420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.29, Y:-29.94, Z:-6.67 [[ 9.95132965e-01 9.68688925e-02 1.80776006e-02 2.09285731e+02] [-9.68448904e-02 9.95297054e-01 -2.20053190e-03 -2.99448093e+01] [-1.82057457e-02 4.39098594e-04 9.99834165e-01 -6.67406807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.32420382200002 meters Centerline goodness [0,1] 0.9999141336081058 Centerline is valid? [True, True] Translation: X:209.31, Y:-29.95, Z:-6.67 [[ 9.95103804e-01 9.72155882e-02 1.78198771e-02 2.09314834e+02] [-9.71923425e-02 9.95263256e-01 -2.16797071e-03 -2.99478203e+01] [-1.79462294e-02 4.25400311e-04 9.99838863e-01 -6.67447091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.35420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.34, Y:-29.96, Z:-6.68 [[ 9.95032986e-01 9.81052291e-02 1.68736730e-02 2.09342628e+02] [-9.80845271e-02 9.95175972e-01 -2.05211835e-03 -2.99552929e+01] [-1.69935975e-02 3.86879205e-04 9.99855524e-01 -6.67703071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.38420382200002 meters Centerline goodness [0,1] 0.9999784802771741 Centerline is valid? [True, True] Translation: X:209.37, Y:-29.96, Z:-6.68 [[ 9.94745593e-01 1.01097610e-01 1.61393146e-02 2.09371174e+02] [-1.01079076e-01 9.94876460e-01 -1.96210995e-03 -2.99581492e+01] [-1.62549888e-02 3.20453219e-04 9.99867828e-01 -6.67776305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.41420382200002 meters Centerline goodness [0,1] 0.999827779212951 Centerline is valid? [True, True] Translation: X:209.40, Y:-29.96, Z:-6.68 [[ 9.94507974e-01 1.03379695e-01 1.63257037e-02 2.09399126e+02] [-1.03361048e-01 9.94641924e-01 -1.98413063e-03 -2.99613235e+01] [-1.64433482e-02 2.85791886e-04 9.99864758e-01 -6.67926846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.44420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.43, Y:-29.96, Z:-6.68 [[ 9.94352331e-01 1.04750194e-01 1.70539696e-02 2.09427338e+02] [-1.04730069e-01 9.94498528e-01 -2.07135874e-03 -2.99648959e+01] [-1.71771229e-02 2.73596974e-04 9.99852425e-01 -6.67906251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.47420382200002 meters Centerline goodness [0,1] 0.9998929267404758 Centerline is valid? [True, True] Translation: X:209.46, Y:-29.97, Z:-6.68 [[ 9.93938667e-01 1.08432154e-01 1.81216628e-02 2.09456207e+02] [-1.08410061e-01 9.94103827e-01 -2.19995585e-03 -2.99670206e+01] [-1.82533603e-02 2.22050600e-04 9.99833369e-01 -6.67801286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.50420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.48, Y:-29.97, Z:-6.68 [[ 9.93834633e-01 1.09370702e-01 1.81871110e-02 2.09484475e+02] [-1.09348617e-01 9.94001010e-01 -2.20740350e-03 -2.99708868e+01] [-1.83194319e-02 2.05058627e-04 9.99832164e-01 -6.67805698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.53420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.51, Y:-29.98, Z:-6.68 [[ 9.93522145e-01 1.12233415e-01 1.78159487e-02 2.09513445e+02] [-1.12212700e-01 9.93681860e-01 -2.16138069e-03 -2.99753706e+01] [-1.79459642e-02 1.48203883e-04 9.99838947e-01 -6.67928944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.56420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.54, Y:-29.98, Z:-6.68 [[ 9.93334650e-01 1.13887964e-01 1.77708853e-02 2.09541164e+02] [-1.13867623e-01 9.93493592e-01 -2.15557395e-03 -2.99808583e+01] [-1.79007546e-02 1.17677825e-04 9.99839762e-01 -6.68148986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.594203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.57, Y:-29.99, Z:-6.69 [[ 9.93190674e-01 1.15191424e-01 1.74132500e-02 2.09568725e+02] [-1.15172112e-01 9.93343308e-01 -2.11117313e-03 -2.99869613e+01] [-1.75405244e-02 9.12766865e-05 9.99846149e-01 -6.68530387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.624203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.60, Y:-29.99, Z:-6.68 [[ 9.92894259e-01 1.17744902e-01 1.72374134e-02 2.09596897e+02] [-1.17726383e-01 9.93043874e-01 -2.08868614e-03 -2.99919072e+01] [-1.73634399e-02 4.45461487e-05 9.99849243e-01 -6.68432171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.654203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.62, Y:-30.00, Z:-6.69 [[ 9.92742815e-01 1.18987748e-01 1.74246699e-02 2.09624182e+02] [-1.18969029e-01 9.92895722e-01 -2.11068172e-03 -2.99961566e+01] [-1.75520255e-02 2.23680543e-05 9.99845951e-01 -6.68519555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.684203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.65, Y:-30.00, Z:-6.68 [[ 9.92454522e-01 1.21234748e-01 1.83345904e-02 2.09651927e+02] [-1.21214429e-01 9.92623864e-01 -2.21960155e-03 -3.00034697e+01] [-1.84684449e-02 -1.95633194e-05 9.99829444e-01 -6.68340653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.714203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.68, Y:-30.01, Z:-6.68 [[ 9.92299647e-01 1.22494407e-01 1.83447625e-02 2.09680589e+02] [-1.22474297e-01 9.92469203e-01 -2.21993790e-03 -3.00084512e+01] [-1.84785418e-02 -4.39182958e-05 9.99829256e-01 -6.68356138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.744203822 meters Centerline goodness [0,1] 0.9999785715816316 Centerline is valid? [True, True] Translation: X:209.71, Y:-30.01, Z:-6.69 [[ 9.91969371e-01 1.25073462e-01 1.87988240e-02 2.09707968e+02] [-1.25052823e-01 9.92147479e-01 -2.27404736e-03 -3.00123184e+01] [-1.89356288e-02 -9.50606750e-05 9.99820700e-01 -6.68584020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.774203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.74, Y:-30.02, Z:-6.69 [[ 9.91904913e-01 1.25562205e-01 1.89413981e-02 2.09735494e+02] [-1.25541362e-01 9.92085743e-01 -2.29020040e-03 -3.00182249e+01] [-1.90790536e-02 -1.06267884e-04 9.99817973e-01 -6.68633827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.804203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.76, Y:-30.03, Z:-6.69 [[ 9.91839258e-01 1.26056777e-01 1.90938473e-02 2.09763927e+02] [-1.26035720e-01 9.92023021e-01 -2.30703052e-03 -3.00252550e+01] [-1.92323529e-02 -1.18303354e-04 9.99815034e-01 -6.68516500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.834203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.79, Y:-30.03, Z:-6.69 [[ 9.91776258e-01 1.26644317e-01 1.84680839e-02 2.09791444e+02] [-1.26624733e-01 9.91948185e-01 -2.23072087e-03 -3.00334663e+01] [-1.86018904e-02 -1.26140189e-04 9.99826962e-01 -6.68601103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.864203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.82, Y:-30.04, Z:-6.69 [[ 9.91794559e-01 1.26530272e-01 1.82659146e-02 2.09818216e+02] [-1.26511116e-01 9.91962739e-01 -2.20516836e-03 -3.00393326e+01] [-1.83981273e-02 -1.23767256e-04 9.99830732e-01 -6.68839135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.894203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.85, Y:-30.05, Z:-6.69 [[ 9.91914515e-01 1.25650710e-01 1.78183812e-02 2.09845624e+02] [-1.25632361e-01 9.92074537e-01 -2.14990301e-03 -3.00509875e+01] [-1.79472991e-02 -1.06045298e-04 9.99838929e-01 -6.69078674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.924203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.87, Y:-30.05, Z:-6.69 [[ 9.91920577e-01 1.25602831e-01 1.78184843e-02 2.09873745e+02] [-1.25584490e-01 9.92080600e-01 -2.14904813e-03 -3.00542894e+01] [-1.79472991e-02 -1.06040197e-04 9.99838929e-01 -6.69165339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.954203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.90, Y:-30.06, Z:-6.69 [[ 9.92005777e-01 1.24907426e-01 1.79631297e-02 2.09901103e+02] [-1.24888684e-01 9.92168396e-01 -2.16574983e-03 -3.00615483e+01] [-1.80929678e-02 -9.49553003e-05 9.99836304e-01 -6.69271473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.984203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.93, Y:-30.07, Z:-6.69 [[ 9.92157892e-01 1.23631658e-01 1.83828637e-02 2.09927678e+02] [-1.23611834e-01 9.92328175e-01 -2.21518220e-03 -3.00721384e+01] [-1.85157002e-02 -7.45289958e-05 9.99828567e-01 -6.69259327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.014203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.96, Y:-30.08, Z:-6.69 [[ 9.92183131e-01 1.23379246e-01 1.87135164e-02 2.09955340e+02] [-1.23358679e-01 9.92359590e-01 -2.25386569e-03 -3.00780189e+01] [-1.88486177e-02 -7.22271444e-05 9.99822346e-01 -6.69315110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.04420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.98, Y:-30.08, Z:-6.69 [[ 9.92070597e-01 1.24272504e-01 1.87689910e-02 2.09982405e+02] [-1.24251996e-01 9.92248123e-01 -2.25940993e-03 -3.00843454e+01] [-1.89042786e-02 -9.05904315e-05 9.99821294e-01 -6.69451009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.07420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.01, Y:-30.09, Z:-6.69 [[ 9.91961177e-01 1.25161421e-01 1.86451443e-02 2.10011205e+02] [-1.25141362e-01 9.92136385e-01 -2.24330783e-03 -3.00895296e+01] [-1.87793017e-02 -1.08004486e-04 9.99823648e-01 -6.69386428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.10420382200002 meters Centerline goodness [0,1] 0.9999571615224795 Centerline is valid? [True, True] Translation: X:210.04, Y:-30.09, Z:-6.69 [[ 9.91856477e-01 1.25983166e-01 1.86807782e-02 2.10039658e+02] [-1.25963192e-01 9.92032372e-01 -2.24672077e-03 -3.00935645e+01] [-1.88149857e-02 -1.24665914e-04 9.99822975e-01 -6.69346400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.13420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.07, Y:-30.10, Z:-6.70 [[ 9.91680933e-01 1.27247742e-01 1.94149012e-02 2.10066895e+02] [-1.27226428e-01 9.91870953e-01 -2.33413014e-03 -3.00972741e+01] [-1.95540893e-02 -1.55376165e-04 9.99808788e-01 -6.69511370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.16420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.10, Y:-30.10, Z:-6.69 [[ 9.91577542e-01 1.27941320e-01 2.01245505e-02 2.10095805e+02] [-1.27918590e-01 9.91781724e-01 -2.41801188e-03 -3.01024196e+01] [-2.02685250e-02 -1.76657859e-04 9.99794557e-01 -6.69399657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.19420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.12, Y:-30.11, Z:-6.69 [[ 9.91388991e-01 1.29451485e-01 1.97529920e-02 2.10124152e+02] [-1.29429905e-01 9.91585736e-01 -2.37245985e-03 -3.01061713e+01] [-1.98939036e-02 -2.04597302e-04 9.99802076e-01 -6.69460011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.22420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.15, Y:-30.11, Z:-6.70 [[ 9.91273907e-01 1.30438762e-01 1.90202563e-02 2.10152688e+02] [-1.30418951e-01 9.91456344e-01 -2.28361857e-03 -3.01092387e+01] [-1.91556261e-02 -2.16910367e-04 9.99816491e-01 -6.69638274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.25420382200002 meters Centerline goodness [0,1] 0.9999789207419899 Centerline is valid? [True, True] Translation: X:210.18, Y:-30.11, Z:-6.70 [[ 9.91119303e-01 1.31712059e-01 1.82882644e-02 2.10180059e+02] [-1.31693974e-01 9.91287990e-01 -2.19499416e-03 -3.01095799e+01] [-1.84180441e-02 -2.32953132e-04 9.99830346e-01 -6.70023363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.28420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.21, Y:-30.11, Z:-6.70 [[ 9.90692315e-01 1.34950082e-01 1.78104712e-02 2.10208568e+02] [-1.34933469e-01 9.90852357e-01 -2.13676375e-03 -3.01105002e+01] [-1.79359038e-02 -2.86353234e-04 9.99839098e-01 -6.70021151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.31420382200002 meters Centerline goodness [0,1] 0.9999573032748388 Centerline is valid? [True, True] Translation: X:210.24, Y:-30.11, Z:-6.70 [[ 9.90428545e-01 1.36890750e-01 1.76697577e-02 2.10237014e+02] [-1.36874725e-01 9.90586099e-01 -2.11886808e-03 -3.01107594e+01] [-1.77934698e-02 -3.19955797e-04 9.99841632e-01 -6.70072548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.344203822 meters Centerline goodness [0,1] 0.9999358467164211 Centerline is valid? [True, True] Translation: X:210.27, Y:-30.11, Z:-6.70 [[ 9.89913798e-01 1.40648984e-01 1.69863211e-02 2.10267125e+02] [-1.40634751e-01 9.90059455e-01 -2.03549807e-03 -3.01085486e+01] [-1.71037586e-02 -3.73899417e-04 9.99853650e-01 -6.70141087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.374203822 meters Centerline goodness [0,1] 0.9997867030693428 Centerline is valid? [True, True] Translation: X:210.30, Y:-30.10, Z:-6.71 [[ 9.89733054e-01 1.41935713e-01 1.68147109e-02 2.10295873e+02] [-1.41921950e-01 9.89875800e-01 -2.01502581e-03 -3.01043607e+01] [-1.69304796e-02 -3.92038918e-04 9.99856592e-01 -6.70535190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.404203822 meters Centerline goodness [0,1] 0.9999141483516484 Centerline is valid? [True, True] Translation: X:210.32, Y:-30.11, Z:-6.70 [[ 9.89639701e-01 1.42602120e-01 1.66702600e-02 2.10324332e+02] [-1.42588707e-01 9.89780013e-01 -1.99653639e-03 -3.01096780e+01] [-1.67846005e-02 -4.01139140e-04 9.99859048e-01 -6.70401545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.434203822 meters Centerline goodness [0,1] 0.9998717976111622 Centerline is valid? [True, True] Translation: X:210.35, Y:-30.11, Z:-6.71 [[ 9.89707339e-01 1.42194385e-01 1.61288322e-02 2.10351507e+02] [-1.42181781e-01 9.89838679e-01 -1.93132844e-03 -3.01145807e+01] [-1.62395660e-02 -3.81776146e-04 9.99868057e-01 -6.70501831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.464203822 meters Centerline goodness [0,1] 0.999978647990776 Centerline is valid? [True, True] Translation: X:210.38, Y:-30.12, Z:-6.71 [[ 9.89900681e-01 1.40866035e-01 1.59185929e-02 2.10380160e+02] [-1.40853610e-01 9.90028602e-01 -1.90465246e-03 -3.01202056e+01] [-1.60281631e-02 -3.56774514e-04 9.99871477e-01 -6.70624270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.494203822 meters Centerline goodness [0,1] 0.9998926209088567 Centerline is valid? [True, True] Translation: X:210.41, Y:-30.12, Z:-6.71 [[ 9.90214867e-01 1.38605528e-01 1.62180556e-02 2.10407411e+02] [-1.38592339e-01 9.90347616e-01 -1.93983114e-03 -3.01244628e+01] [-1.63303840e-02 -3.26848612e-04 9.99866597e-01 -6.70744250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.524203822 meters Centerline goodness [0,1] 0.9999142936727304 Centerline is valid? [True, True] Translation: X:210.44, Y:-30.12, Z:-6.71 [[ 9.90300692e-01 1.37934242e-01 1.66938532e-02 2.10435562e+02] [-1.37920191e-01 9.90441335e-01 -1.99563971e-03 -3.01248452e+01] [-1.68095493e-02 -3.26136029e-04 9.99858656e-01 -6.70868788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.554203822 meters Centerline goodness [0,1] 0.9998500428449014 Centerline is valid? [True, True] Translation: X:210.46, Y:-30.13, Z:-6.71 [[ 9.90285492e-01 1.37936199e-01 1.75570117e-02 2.10464476e+02] [-1.37920680e-01 9.90441057e-01 -2.09753574e-03 -3.01280674e+01] [-1.76785113e-02 -3.44315782e-04 9.99843664e-01 -6.70592915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.584203822 meters Centerline goodness [0,1] 0.9999573023633141 Centerline is valid? [True, True] Translation: X:210.49, Y:-30.13, Z:-6.71 [[ 9.90323362e-01 1.37707979e-01 1.72090400e-02 2.10491920e+02] [-1.37693043e-01 9.90472817e-01 -2.05548939e-03 -3.01305695e+01] [-1.73281436e-02 -3.33965908e-04 9.99849801e-01 -6.70627530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.614203822 meters Centerline goodness [0,1] 0.9999356637357925 Centerline is valid? [True, True] Translation: X:210.52, Y:-30.13, Z:-6.71 [[ 9.90298826e-01 1.37975418e-01 1.64626851e-02 2.10519302e+02] [-1.37961805e-01 9.90435600e-01 -1.96517383e-03 -3.01312836e+01] [-1.65763751e-02 -3.25112424e-04 9.99862550e-01 -6.70856745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.644203822 meters Centerline goodness [0,1] 0.9999149008595013 Centerline is valid? [True, True] Translation: X:210.55, Y:-30.13, Z:-6.71 [[ 9.90302378e-01 1.37998595e-01 1.60495491e-02 2.10547786e+02] [-1.37985682e-01 9.90432373e-01 -1.91452867e-03 -3.01323449e+01] [-1.61601953e-02 -3.18645679e-04 9.99869365e-01 -6.70965512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.674203822 meters Centerline goodness [0,1] 0.9999782835302293 Centerline is valid? [True, True] Translation: X:210.58, Y:-30.14, Z:-6.71 [[ 9.90382979e-01 1.37473206e-01 1.55779449e-02 2.10575720e+02] [-1.37460981e-01 9.90505440e-01 -1.85794150e-03 -3.01361114e+01] [-1.56854563e-02 -3.01285943e-04 9.99876930e-01 -6.71019893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.704203822 meters Centerline goodness [0,1] 0.9999572539967513 Centerline is valid? [True, True] Translation: X:210.60, Y:-30.14, Z:-6.71 [[ 9.90623549e-01 1.35901284e-01 1.39937829e-02 2.10602911e+02] [-1.35891271e-01 9.90722352e-01 -1.66837021e-03 -3.01378021e+01] [-1.40906872e-02 -2.48906137e-04 9.99900690e-01 -6.71385769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.734203822 meters Centerline goodness [0,1] 0.9999575983717774 Centerline is valid? [True, True] Translation: X:210.63, Y:-30.14, Z:-6.72 [[ 9.90778477e-01 1.34762312e-01 1.40402464e-02 2.10630718e+02] [-1.34752141e-01 9.90877926e-01 -1.67223052e-03 -3.01368692e+01] [-1.41375239e-02 -2.35143257e-04 9.99900033e-01 -6.71807860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.764203822 meters Centerline goodness [0,1] 0.9999356761508609 Centerline is valid? [True, True] Translation: X:210.66, Y:-30.14, Z:-6.72 [[ 9.90973645e-01 1.33304801e-01 1.41797504e-02 2.10658953e+02] [-1.33294295e-01 9.91075064e-01 -1.68770155e-03 -3.01407275e+01] [-1.42781758e-02 -2.17612069e-04 9.99898038e-01 -6.71787443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.79420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.69, Y:-30.15, Z:-6.72 [[ 9.91469103e-01 1.29619757e-01 1.37016870e-02 2.10687233e+02] [-1.29609603e-01 9.91563761e-01 -1.63024913e-03 -3.01483419e+01] [-1.37974088e-02 -1.59528567e-04 9.99904798e-01 -6.71684270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.82420382200002 meters Centerline goodness [0,1] 0.9999787973878382 Centerline is valid? [True, True] Translation: X:210.72, Y:-30.15, Z:-6.72 [[ 9.91783762e-01 1.27156588e-01 1.40061357e-02 2.10715032e+02] [-1.27145739e-01 9.91882647e-01 -1.66593573e-03 -3.01528029e+01] [-1.41042776e-02 -1.28572462e-04 9.99900521e-01 -6.72028038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.85420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.74, Y:-30.16, Z:-6.72 [[ 9.92454062e-01 1.21652762e-01 1.53472970e-02 2.10742811e+02] [-1.21639098e-01 9.92572719e-01 -1.82412203e-03 -3.01641535e+01] [-1.54552178e-02 -5.64740380e-05 9.99880559e-01 -6.71677865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.88420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.77, Y:-30.17, Z:-6.72 [[ 9.92738908e-01 1.19244402e-01 1.58187862e-02 2.10771567e+02] [-1.19229593e-01 9.92864931e-01 -1.87937022e-03 -3.01705704e+01] [-1.59300225e-02 -2.03435029e-05 9.99873109e-01 -6.71544470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.91420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.80, Y:-30.18, Z:-6.72 [[ 9.93285070e-01 1.14518597e-01 1.64396311e-02 2.10798403e+02] [-1.14501966e-01 9.93421103e-01 -1.95247492e-03 -3.01808359e+01] [-1.65550711e-02 5.69941113e-05 9.99862954e-01 -6.71889604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.94420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.83, Y:-30.19, Z:-6.72 [[ 9.93525490e-01 1.12332491e-01 1.69856248e-02 2.10826999e+02] [-1.12314442e-01 9.93670671e-01 -2.01590642e-03 -3.01867796e+01] [-1.71045690e-02 9.51234497e-05 9.99853702e-01 -6.71610059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.97420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.85, Y:-30.19, Z:-6.72 [[ 9.93806845e-01 1.09736071e-01 1.74914392e-02 2.10853866e+02] [-1.09716541e-01 9.93960751e-01 -2.07520222e-03 -3.01942109e+01] [-1.76135286e-02 1.43249970e-04 9.99844860e-01 -6.71653139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.00420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.88, Y:-30.20, Z:-6.72 [[ 9.93873260e-01 1.09136427e-01 1.74695007e-02 2.10883405e+02] [-1.09116880e-01 9.94026769e-01 -2.07108076e-03 -3.01973337e+01] [-1.75911817e-02 1.52174381e-04 9.99845252e-01 -6.71542869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.03420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.91, Y:-30.20, Z:-6.72 [[ 9.93887808e-01 1.09030278e-01 1.73038372e-02 2.10913291e+02] [-1.09011091e-01 9.94038417e-01 -2.05102759e-03 -3.02009977e+01] [-1.74243031e-02 1.52181145e-04 9.99848174e-01 -6.71592813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.06420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.94, Y:-30.21, Z:-6.72 [[ 9.93826886e-01 1.09720412e-01 1.64180196e-02 2.10941618e+02] [-1.09703239e-01 9.93962481e-01 -1.94570292e-03 -3.02056566e+01] [-1.65323788e-02 1.32581949e-04 9.99863322e-01 -6.71926740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.094203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.97, Y:-30.21, Z:-6.72 [[ 9.93717732e-01 1.10785111e-01 1.58659226e-02 2.10970112e+02] [-1.10769210e-01 9.93844378e-01 -1.88018849e-03 -3.02078822e+01] [-1.59765549e-02 1.10920926e-04 9.99872361e-01 -6.72030061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.124203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.00, Y:-30.21, Z:-6.72 [[ 9.93326313e-01 1.14409836e-01 1.46022109e-02 2.10998724e+02] [-1.14396765e-01 9.93433635e-01 -1.73002717e-03 -3.02051474e+01] [-1.47042595e-02 4.80358205e-05 9.99891885e-01 -6.72352808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.154203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.03, Y:-30.20, Z:-6.72 [[ 9.93064980e-01 1.16659195e-01 1.45800294e-02 2.11027724e+02] [-1.16646423e-01 9.93172005e-01 -1.72630465e-03 -3.02046429e+01] [-1.46818664e-02 1.36244152e-05 9.99892215e-01 -6.72494512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.184203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.06, Y:-30.20, Z:-6.72 [[ 9.92443155e-01 1.21795661e-01 1.49131339e-02 2.11056811e+02] [-1.21782888e-01 9.92555194e-01 -1.76501585e-03 -3.02012674e+01] [-1.50170798e-02 -6.44866114e-05 9.99887235e-01 -6.72467062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.214203822 meters Centerline goodness [0,1] 0.9998937774850757 Centerline is valid? [True, True] Translation: X:211.09, Y:-30.20, Z:-6.73 [[ 9.92118835e-01 1.24451029e-01 1.45656500e-02 2.11085302e+02] [-1.24439138e-01 9.92225746e-01 -1.72340513e-03 -3.02001528e+01] [-1.46668925e-02 -1.02714247e-04 9.99892430e-01 -6.72708016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.244203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.11, Y:-30.20, Z:-6.73 [[ 9.91734794e-01 1.27566750e-01 1.37413083e-02 2.11113631e+02] [-1.27556476e-01 9.91829978e-01 -1.62511628e-03 -3.01959047e+01] [-1.38363523e-02 -1.41108514e-04 9.99904263e-01 -6.72936671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.274203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.14, Y:-30.20, Z:-6.73 [[ 9.91572951e-01 1.28782184e-01 1.40794575e-02 2.11142027e+02] [-1.28771533e-01 9.91672891e-01 -1.66421163e-03 -3.01955866e+01] [-1.41765371e-02 -1.62846088e-04 9.99899495e-01 -6.73051206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.304203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.17, Y:-30.20, Z:-6.73 [[ 9.91498665e-01 1.29291291e-01 1.46342067e-02 2.11169906e+02] [-1.29279851e-01 9.91606641e-01 -1.72903158e-03 -3.01977407e+01] [-1.47349253e-02 -1.77575565e-04 9.99891419e-01 -6.73053476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.334203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.20, Y:-30.20, Z:-6.73 [[ 9.91588845e-01 1.28572973e-01 1.48510013e-02 2.11197636e+02] [-1.28561130e-01 9.91700036e-01 -1.75335835e-03 -3.02014967e+01] [-1.49531730e-02 -1.70650929e-04 9.99888180e-01 -6.73185862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.364203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.23, Y:-30.21, Z:-6.73 [[ 9.91733314e-01 1.27445840e-01 1.49194882e-02 2.11225768e+02] [-1.27433777e-01 9.91845519e-01 -1.76036030e-03 -3.02068051e+01] [-1.50221781e-02 -1.55438769e-04 9.99887149e-01 -6.73176920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.394203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.25, Y:-30.22, Z:-6.73 [[ 9.92164846e-01 1.24041456e-01 1.49210107e-02 2.11254236e+02] [-1.24029018e-01 9.92277031e-01 -1.75965225e-03 -3.02153445e+01] [-1.50240460e-02 -1.04773200e-04 9.99887127e-01 -6.73269734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.424203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.28, Y:-30.22, Z:-6.73 [[ 9.92433980e-01 1.21906561e-01 1.46145838e-02 2.11282225e+02] [-1.21894402e-01 9.92541579e-01 -1.72321210e-03 -3.02219853e+01] [-1.47156529e-02 -7.12617089e-05 9.99891716e-01 -6.73375067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.454203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.31, Y:-30.23, Z:-6.74 [[ 9.93023136e-01 1.17121786e-01 1.36944855e-02 2.11309713e+02] [-1.17110662e-01 9.93117560e-01 -1.61415921e-03 -3.02333171e+01] [-1.37892872e-02 -8.72820063e-07 9.99904923e-01 -6.73622425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.484203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.34, Y:-30.24, Z:-6.74 [[ 9.93312489e-01 1.14626912e-01 1.38191777e-02 2.11336988e+02] [-1.14615350e-01 9.93408612e-01 -1.62836773e-03 -3.02416169e+01] [-1.39147449e-02 3.35881142e-05 9.99903185e-01 -6.73882070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.514203822 meters Centerline goodness [0,1] 0.9999785766313896 Centerline is valid? [True, True] Translation: X:211.36, Y:-30.25, Z:-6.74 [[ 9.93573738e-01 1.12305660e-01 1.40949225e-02 2.11364792e+02] [-1.12293414e-01 9.93673706e-01 -1.65976690e-03 -3.02500282e+01] [-1.41921551e-02 6.63338306e-05 9.99899284e-01 -6.73888633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.54420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.39, Y:-30.26, Z:-6.74 [[ 9.94073366e-01 1.07617887e-01 1.53796414e-02 2.11392241e+02] [-1.07602758e-01 9.94192320e-01 -1.81022226e-03 -3.02634289e+01] [-1.54851336e-02 1.44601899e-04 9.99880088e-01 -6.73504295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.57420382200002 meters Centerline goodness [0,1] 0.9997411003236246 Centerline is valid? [True, True] Translation: X:211.42, Y:-30.27, Z:-6.74 [[ 9.94217543e-01 1.06201639e-01 1.58962229e-02 2.11421611e+02] [-1.06185315e-01 9.94344600e-01 -1.86983180e-03 -3.02698761e+01] [-1.60049026e-02 1.71074145e-04 9.99871899e-01 -6.73545733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.60420382200002 meters Centerline goodness [0,1] 0.9999349254896857 Centerline is valid? [True, True] Translation: X:211.45, Y:-30.28, Z:-6.74 [[ 9.94434824e-01 1.04252524e-01 1.51918270e-02 2.11450964e+02] [-1.04237396e-01 9.94550840e-01 -1.78644767e-03 -3.02772471e+01] [-1.52952860e-02 1.92949287e-04 9.99883002e-01 -6.73676286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.63420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.48, Y:-30.28, Z:-6.74 [[ 9.94489658e-01 1.03788902e-01 1.47710805e-02 2.11480399e+02] [-1.03774548e-01 9.94599329e-01 -1.73698994e-03 -3.02836583e+01] [-1.48715870e-02 1.94556324e-04 9.99889393e-01 -6.73855465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.66420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.51, Y:-30.29, Z:-6.74 [[ 9.94466884e-01 1.04013471e-01 1.47246499e-02 2.11508495e+02] [-1.03999240e-01 9.94575870e-01 -1.73098132e-03 -3.02936463e+01] [-1.48248269e-02 1.90051193e-04 9.99890088e-01 -6.74066008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.69420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.54, Y:-30.30, Z:-6.74 [[ 9.94379863e-01 1.04810045e-01 1.49513426e-02 2.11537374e+02] [-1.04795463e-01 9.94492243e-01 -1.75763122e-03 -3.02986948e+01] [-1.50532116e-02 1.80920232e-04 9.99886678e-01 -6.74008700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.72420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.57, Y:-30.30, Z:-6.74 [[ 9.94194204e-01 1.06472237e-01 1.55417747e-02 2.11565592e+02] [-1.06456687e-01 9.94315662e-01 -1.82681197e-03 -3.03024881e+01] [-1.56479348e-02 1.61680028e-04 9.99877551e-01 -6.74065508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.75420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.59, Y:-30.30, Z:-6.74 [[ 9.93632028e-01 1.11558294e-01 1.58158272e-02 2.11594662e+02] [-1.11542843e-01 9.93757888e-01 -1.85842032e-03 -3.03005602e+01] [-1.59244252e-02 8.24436160e-05 9.99873195e-01 -6.74103580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.78420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.62, Y:-30.30, Z:-6.74 [[ 9.93272263e-01 1.14753921e-01 1.55482682e-02 2.11624186e+02] [-1.14739386e-01 9.93393948e-01 -1.82662813e-03 -3.02996720e+01] [-1.56551682e-02 3.03403123e-05 9.99877450e-01 -6.74160788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.81420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.65, Y:-30.30, Z:-6.75 [[ 9.92536704e-01 1.21114529e-01 1.42183691e-02 2.11653329e+02] [-1.21103035e-01 9.92638538e-01 -1.66982644e-03 -3.02954901e+01] [-1.43159414e-02 -6.45236201e-05 9.99897520e-01 -6.74588881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.844203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.68, Y:-30.30, Z:-6.75 [[ 9.92542476e-01 1.21067207e-01 1.42184483e-02 2.11681464e+02] [-1.21055718e-01 9.92644311e-01 -1.66915164e-03 -3.02987016e+01] [-1.43159414e-02 -6.45205635e-05 9.99897520e-01 -6.74675550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.874203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.71, Y:-30.30, Z:-6.75 [[ 9.92217671e-01 1.23785715e-01 1.34607154e-02 2.11709809e+02] [-1.23775672e-01 9.92308968e-01 -1.57982565e-03 -3.02986153e+01] [-1.35527484e-02 -9.85781747e-05 9.99908152e-01 -6.75019565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.904203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.74, Y:-30.30, Z:-6.75 [[ 9.91732020e-01 1.27787116e-01 1.17495799e-02 2.11738828e+02] [-1.27779756e-01 9.91801611e-01 -1.37806873e-03 -3.02989215e+01] [-1.18293517e-02 -1.34683573e-04 9.99930022e-01 -6.75475649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.934203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.77, Y:-30.30, Z:-6.76 [[ 9.91547443e-01 1.29263814e-01 1.11595420e-02 2.11767057e+02] [-1.29257267e-01 9.91610229e-01 -1.30897390e-03 -3.03008617e+01] [-1.12351189e-02 -1.44542180e-04 9.99936874e-01 -6.75691820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.964203822 meters Centerline goodness [0,1] 0.9999787202349286 Centerline is valid? [True, True] Translation: X:211.79, Y:-30.30, Z:-6.76 [[ 9.91377950e-01 1.30562146e-01 1.11034471e-02 2.11794772e+02] [-1.30555753e-01 9.91440115e-01 -1.30173992e-03 -3.03000429e+01] [-1.11783608e-02 -1.59102638e-04 9.99937508e-01 -6.75997299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.994203822 meters Centerline goodness [0,1] 0.9999784431654056 Centerline is valid? [True, True] Translation: X:211.82, Y:-30.30, Z:-6.75 [[ 9.91023777e-01 1.33076639e-01 1.27468020e-02 2.11823568e+02] [-1.33068437e-01 9.91105727e-01 -1.49322254e-03 -3.03019225e+01] [-1.28321415e-02 -2.16377973e-04 9.99917641e-01 -6.75345606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.024203822 meters Centerline goodness [0,1] 0.9998721881390593 Centerline is valid? [True, True] Translation: X:211.85, Y:-30.30, Z:-6.76 [[ 9.90780770e-01 1.34811296e-01 1.33932553e-02 2.11851553e+02] [-1.34802407e-01 9.90871259e-01 -1.56841264e-03 -3.02999036e+01] [-1.34824315e-02 -2.51489972e-04 9.99909076e-01 -6.75620865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.054203822 meters Centerline goodness [0,1] 0.9999356995884774 Centerline is valid? [True, True] Translation: X:211.88, Y:-30.31, Z:-6.76 [[ 9.90755406e-01 1.35014658e-01 1.32199520e-02 2.11879779e+02] [-1.35006029e-01 9.90843569e-01 -1.54710961e-03 -3.03051602e+01] [-1.33077869e-02 -2.51966007e-04 9.99911416e-01 -6.75581325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.084203822 meters Centerline goodness [0,1] 0.9998304186539481 Centerline is valid? [True, True] Translation: X:211.91, Y:-30.31, Z:-6.76 [[ 9.90935028e-01 1.33611294e-01 1.39925825e-02 2.11907330e+02] [-1.33601495e-01 9.91033784e-01 -1.63695056e-03 -3.03055170e+01] [-1.40858371e-02 -2.47318287e-04 9.99900759e-01 -6.75995222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.114203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.94, Y:-30.31, Z:-6.76 [[ 9.91152331e-01 1.31975934e-01 1.41212809e-02 2.11936031e+02] [-1.31965806e-01 9.91252895e-01 -1.65068653e-03 -3.03120702e+01] [-1.42156115e-02 -2.27444420e-04 9.99898927e-01 -6.75941950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.144203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.96, Y:-30.32, Z:-6.76 [[ 9.91748726e-01 1.27322885e-01 1.49448193e-02 2.11964267e+02] [-1.27311022e-01 9.91861308e-01 -1.74639649e-03 -3.03244451e+01] [-1.50455443e-02 -1.70653732e-04 9.99886795e-01 -6.75627025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.174203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.99, Y:-30.33, Z:-6.76 [[ 9.92082702e-01 1.24639694e-01 1.53902168e-02 2.11991602e+02] [-1.24626794e-01 9.92202060e-01 -1.79821603e-03 -3.03311264e+01] [-1.54943339e-02 -1.34054361e-04 9.99879947e-01 -6.75766677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.204203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.02, Y:-30.34, Z:-6.76 [[ 9.92435654e-01 1.21823108e-01 1.51856160e-02 2.12019260e+02] [-1.21810235e-01 9.92551824e-01 -1.77322794e-03 -3.03388554e+01] [-1.52885310e-02 -8.99488219e-05 9.99883120e-01 -6.75840109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.234203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.05, Y:-30.35, Z:-6.76 [[ 9.93158836e-01 1.15876597e-01 1.44271134e-02 2.12047175e+02] [-1.15864362e-01 9.93263618e-01 -1.68384085e-03 -3.03520314e+01] [-1.45250446e-02 7.33131760e-07 9.99894506e-01 -6.76093394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.264203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.07, Y:-30.36, Z:-6.76 [[ 9.93491768e-01 1.13004268e-01 1.42878056e-02 2.12074848e+02] [-1.12991978e-01 9.93594502e-01 -1.66707382e-03 -3.03603354e+01] [-1.43846716e-02 4.18166925e-05 9.99896534e-01 -6.76290950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.29420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.10, Y:-30.37, Z:-6.76 [[ 9.94029993e-01 1.08222930e-01 1.38625833e-02 2.12104441e+02] [-1.08210910e-01 9.94126645e-01 -1.61640867e-03 -3.03732466e+01] [-1.39560959e-02 1.06675939e-04 9.99902603e-01 -6.76288108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.32420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.13, Y:-30.38, Z:-6.77 [[ 9.94231672e-01 1.06371742e-01 1.37271648e-02 2.12133254e+02] [-1.06359794e-01 9.94326423e-01 -1.59960127e-03 -3.03830361e+01] [-1.38194350e-02 1.30355823e-04 9.99904499e-01 -6.76677739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.35420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.16, Y:-30.39, Z:-6.77 [[ 9.94359048e-01 1.05189248e-01 1.36127254e-02 2.12163043e+02] [-1.05177363e-01 9.94452211e-01 -1.58810630e-03 -3.03910297e+01] [-1.37042566e-02 1.47397311e-04 9.99906081e-01 -6.76792826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.38420382200002 meters Centerline goodness [0,1] 0.9999571899481998 Centerline is valid? [True, True] Translation: X:212.19, Y:-30.40, Z:-6.77 [[ 9.94406343e-01 1.04704399e-01 1.38929280e-02 2.12193378e+02] [-1.04691971e-01 9.94503376e-01 -1.62079568e-03 -3.03961035e+01] [-1.39862682e-02 1.57251484e-04 9.99902175e-01 -6.76513726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.41420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.22, Y:-30.40, Z:-6.77 [[ 9.94323244e-01 1.05435614e-01 1.43044308e-02 2.12222360e+02] [-1.05422512e-01 9.94426120e-01 -1.66900107e-03 -3.04006339e+01] [-1.44006717e-02 1.51517525e-04 9.99896293e-01 -6.76691537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.44420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.25, Y:-30.40, Z:-6.76 [[ 9.93846051e-01 1.09710820e-01 1.52827786e-02 2.12253091e+02] [-1.09696374e-01 9.93963544e-01 -1.78293690e-03 -3.03989630e+01] [-1.53861323e-02 9.54994076e-05 9.99881622e-01 -6.76388964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.47420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.28, Y:-30.40, Z:-6.77 [[ 9.93464604e-01 1.13069048e-01 1.56035441e-02 2.12282901e+02] [-1.13054405e-01 9.93587132e-01 -1.82015859e-03 -3.03991574e+01] [-1.57092842e-02 4.42137368e-05 9.99876601e-01 -6.76525465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.50420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.31, Y:-30.39, Z:-6.77 [[ 9.92472694e-01 1.21516214e-01 1.52236977e-02 2.12312769e+02] [-1.21503263e-01 9.92589443e-01 -1.77623040e-03 -3.03932269e+01] [-1.53267225e-02 -8.68687768e-05 9.99882535e-01 -6.76557098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.53420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.34, Y:-30.39, Z:-6.77 [[ 9.91954855e-01 1.25662920e-01 1.53100108e-02 2.12341879e+02] [-1.25650326e-01 9.92072985e-01 -1.78554797e-03 -3.03911462e+01] [-1.54130253e-02 -1.52524865e-04 9.99881201e-01 -6.76630987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.56420382200002 meters Centerline goodness [0,1] 0.999978728835191 Centerline is valid? [True, True] Translation: X:212.37, Y:-30.38, Z:-6.77 [[ 9.90928390e-01 1.33415604e-01 1.61617460e-02 2.12371724e+02] [-1.33402617e-01 9.91060136e-01 -1.88382004e-03 -3.03804976e+01] [-1.62685932e-02 -2.89288456e-04 9.99867616e-01 -6.76606058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.594203822 meters Centerline goodness [0,1] 0.9999786948462833 Centerline is valid? [True, True] Translation: X:212.40, Y:-30.38, Z:-6.77 [[ 9.90492553e-01 1.36618116e-01 1.61242880e-02 2.12400943e+02] [-1.36605623e-01 9.90623730e-01 -1.87886788e-03 -3.03752653e+01] [-1.62297897e-02 -3.41663772e-04 9.99868230e-01 -6.76788972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.624203822 meters Centerline goodness [0,1] 0.9998078770413065 Centerline is valid? [True, True] Translation: X:212.43, Y:-30.37, Z:-6.77 [[ 9.90114149e-01 1.39330922e-01 1.61513254e-02 2.12430801e+02] [-1.39318760e-01 9.90245800e-01 -1.88125233e-03 -3.03741485e+01] [-1.62558987e-02 -3.87528069e-04 9.99867789e-01 -6.76791450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.654203822 meters Centerline goodness [0,1] 0.9999146193088433 Centerline is valid? [True, True] Translation: X:212.46, Y:-30.37, Z:-6.77 [[ 9.89679707e-01 1.42309512e-01 1.67952373e-02 2.12460881e+02] [-1.42296797e-01 9.89822103e-01 -1.95581539e-03 -3.03745445e+01] [-1.69026282e-02 -4.54277666e-04 9.99857037e-01 -6.76822644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.684203822 meters Centerline goodness [0,1] 0.9999571266265086 Centerline is valid? [True, True] Translation: X:212.49, Y:-30.38, Z:-6.77 [[ 9.89651015e-01 1.42538038e-01 1.65461768e-02 2.12488840e+02] [-1.42525727e-01 9.89789222e-01 -1.92691831e-03 -3.03773605e+01] [-1.66518866e-02 -4.51279213e-04 9.99861246e-01 -6.77008150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.714203822 meters Centerline goodness [0,1] 0.9998507017020006 Centerline is valid? [True, True] Translation: X:212.52, Y:-30.38, Z:-6.77 [[ 9.89874068e-01 1.40985102e-01 1.65084746e-02 2.12517006e+02] [-1.40972650e-01 9.90011626e-01 -1.92136741e-03 -3.03791318e+01] [-1.66144659e-02 -4.25331646e-04 9.99861880e-01 -6.77286464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.744203822 meters Centerline goodness [0,1] 0.999957141326476 Centerline is valid? [True, True] Translation: X:212.55, Y:-30.39, Z:-6.77 [[ 9.90105815e-01 1.39323791e-01 1.67139279e-02 2.12545745e+02] [-1.39310808e-01 9.90246797e-01 -1.94429711e-03 -3.03856694e+01] [-1.68218005e-02 -4.03370933e-04 9.99858422e-01 -6.77191698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.774203822 meters Centerline goodness [0,1] 0.9998301233729004 Centerline is valid? [True, True] Translation: X:212.57, Y:-30.39, Z:-6.77 [[ 9.90319375e-01 1.37828409e-01 1.64579974e-02 2.12573087e+02] [-1.37815617e-01 9.90456052e-01 -1.91433520e-03 -3.03887058e+01] [-1.65647729e-02 -3.72365819e-04 9.99862725e-01 -6.77312245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.804203822 meters Centerline goodness [0,1] 0.999852033482709 Centerline is valid? [True, True] Translation: X:212.60, Y:-30.39, Z:-6.78 [[ 9.90722856e-01 1.34944694e-01 1.60670877e-02 2.12600984e+02] [-1.34932141e-01 9.90853081e-01 -1.86783203e-03 -3.03912424e+01] [-1.61721774e-02 -3.17462656e-04 9.99869171e-01 -6.77588883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.834203822 meters Centerline goodness [0,1] 0.9999363341185459 Centerline is valid? [True, True] Translation: X:212.63, Y:-30.40, Z:-6.77 [[ 9.90881289e-01 1.33754112e-01 1.62514438e-02 2.12628895e+02] [-1.33741127e-01 9.91014503e-01 -1.88815140e-03 -3.03986649e+01] [-1.63579645e-02 -3.02552512e-04 9.99866154e-01 -6.77415829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.864203822 meters Centerline goodness [0,1] 0.9999570225201995 Centerline is valid? [True, True] Translation: X:212.66, Y:-30.41, Z:-6.77 [[ 9.91249041e-01 1.31073774e-01 1.56526421e-02 2.12657507e+02] [-1.31061407e-01 9.91372586e-01 -1.81772373e-03 -3.04067503e+01] [-1.57558561e-02 -2.49640384e-04 9.99875838e-01 -6.77437516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.894203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.69, Y:-30.41, Z:-6.78 [[ 9.91394828e-01 1.29975661e-01 1.55763494e-02 2.12685064e+02] [-1.29963282e-01 9.91517158e-01 -1.80865219e-03 -3.04088546e+01] [-1.56792985e-02 -2.31265071e-04 9.99877045e-01 -6.77674406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.924203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.71, Y:-30.41, Z:-6.78 [[ 9.91660002e-01 1.27984606e-01 1.51782911e-02 2.12713435e+02] [-1.27972635e-01 9.91776135e-01 -1.76135356e-03 -3.04125583e+01] [-1.52788931e-02 -1.95742034e-04 9.99883252e-01 -6.77737971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.954203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.74, Y:-30.41, Z:-6.78 [[ 9.91797183e-01 1.26978804e-01 1.46537392e-02 2.12741126e+02] [-1.26967543e-01 9.91905415e-01 -1.70000228e-03 -3.04145724e+01] [-1.47509875e-02 -1.74491793e-04 9.99891183e-01 -6.78068859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.984203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.77, Y:-30.42, Z:-6.78 [[ 9.91950412e-01 1.25820389e-01 1.42691652e-02 2.12769340e+02] [-1.25809606e-01 9.92053026e-01 -1.65439429e-03 -3.04190774e+01] [-1.43639250e-02 -1.54120952e-04 9.99896822e-01 -6.77939849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.014203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.80, Y:-30.42, Z:-6.78 [[ 9.92221267e-01 1.23657627e-01 1.43439730e-02 2.12796821e+02] [-1.23646513e-01 9.92324935e-01 -1.66253492e-03 -3.04198899e+01] [-1.44394672e-02 -1.23979735e-04 9.99895738e-01 -6.78206858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.04420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.82, Y:-30.42, Z:-6.78 [[ 9.92384142e-01 1.22366647e-01 1.41463306e-02 2.12824656e+02] [-1.22355718e-01 9.92484959e-01 -1.63873502e-03 -3.04239073e+01] [-1.42405469e-02 -1.04629791e-04 9.99898593e-01 -6.78376378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.07420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.85, Y:-30.43, Z:-6.78 [[ 9.92793691e-01 1.18966781e-01 1.44080441e-02 2.12852893e+02] [-1.18955102e-01 9.92898233e-01 -1.66799011e-03 -3.04314856e+01] [-1.45041569e-02 -5.79402887e-05 9.99894808e-01 -6.78226194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.10420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.88, Y:-30.44, Z:-6.78 [[ 9.93035962e-01 1.16837931e-01 1.51154387e-02 2.12880416e+02] [-1.16824840e-01 9.93150994e-01 -1.74924514e-03 -3.04355739e+01] [-1.52162912e-02 -2.87953731e-05 9.99884225e-01 -6.78486880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.13420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.91, Y:-30.44, Z:-6.78 [[ 9.93603397e-01 1.11772154e-01 1.61019927e-02 2.12909273e+02] [-1.11756659e-01 9.93733859e-01 -1.86176401e-03 -3.04449776e+01] [-1.62091888e-02 5.03501350e-05 9.99868621e-01 -6.78317274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.16420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.94, Y:-30.45, Z:-6.78 [[ 9.93877337e-01 1.09323482e-01 1.60067421e-02 2.12938595e+02] [-1.09307858e-01 9.94006221e-01 -1.85037980e-03 -3.04523049e+01] [-1.61130912e-02 8.93878644e-05 9.99870172e-01 -6.78414570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.19420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.97, Y:-30.46, Z:-6.78 [[ 9.94151212e-01 1.06836391e-01 1.57909173e-02 2.12967653e+02] [-1.06820878e-01 9.94276606e-01 -1.82508018e-03 -3.04587584e+01] [-1.58955247e-02 1.27606028e-04 9.99873650e-01 -6.78376341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.22420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.00, Y:-30.47, Z:-6.79 [[ 9.94566775e-01 1.02981170e-01 1.52252972e-02 2.12995953e+02] [-1.02966304e-01 9.94683289e-01 -1.75917461e-03 -3.04680331e+01] [-1.53255105e-02 1.81924041e-04 9.99882541e-01 -6.78537534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.25420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.03, Y:-30.47, Z:-6.79 [[ 9.94699882e-01 1.01739706e-01 1.48719971e-02 2.13025612e+02] [-1.01725392e-01 9.94811034e-01 -1.71780639e-03 -3.04746110e+01] [-1.49695960e-02 1.95842084e-04 9.99887930e-01 -6.78690155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.28420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.06, Y:-30.48, Z:-6.79 [[ 9.94801059e-01 1.00838208e-01 1.42305557e-02 2.13055116e+02] [-1.00825007e-01 9.94902817e-01 -1.64387431e-03 -3.04808744e+01] [-1.43237853e-02 2.00532032e-04 9.99897389e-01 -6.79011362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.31420382200002 meters Centerline goodness [0,1] 0.9999785977227977 Centerline is valid? [True, True] Translation: X:213.09, Y:-30.48, Z:-6.79 [[ 9.94751017e-01 1.01403488e-01 1.37021028e-02 2.13085342e+02] [-1.01391299e-01 9.94845364e-01 -1.58317671e-03 -3.04826924e+01] [-1.37920131e-02 1.85592645e-04 9.99904868e-01 -6.79076224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.344203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.12, Y:-30.48, Z:-6.79 [[ 9.94618649e-01 1.02723700e-01 1.34753374e-02 2.13115456e+02] [-1.02712029e-01 9.94709915e-01 -1.55717699e-03 -3.04845585e+01] [-1.35640107e-02 1.64718028e-04 9.99907991e-01 -6.79194233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.374203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.14, Y:-30.48, Z:-6.79 [[ 9.94156309e-01 1.07150222e-01 1.31173109e-02 2.13144618e+02] [-1.07139549e-01 9.94242837e-01 -1.51576740e-03 -3.04828422e+01] [-1.32042073e-02 1.01526950e-04 9.99912816e-01 -6.79394731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.404203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.17, Y:-30.48, Z:-6.79 [[ 9.93573814e-01 1.12459862e-01 1.28005887e-02 2.13174261e+02] [-1.12450134e-01 9.93656268e-01 -1.47950263e-03 -3.04764825e+01] [-1.28857699e-02 3.05671577e-05 9.99916975e-01 -6.79275317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.434203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.20, Y:-30.48, Z:-6.80 [[ 9.93264330e-01 1.15140331e-01 1.29875033e-02 2.13202457e+02] [-1.15130552e-01 9.93349236e-01 -1.50064978e-03 -3.04756135e+01] [-1.30739118e-02 -4.71652297e-06 9.99914533e-01 -6.79508527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.464203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.23, Y:-30.48, Z:-6.79 [[ 9.92971698e-01 1.17573245e-01 1.35550142e-02 2.13231864e+02] [-1.17562834e-01 9.93064213e-01 -1.56508158e-03 -3.04759534e+01] [-1.36450112e-02 -3.94841797e-05 9.99906902e-01 -6.79441654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.494203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.26, Y:-30.48, Z:-6.79 [[ 9.92548769e-01 1.20927630e-01 1.49482097e-02 2.13260749e+02] [-1.20915363e-01 9.92661321e-01 -1.72506209e-03 -3.04756471e+01] [-1.50471172e-02 -9.52599499e-05 9.99886781e-01 -6.79285646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.524203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.29, Y:-30.48, Z:-6.79 [[ 9.92476814e-01 1.21536017e-01 1.47909033e-02 2.13289238e+02] [-1.21524085e-01 9.92587017e-01 -1.70620085e-03 -3.04783927e+01] [-1.48886234e-02 -1.04086203e-04 9.99889153e-01 -6.79356204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.554203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.32, Y:-30.48, Z:-6.80 [[ 9.92446143e-01 1.21815889e-01 1.45444701e-02 2.13316942e+02] [-1.21804389e-01 9.92552708e-01 -1.67727100e-03 -3.04808798e+01] [-1.46404715e-02 -1.06979157e-04 9.99892817e-01 -6.79605182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.584203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.35, Y:-30.48, Z:-6.80 [[ 9.92433297e-01 1.21983546e-01 1.40058747e-02 2.13345051e+02] [-1.21972910e-01 9.92532117e-01 -1.61433212e-03 -3.04824026e+01] [-1.40982024e-02 -1.06220343e-04 9.99900610e-01 -6.79876344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.614203822 meters Centerline goodness [0,1] 0.9999571027175428 Centerline is valid? [True, True] Translation: X:213.37, Y:-30.48, Z:-6.80 [[ 9.92364700e-01 1.22569030e-01 1.37526121e-02 2.13373884e+02] [-1.22558844e-01 9.92459984e-01 -1.58416993e-03 -3.04847418e+01] [-1.38430874e-02 -1.13429939e-04 9.99904173e-01 -6.79788159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.644203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.40, Y:-30.48, Z:-6.80 [[ 9.91963290e-01 1.25735506e-01 1.41214264e-02 2.13401949e+02] [-1.25725094e-01 9.92063786e-01 -1.62621048e-03 -3.04829760e+01] [-1.42138281e-02 -1.62276561e-04 9.99898965e-01 -6.79878976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.674203822 meters Centerline goodness [0,1] 0.9999574123759636 Centerline is valid? [True, True] Translation: X:213.43, Y:-30.48, Z:-6.80 [[ 9.91677197e-01 1.27930824e-01 1.44928298e-02 2.13430927e+02] [-1.27920111e-01 9.91783073e-01 -1.66764215e-03 -3.04830302e+01] [-1.45870861e-02 -2.00161708e-04 9.99893583e-01 -6.79888169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.704203822 meters Centerline goodness [0,1] 0.9997864571099105 Centerline is valid? [True, True] Translation: X:213.46, Y:-30.48, Z:-6.80 [[ 9.91009335e-01 1.32881348e-01 1.55899261e-02 2.13461317e+02] [-1.32869582e-01 9.91131909e-01 -1.79267818e-03 -3.04769796e+01] [-1.56898867e-02 -2.94866161e-04 9.99876863e-01 -6.79691620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.734203822 meters Centerline goodness [0,1] 0.9997864571099105 Centerline is valid? [True, True] Translation: X:213.49, Y:-30.48, Z:-6.80 [[ 9.91018807e-01 1.32810688e-01 1.55898877e-02 2.13488636e+02] [-1.32798908e-01 9.91141380e-01 -1.79301267e-03 -3.04799808e+01] [-1.56899140e-02 -2.93410780e-04 9.99876863e-01 -6.79775733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.764203822 meters Centerline goodness [0,1] 0.9999143101970865 Centerline is valid? [True, True] Translation: X:213.52, Y:-30.48, Z:-6.80 [[ 9.90689374e-01 1.35193149e-01 1.60429749e-02 2.13517623e+02] [-1.35181013e-01 9.90819204e-01 -1.84355153e-03 -3.04776986e+01] [-1.61449231e-02 -3.42318677e-04 9.99869604e-01 -6.79774553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.79420382200001 meters Centerline goodness [0,1] 0.9998932559082855 Centerline is valid? [True, True] Translation: X:213.55, Y:-30.47, Z:-6.80 [[ 9.90182765e-01 1.38843429e-01 1.61429113e-02 2.13547336e+02] [-1.38831641e-01 9.90314262e-01 -1.85407766e-03 -3.04695110e+01] [-1.62439818e-02 -4.05271118e-04 9.99867976e-01 -6.79862824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.82420382200002 meters Centerline goodness [0,1] 0.9999144092095691 Centerline is valid? [True, True] Translation: X:213.58, Y:-30.47, Z:-6.80 [[ 9.90058723e-01 1.39675180e-01 1.65701166e-02 2.13575623e+02] [-1.39662880e-01 9.90197283e-01 -1.90288166e-03 -3.04715830e+01] [-1.66734698e-02 -4.30265626e-04 9.99860895e-01 -6.79734444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.85420382200002 meters Centerline goodness [0,1] 0.9998722724853646 Centerline is valid? [True, True] Translation: X:213.60, Y:-30.47, Z:-6.80 [[ 9.90029109e-01 1.39860601e-01 1.67742839e-02 2.13603259e+02] [-1.39848040e-01 9.90171106e-01 -1.92526003e-03 -3.04708266e+01] [-1.68786792e-02 -4.39787259e-04 9.99857448e-01 -6.79884437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.88420382200002 meters Centerline goodness [0,1] 0.9998929519568382 Centerline is valid? [True, True] Translation: X:213.63, Y:-30.47, Z:-6.80 [[ 9.90280160e-01 1.38111087e-01 1.64478589e-02 2.13631765e+02] [-1.38098788e-01 9.90416662e-01 -1.88665031e-03 -3.04740484e+01] [-1.65508009e-02 -4.03117019e-04 9.99862945e-01 -6.79952295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.91420382200002 meters Centerline goodness [0,1] 0.9999570132828955 Centerline is valid? [True, True] Translation: X:213.66, Y:-30.48, Z:-6.80 [[ 9.90847765e-01 1.34004057e-01 1.62363882e-02 2.13659782e+02] [-1.33991537e-01 9.90980728e-01 -1.86143515e-03 -3.04785070e+01] [-1.63393876e-02 -3.31139737e-04 9.99866448e-01 -6.80215431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.94420382200002 meters Centerline goodness [0,1] 0.9999785931412425 Centerline is valid? [True, True] Translation: X:213.69, Y:-30.48, Z:-6.80 [[ 9.91186162e-01 1.31473898e-01 1.62667423e-02 2.13688422e+02] [-1.31461000e-01 9.91319590e-01 -1.86431558e-03 -3.04849099e+01] [-1.63706491e-02 -2.90558401e-04 9.99865950e-01 -6.80246773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.97420382200002 meters Centerline goodness [0,1] 0.9999786470789204 Centerline is valid? [True, True] Translation: X:213.72, Y:-30.49, Z:-6.80 [[ 9.91528448e-01 1.28847706e-01 1.64196626e-02 2.13716830e+02] [-1.28834212e-01 9.91664362e-01 -1.88139517e-03 -3.04901957e+01] [-1.65252077e-02 -2.49957454e-04 9.99863418e-01 -6.80333277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.00420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.74, Y:-30.50, Z:-6.81 [[ 9.92158520e-01 1.23955371e-01 1.60168085e-02 2.13743776e+02] [-1.23941902e-01 9.92287780e-01 -1.83466125e-03 -3.04962785e+01] [-1.61206994e-02 -1.64878923e-04 9.99870039e-01 -6.80629131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.03420382200002 meters Centerline goodness [0,1] 0.999978875768394 Centerline is valid? [True, True] Translation: X:213.77, Y:-30.50, Z:-6.81 [[ 9.92471105e-01 1.21523848e-01 1.52662981e-02 2.13771681e+02] [-1.21511340e-01 9.92588505e-01 -1.74764639e-03 -3.05016181e+01] [-1.53655328e-02 -1.20539804e-04 9.99881936e-01 -6.80784065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.06420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.80, Y:-30.51, Z:-6.81 [[ 9.93003545e-01 1.17257484e-01 1.39513896e-02 2.13799495e+02] [-1.17246625e-01 9.93101546e-01 -1.59657410e-03 -3.05076666e+01] [-1.40423568e-02 -5.03495980e-05 9.99901400e-01 -6.81212944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.094203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.83, Y:-30.51, Z:-6.81 [[ 9.93253514e-01 1.15149588e-01 1.37123734e-02 2.13827377e+02] [-1.15138905e-01 9.93348163e-01 -1.56862860e-03 -3.05134167e+01] [-1.38017879e-02 -2.07817836e-05 9.99904751e-01 -6.81189016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.124203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.85, Y:-30.52, Z:-6.82 [[ 9.93690139e-01 1.11413062e-01 1.29242788e-02 2.13854130e+02] [-1.11403260e-01 9.93774184e-01 -1.47813238e-03 -3.05211772e+01] [-1.30084978e-02 2.89987735e-05 9.99915385e-01 -6.81596418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.154203822 meters Centerline goodness [0,1] 0.9999357945425361 Centerline is valid? [True, True] Translation: X:213.88, Y:-30.52, Z:-6.82 [[ 9.93851961e-01 1.10033309e-01 1.22861756e-02 2.13882837e+02] [-1.10024357e-01 9.93927899e-01 -1.40425491e-03 -3.05244210e+01] [-1.23660876e-02 4.38429245e-05 9.99923536e-01 -6.81726373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.184203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.91, Y:-30.53, Z:-6.82 [[ 9.93996310e-01 1.08764559e-01 1.18998716e-02 2.13910519e+02] [-1.08756072e-01 9.94067537e-01 -1.35995355e-03 -3.05283071e+01] [-1.19771908e-02 5.76055193e-05 9.99928269e-01 -6.81902018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.214203822 meters Centerline goodness [0,1] 0.9999785508987173 Centerline is valid? [True, True] Translation: X:213.94, Y:-30.53, Z:-6.82 [[ 9.94266486e-01 1.06178434e-01 1.26607885e-02 2.13939109e+02] [-1.06168634e-01 9.94347088e-01 -1.44557163e-03 -3.05340524e+01] [-1.27427067e-02 9.31048015e-05 9.99918804e-01 -6.81712207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.244203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.97, Y:-30.54, Z:-6.82 [[ 9.94397378e-01 1.04919349e-01 1.28757774e-02 2.13967785e+02] [-1.04909117e-01 9.94480728e-01 -1.46946086e-03 -3.05402538e+01] [-1.29588874e-02 1.10441591e-04 9.99916024e-01 -6.81755669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.274203822 meters Centerline goodness [0,1] 0.9999134236613134 Centerline is valid? [True, True] Translation: X:214.00, Y:-30.55, Z:-6.82 [[ 9.94570578e-01 1.03149288e-01 1.37691705e-02 2.13996335e+02] [-1.03137427e-01 9.94665876e-01 -1.57064825e-03 -3.05462622e+01] [-1.38577353e-02 1.42003709e-04 9.99903967e-01 -6.81695777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.304203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.02, Y:-30.55, Z:-6.82 [[ 9.94631270e-01 1.02510198e-01 1.41526214e-02 2.14023477e+02] [-1.02497608e-01 9.94731941e-01 -1.61397492e-03 -3.05519093e+01] [-1.42435135e-02 1.54700072e-04 9.99898544e-01 -6.81860875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.334203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.05, Y:-30.55, Z:-6.82 [[ 9.94615970e-01 1.02625790e-01 1.43881828e-02 2.14052225e+02] [-1.02612810e-01 9.94720023e-01 -1.63943728e-03 -3.05546556e+01] [-1.44804621e-02 1.54198628e-04 9.99895141e-01 -6.81907307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.364203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.08, Y:-30.55, Z:-6.82 [[ 9.94362459e-01 1.05030315e-01 1.45578988e-02 2.14081425e+02] [-1.05017297e-01 9.94469013e-01 -1.65790767e-03 -3.05525210e+01] [-1.46515098e-02 1.19729965e-04 9.99892654e-01 -6.81783261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.394203822 meters Centerline goodness [0,1] 0.9999785536587458 Centerline is valid? [True, True] Translation: X:214.11, Y:-30.55, Z:-6.82 [[ 9.94144553e-01 1.06989297e-01 1.51624187e-02 2.14110274e+02] [-1.06975410e-01 9.94260168e-01 -1.72635199e-03 -3.05517566e+01] [-1.52600902e-02 9.42374666e-05 9.99883554e-01 -6.81736534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.424203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.14, Y:-30.55, Z:-6.82 [[ 9.93676843e-01 1.11131395e-01 1.60045463e-02 2.14138741e+02] [-1.11116471e-01 9.93805721e-01 -1.82153819e-03 -3.05502456e+01] [-1.61078398e-02 3.16516211e-05 9.99870260e-01 -6.81841250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.454203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.17, Y:-30.55, Z:-6.82 [[ 9.93480792e-01 1.12972998e-01 1.52649084e-02 2.14167880e+02] [-1.12959654e-01 9.93598058e-01 -1.73633333e-03 -3.05509765e+01] [-1.53633422e-02 6.95029812e-07 9.99881977e-01 -6.81945517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.484203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.20, Y:-30.55, Z:-6.82 [[ 9.93305962e-01 1.14590574e-01 1.45693549e-02 2.14195289e+02] [-1.14578596e-01 9.93412804e-01 -1.65695063e-03 -3.05510511e+01] [-1.46632546e-02 -2.34772952e-05 9.99892488e-01 -6.82310238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.514203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.22, Y:-30.55, Z:-6.83 [[ 9.93080650e-01 1.16775116e-01 1.24256071e-02 2.14224647e+02] [-1.16766588e-01 9.93158381e-01 -1.41213116e-03 -3.05473145e+01] [-1.25054976e-02 -4.85356161e-05 9.99921802e-01 -6.82601775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.54420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.25, Y:-30.55, Z:-6.83 [[ 9.93017114e-01 1.17292303e-01 1.26303886e-02 2.14251597e+02] [-1.17283535e-01 9.93097434e-01 -1.43519339e-03 -3.05457566e+01] [-1.27115436e-02 -5.61650245e-05 9.99919203e-01 -6.82806840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.57420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.28, Y:-30.55, Z:-6.83 [[ 9.93063498e-01 1.16849435e-01 1.30804726e-02 2.14280474e+02] [-1.16840013e-01 9.93149640e-01 -1.48488272e-03 -3.05494279e+01] [-1.31643744e-02 -5.37397555e-05 9.99913344e-01 -6.82808483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.60420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.31, Y:-30.55, Z:-6.83 [[ 9.93139735e-01 1.16164118e-01 1.33926897e-02 2.14307965e+02] [-1.16154185e-01 9.93230031e-01 -1.51983930e-03 -3.05536014e+01] [-1.34785724e-02 -4.62041572e-05 9.99909159e-01 -6.82954605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.63420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.34, Y:-30.56, Z:-6.83 [[ 9.93402344e-01 1.13818691e-01 1.40388007e-02 2.14336526e+02] [-1.13807557e-01 9.93501538e-01 -1.59203827e-03 -3.05601523e+01] [-1.41287738e-02 -1.61870669e-05 9.99900184e-01 -6.82883006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.66420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.36, Y:-30.56, Z:-6.83 [[ 9.93553726e-01 1.12386630e-01 1.48404581e-02 2.14364602e+02] [-1.12374041e-01 9.93664554e-01 -1.68214196e-03 -3.05638906e+01] [-1.49354874e-02 3.61616651e-06 9.99888459e-01 -6.82945398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.69420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.39, Y:-30.57, Z:-6.83 [[ 9.93928062e-01 1.09071037e-01 1.45091927e-02 2.14392611e+02] [-1.09058660e-01 9.94033956e-01 -1.64392335e-03 -3.05700665e+01] [-1.46019346e-02 5.15884434e-05 9.99893385e-01 -6.83028314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.72420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.42, Y:-30.57, Z:-6.83 [[ 9.94128910e-01 1.07274922e-01 1.41350818e-02 2.14420704e+02] [-1.07263001e-01 9.94229393e-01 -1.60093194e-03 -3.05743476e+01] [-1.42252536e-02 7.53614305e-05 9.99898813e-01 -6.82992241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.75420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.45, Y:-30.58, Z:-6.83 [[ 9.94292374e-01 1.05711345e-01 1.44147735e-02 2.14448447e+02] [-1.05698791e-01 9.94396853e-01 -1.63220113e-03 -3.05791636e+01] [-1.45065476e-02 9.92610160e-05 9.99894770e-01 -6.83072324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.78420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.48, Y:-30.59, Z:-6.83 [[ 9.94609541e-01 1.02653323e-01 1.46340623e-02 2.14475642e+02] [-1.02640067e-01 9.94717183e-01 -1.65598906e-03 -3.05892193e+01] [-1.47267460e-02 1.45021387e-04 9.99891545e-01 -6.83325689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.81420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.50, Y:-30.60, Z:-6.83 [[ 9.94758246e-01 1.01243976e-01 1.43418809e-02 2.14504415e+02] [-1.01231118e-01 9.94861614e-01 -1.62157981e-03 -3.05950219e+01] [-1.44323619e-02 1.61235260e-04 9.99895835e-01 -6.83332616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.844203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.53, Y:-30.60, Z:-6.83 [[ 9.94917639e-01 9.95964854e-02 1.48132516e-02 2.14532507e+02] [-9.95826011e-02 9.95027891e-01 -1.67380099e-03 -3.06029347e+01] [-1.49063032e-02 1.90152003e-04 9.99888877e-01 -6.83456395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.874203822 meters Centerline goodness [0,1] 0.9999788009836343 Centerline is valid? [True, True] Translation: X:214.56, Y:-30.61, Z:-6.84 [[ 9.94947282e-01 9.92521696e-02 1.51298700e-02 2.14560568e+02] [-9.92376511e-02 9.95062293e-01 -1.70921827e-03 -3.06072848e+01] [-1.52248068e-02 1.99129315e-04 9.99884076e-01 -6.83548529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.904203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.59, Y:-30.61, Z:-6.83 [[ 9.94925820e-01 9.94656840e-02 1.51390251e-02 2.14588978e+02] [-9.94511779e-02 9.95040974e-01 -1.70990733e-03 -3.06098961e+01] [-1.52340274e-02 1.95637070e-04 9.99883936e-01 -6.83458626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.934203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.62, Y:-30.61, Z:-6.83 [[ 9.94630476e-01 1.02282429e-01 1.57645437e-02 2.14619082e+02] [-1.02267072e-01 9.94755387e-01 -1.77941058e-03 -3.06109780e+01] [-1.58638672e-02 1.57662275e-04 9.99874149e-01 -6.83465231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.964203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.65, Y:-30.61, Z:-6.84 [[ 9.94391281e-01 1.04591588e-01 1.57028601e-02 2.14646516e+02] [-1.04576635e-01 9.94515251e-01 -1.77259985e-03 -3.06119675e+01] [-1.58021329e-02 1.20505558e-04 9.99875131e-01 -6.83712138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.994203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.68, Y:-30.61, Z:-6.84 [[ 9.93777933e-01 1.10277304e-01 1.56312841e-02 2.14675717e+02] [-1.10263207e-01 9.93900858e-01 -1.76342196e-03 -3.06073651e+01] [-1.57304121e-02 2.88943077e-05 9.99876269e-01 -6.83737240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.024203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.70, Y:-30.61, Z:-6.84 [[ 9.93417594e-01 1.13514955e-01 1.53570763e-02 2.14704717e+02] [-1.13501747e-01 9.93536287e-01 -1.73180156e-03 -3.06056030e+01] [-1.54543979e-02 -2.26528362e-05 9.99880573e-01 -6.83863615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.054203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.73, Y:-30.60, Z:-6.84 [[ 9.92824424e-01 1.18697936e-01 1.45073761e-02 2.14732927e+02] [-1.18686705e-01 9.92930406e-01 -1.63574569e-03 -3.05984426e+01] [-1.45989744e-02 -9.78243916e-05 9.99893425e-01 -6.84154382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.084203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.76, Y:-30.60, Z:-6.84 [[ 9.92532512e-01 1.21167178e-01 1.40615899e-02 2.14762275e+02] [-1.21156892e-01 9.92632106e-01 -1.58417641e-03 -3.05965630e+01] [-1.41499358e-02 -1.31311944e-04 9.99899876e-01 -6.84258605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.114203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.79, Y:-30.59, Z:-6.84 [[ 9.92304441e-01 1.23074509e-01 1.35853335e-02 2.14790286e+02] [-1.23065087e-01 9.92397421e-01 -1.53054003e-03 -3.05949789e+01] [-1.36704204e-02 -1.53118579e-04 9.99906544e-01 -6.84459385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.144203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.82, Y:-30.59, Z:-6.84 [[ 9.91934748e-01 1.25940998e-01 1.42940892e-02 2.14819648e+02] [-1.25930893e-01 9.92037713e-01 -1.60845653e-03 -3.05923733e+01] [-1.43828462e-02 -2.04583487e-04 9.99896541e-01 -6.84442191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.174203822 meters Centerline goodness [0,1] 0.9999573969538822 Centerline is valid? [True, True] Translation: X:214.85, Y:-30.59, Z:-6.84 [[ 9.91787646e-01 1.27093099e-01 1.43042099e-02 2.14848144e+02] [-1.27083105e-01 9.91890768e-01 -1.60911848e-03 -3.05930168e+01] [-1.43927215e-02 -2.21919584e-04 9.99896395e-01 -6.84433581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.204203822 meters Centerline goodness [0,1] 0.999957783641161 Centerline is valid? [True, True] Translation: X:214.88, Y:-30.59, Z:-6.85 [[ 9.91463758e-01 1.29567006e-01 1.45604536e-02 2.14876892e+02] [-1.29556931e-01 9.91570634e-01 -1.63704689e-03 -3.05862947e+01] [-1.46498254e-02 -2.63335021e-04 9.99892651e-01 -6.84745558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.234203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.90, Y:-30.59, Z:-6.84 [[ 9.91376482e-01 1.30146915e-01 1.53118015e-02 2.14904598e+02] [-1.30135855e-01 9.91494679e-01 -1.72074322e-03 -3.05915996e+01] [-1.54055191e-02 -2.86710015e-04 9.99881287e-01 -6.84302498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.264203822 meters Centerline goodness [0,1] 0.9999570188257543 Centerline is valid? [True, True] Translation: X:214.93, Y:-30.59, Z:-6.84 [[ 9.91388566e-01 1.30071272e-01 1.51715068e-02 2.14932168e+02] [-1.30060409e-01 9.91504606e-01 -1.70468979e-03 -3.05912582e+01] [-1.52643501e-02 -2.83202420e-04 9.99883453e-01 -6.84485345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.29420382200001 meters Centerline goodness [0,1] 0.9999785587169536 Centerline is valid? [True, True] Translation: X:214.96, Y:-30.59, Z:-6.85 [[ 9.91468772e-01 1.29480167e-01 1.49853736e-02 2.14961055e+02] [-1.29469548e-01 9.91581974e-01 -1.68072270e-03 -3.05929834e+01] [-1.50768466e-02 -2.73765472e-04 9.99886300e-01 -6.84600164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.32420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.99, Y:-30.59, Z:-6.85 [[ 9.91756753e-01 1.27108083e-01 1.61888225e-02 2.14989456e+02] [-1.27095389e-01 9.91888839e-01 -1.81478257e-03 -3.05937865e+01] [-1.62881859e-02 -2.57701816e-04 9.99867305e-01 -6.84696787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.35420382200002 meters Centerline goodness [0,1] 0.9998939667055455 Centerline is valid? [True, True] Translation: X:215.02, Y:-30.60, Z:-6.85 [[ 9.92011275e-01 1.25035672e-01 1.67245339e-02 2.15017652e+02] [-1.25021844e-01 9.92152220e-01 -1.87395523e-03 -3.06002003e+01] [-1.68275947e-02 -2.31947347e-04 9.99858379e-01 -6.84562757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.38420382200002 meters Centerline goodness [0,1] 0.9999787134403337 Centerline is valid? [True, True] Translation: X:215.05, Y:-30.61, Z:-6.85 [[ 9.92302594e-01 1.22657441e-01 1.70503322e-02 2.15046574e+02] [-1.22642734e-01 9.92449048e-01 -1.90946020e-03 -3.06056919e+01] [-1.71557955e-02 -1.96337053e-04 9.99852809e-01 -6.84621879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.41420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.07, Y:-30.61, Z:-6.85 [[ 9.92935834e-01 1.17458259e-01 1.67924848e-02 2.15074639e+02] [-1.17443257e-01 9.93077815e-01 -1.88016601e-03 -3.06149651e+01] [-1.68970851e-02 -1.05279910e-04 9.99857229e-01 -6.84728764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.44420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.10, Y:-30.62, Z:-6.85 [[ 9.93246219e-01 1.14867901e-01 1.63497413e-02 2.15103379e+02] [-1.14853344e-01 9.93380774e-01 -1.82969739e-03 -3.06215691e+01] [-1.64516922e-02 -6.04824397e-05 9.99864660e-01 -6.84874972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.47420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.13, Y:-30.63, Z:-6.85 [[ 9.93836785e-01 1.09652520e-01 1.62717651e-02 2.15130248e+02] [-1.09637406e-01 9.93969982e-01 -1.82072919e-03 -3.06326245e+01] [-1.63732936e-02 2.55135363e-05 9.99865948e-01 -6.84999053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.50420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.16, Y:-30.64, Z:-6.85 [[ 9.94118455e-01 1.07029052e-01 1.65311521e-02 2.15158341e+02] [-1.07013109e-01 9.94255891e-01 -1.84858807e-03 -3.06404712e+01] [-1.66340480e-02 6.86655332e-05 9.99861642e-01 -6.85056074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.53420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.19, Y:-30.65, Z:-6.85 [[ 9.94626672e-01 1.02186319e-01 1.66053900e-02 2.15185710e+02] [-1.02169570e-01 9.94765266e-01 -1.85610707e-03 -3.06532298e+01] [-1.67081339e-02 1.49568041e-04 9.99860398e-01 -6.85132876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.56420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.21, Y:-30.66, Z:-6.85 [[ 9.94865299e-01 9.98104951e-02 1.67601341e-02 2.15214017e+02] [-9.97931084e-02 9.95006447e-01 -1.87262475e-03 -3.06606700e+01] [-1.68633491e-02 1.90463505e-04 9.99857785e-01 -6.85106605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.594203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.24, Y:-30.67, Z:-6.85 [[ 9.95226451e-01 9.61338091e-02 1.68107574e-02 2.15240996e+02] [-9.61158088e-02 9.95368388e-01 -1.87732453e-03 -3.06737892e+01] [-1.69133708e-02 2.52583490e-04 9.99856927e-01 -6.85309223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.624203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.27, Y:-30.68, Z:-6.85 [[ 9.95228617e-01 9.61113707e-02 1.68108410e-02 2.15269976e+02] [-9.60933799e-02 9.95370555e-01 -1.87657575e-03 -3.06769789e+01] [-1.69133764e-02 2.52211361e-04 9.99856927e-01 -6.85398456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.654203822 meters Centerline goodness [0,1] 0.9998491899345053 Centerline is valid? [True, True] Translation: X:215.30, Y:-30.68, Z:-6.85 [[ 9.95355423e-01 9.48052439e-02 1.67196663e-02 2.15299024e+02] [-9.47872666e-02 9.95495802e-01 -1.86621111e-03 -3.06801691e+01] [-1.68212842e-02 2.72731885e-04 9.99858475e-01 -6.85173842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.684203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.33, Y:-30.69, Z:-6.85 [[ 9.95437654e-01 9.38371758e-02 1.72760103e-02 2.15326528e+02] [-9.38178481e-02 9.95587513e-01 -1.92763371e-03 -3.06888381e+01] [-1.73806638e-02 2.98041074e-04 9.99848900e-01 -6.85283474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.714203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.36, Y:-30.70, Z:-6.85 [[ 9.95449923e-01 9.37341332e-02 1.71278685e-02 2.15356569e+02] [-9.37151393e-02 9.95597220e-01 -1.91000356e-03 -3.06964151e+01] [-1.72314908e-02 2.96172312e-04 9.99851483e-01 -6.85276008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.744203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.39, Y:-30.70, Z:-6.85 [[ 9.95322292e-01 9.51803185e-02 1.65602325e-02 2.15387009e+02] [-9.51627629e-02 9.95460013e-01 -1.84670398e-03 -3.07022788e+01] [-1.66608191e-02 2.62148164e-04 9.99861165e-01 -6.85397740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.774203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.42, Y:-30.71, Z:-6.86 [[ 9.95206609e-01 9.64449530e-02 1.61918835e-02 2.15416596e+02] [-9.64283342e-02 9.95338292e-01 -1.80580136e-03 -3.07062372e+01] [-1.62905621e-02 2.35789091e-04 9.99867272e-01 -6.85556247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.804203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.44, Y:-30.71, Z:-6.86 [[ 9.95056260e-01 9.80817247e-02 1.55889315e-02 2.15444503e+02] [-9.80665215e-02 9.95178343e-01 -1.73855509e-03 -3.07108638e+01] [-1.56842875e-02 2.01207843e-04 9.99876974e-01 -6.85886930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.834203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.47, Y:-30.71, Z:-6.86 [[ 9.94629372e-01 1.02414707e-01 1.49545846e-02 2.15473098e+02] [-1.02401205e-01 9.94741781e-01 -1.66784288e-03 -3.07124326e+01] [-1.50467618e-02 1.27518030e-04 9.99886783e-01 -6.86055548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.864203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.50, Y:-30.71, Z:-6.86 [[ 9.94406663e-01 1.04576810e-01 1.48013639e-02 2.15501654e+02] [-1.04563833e-01 9.94516808e-01 -1.65008394e-03 -3.07138971e+01] [-1.48927657e-02 9.31671287e-05 9.99889092e-01 -6.86078501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.894203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.53, Y:-30.71, Z:-6.86 [[ 9.93936365e-01 1.09069589e-01 1.39401071e-02 2.15529182e+02] [-1.09058526e-01 9.94034116e-01 -1.55367238e-03 -3.07131304e+01] [-1.40264004e-02 2.39639474e-05 9.99901625e-01 -6.86322602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.924203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.56, Y:-30.71, Z:-6.87 [[ 9.93723039e-01 1.11024104e-01 1.37174801e-02 2.15557222e+02] [-1.11013586e-01 9.93817714e-01 -1.52819340e-03 -3.07141825e+01] [-1.38023410e-02 -4.22566626e-06 9.99904743e-01 -6.86538329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.954203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.59, Y:-30.72, Z:-6.87 [[ 9.93509618e-01 1.12919226e-01 1.37071671e-02 2.15586162e+02] [-1.12908922e-01 9.93604170e-01 -1.52575597e-03 -3.07157439e+01] [-1.37917856e-02 -3.18082231e-05 9.99904888e-01 -6.86653646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.984203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.61, Y:-30.72, Z:-6.87 [[ 9.93136729e-01 1.16202999e-01 1.32778181e-02 2.15614906e+02] [-1.16193631e-01 9.93225482e-01 -1.47738257e-03 -3.07183929e+01] [-1.33595436e-02 -7.55550082e-05 9.99910754e-01 -6.86834780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.014203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.64, Y:-30.72, Z:-6.87 [[ 9.92932947e-01 1.17945403e-01 1.31546676e-02 2.15643340e+02] [-1.17936369e-01 9.93020076e-01 -1.46307288e-03 -3.07215527e+01] [-1.32354118e-02 -9.86804696e-05 9.99912403e-01 -6.86905180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.04420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.67, Y:-30.72, Z:-6.87 [[ 9.92500710e-01 1.21477789e-01 1.36194129e-02 2.15671840e+02] [-1.21468445e-01 9.92594139e-01 -1.51426534e-03 -3.07221098e+01] [-1.37024990e-02 -1.51419475e-04 9.99906105e-01 -6.86837296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.07420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.70, Y:-30.72, Z:-6.87 [[ 9.92292898e-01 1.23141446e-01 1.38199009e-02 2.15700988e+02] [-1.23132000e-01 9.92389114e-01 -1.53550055e-03 -3.07233219e+01] [-1.39038030e-02 -1.78005758e-04 9.99903322e-01 -6.86839149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.10420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.73, Y:-30.73, Z:-6.87 [[ 9.92100757e-01 1.24671666e-01 1.38947125e-02 2.15730143e+02] [-1.24662278e-01 9.92198032e-01 -1.54315463e-03 -3.07256679e+01] [-1.39786940e-02 -2.01181632e-04 9.99902273e-01 -6.86719391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.13420382200002 meters Centerline goodness [0,1] 0.9999570049659264 Centerline is valid? [True, True] Translation: X:215.76, Y:-30.72, Z:-6.87 [[ 9.91700651e-01 1.27706451e-01 1.48620958e-02 2.15758188e+02] [-1.27696060e-01 9.91811975e-01 -1.64992708e-03 -3.07233756e+01] [-1.49511110e-02 -2.61597328e-04 9.99888192e-01 -6.86760405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.16420382200002 meters Centerline goodness [0,1] 0.9999784913858 Centerline is valid? [True, True] Translation: X:215.79, Y:-30.72, Z:-6.87 [[ 9.91485630e-01 1.29300118e-01 1.54183282e-02 2.15786969e+02] [-1.29289146e-01 9.91605461e-01 -1.71043702e-03 -3.07243953e+01] [-1.55100582e-02 -2.97548767e-04 9.99879668e-01 -6.86766889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.19420382200002 meters Centerline goodness [0,1] 0.9999571624400274 Centerline is valid? [True, True] Translation: X:215.82, Y:-30.72, Z:-6.87 [[ 9.91186365e-01 1.31564482e-01 1.55040942e-02 2.15815286e+02] [-1.31553674e-01 9.91307558e-01 -1.71936491e-03 -3.07227505e+01] [-1.55955331e-02 -3.35409505e-04 9.99878326e-01 -6.86959018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.22420382200002 meters Centerline goodness [0,1] 0.9999573560767591 Centerline is valid? [True, True] Translation: X:215.84, Y:-30.73, Z:-6.87 [[ 9.91124601e-01 1.32094186e-01 1.49382504e-02 2.15843366e+02] [-1.32084228e-01 9.91237114e-01 -1.65558290e-03 -3.07271972e+01] [-1.50260411e-02 -3.32218332e-04 9.99887047e-01 -6.87067091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.25420382200002 meters Centerline goodness [0,1] 0.9998726925525143 Centerline is valid? [True, True] Translation: X:215.87, Y:-30.73, Z:-6.87 [[ 9.91142404e-01 1.32009864e-01 1.44958924e-02 2.15870838e+02] [-1.32000480e-01 9.91248351e-01 -1.60647304e-03 -3.07295955e+01] [-1.45810997e-02 -3.21221200e-04 9.99893639e-01 -6.87319598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.28420382200002 meters Centerline goodness [0,1] 0.9998932923575986 Centerline is valid? [True, True] Translation: X:215.90, Y:-30.73, Z:-6.87 [[ 9.91307773e-01 1.30715190e-01 1.49143990e-02 2.15899340e+02] [-1.30705138e-01 9.91419912e-01 -1.65094989e-03 -3.07349522e+01] [-1.50022364e-02 -3.12789115e-04 9.99887411e-01 -6.87344634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.31420382200002 meters Centerline goodness [0,1] 0.9999575245295842 Centerline is valid? [True, True] Translation: X:215.93, Y:-30.74, Z:-6.87 [[ 9.91456231e-01 1.29539740e-01 1.52969739e-02 2.15927572e+02] [-1.29529037e-01 9.91574185e-01 -1.69252816e-03 -3.07391334e+01] [-1.53873341e-02 -3.03334711e-04 9.99881562e-01 -6.87387450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.34420382200003 meters Centerline goodness [0,1] 0.9999574060270472 Centerline is valid? [True, True] Translation: X:215.95, Y:-30.75, Z:-6.88 [[ 9.91885182e-01 1.26204136e-01 1.53721348e-02 2.15954812e+02] [-1.26192936e-01 9.92004260e-01 -1.70027589e-03 -3.07475683e+01] [-1.54638051e-02 -2.53376363e-04 9.99880396e-01 -6.87626627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.374203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.98, Y:-30.76, Z:-6.88 [[ 9.92166694e-01 1.23974560e-01 1.53479632e-02 2.15983136e+02] [-1.23963145e-01 9.92285372e-01 -1.69652311e-03 -3.07572214e+01] [-1.54398851e-02 -2.19348071e-04 9.99880774e-01 -6.87531668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.404203822 meters Centerline goodness [0,1] 0.9999786575605591 Centerline is valid? [True, True] Translation: X:216.01, Y:-30.76, Z:-6.88 [[ 9.92466735e-01 1.21495167e-01 1.57703780e-02 2.16010247e+02] [-1.21482813e-01 9.92592006e-01 -1.74258241e-03 -3.07645245e+01] [-1.58652665e-02 -1.86374810e-04 9.99874121e-01 -6.87561611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.434203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.04, Y:-30.78, Z:-6.88 [[ 9.92988781e-01 1.17158686e-01 1.57201546e-02 2.16037746e+02] [-1.17145884e-01 9.93113200e-01 -1.73593089e-03 -3.07753349e+01] [-1.58152724e-02 -1.17791520e-04 9.99874924e-01 -6.87538157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.464203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.07, Y:-30.78, Z:-6.88 [[ 9.93391245e-01 1.13788962e-01 1.50301887e-02 2.16065127e+02] [-1.13776881e-01 9.93504941e-01 -1.65924853e-03 -3.07826415e+01] [-1.51213710e-02 -6.18050368e-05 9.99885664e-01 -6.87810518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.494203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.09, Y:-30.79, Z:-6.88 [[ 9.93488687e-01 1.12881374e-01 1.54280096e-02 2.16093210e+02] [-1.12868553e-01 9.93608471e-01 -1.70199222e-03 -3.07871153e+01] [-1.55215243e-02 -5.04271097e-05 9.99879533e-01 -6.87694191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.524203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.12, Y:-30.79, Z:-6.88 [[ 9.93532960e-01 1.12487901e-01 1.54508661e-02 2.16121905e+02] [-1.12475006e-01 9.93653093e-01 -1.70375986e-03 -3.07914454e+01] [-1.55444532e-02 -4.50946769e-05 9.99879177e-01 -6.87747091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.554203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.15, Y:-30.80, Z:-6.88 [[ 9.93575450e-01 1.12235392e-01 1.45273054e-02 2.16149964e+02] [-1.12223980e-01 9.93681647e-01 -1.60096024e-03 -3.07979178e+01] [-1.46152012e-02 -3.96372433e-05 9.99893191e-01 -6.87972873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.584203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.18, Y:-30.80, Z:-6.88 [[ 9.93552744e-01 1.12471076e-01 1.42549258e-02 2.16177240e+02] [-1.12460110e-01 9.93654998e-01 -1.57107920e-03 -3.08009274e+01] [-1.43411793e-02 -4.21604847e-05 9.99897159e-01 -6.88217876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.614203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.21, Y:-30.80, Z:-6.88 [[ 9.93492883e-01 1.13020608e-01 1.40795225e-02 2.16205584e+02] [-1.13009981e-01 9.93592643e-01 -1.55069698e-03 -3.08027407e+01] [-1.41645706e-02 -5.05201422e-05 9.99899676e-01 -6.88314086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.644203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.23, Y:-30.80, Z:-6.88 [[ 9.93321761e-01 1.14607988e-01 1.32999035e-02 2.16234479e+02] [-1.14598654e-01 9.93410793e-01 -1.46432169e-03 -3.08020453e+01] [-1.33800907e-02 -6.96084363e-05 9.99910480e-01 -6.88270687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.674203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.26, Y:-30.80, Z:-6.89 [[ 9.93154427e-01 1.16027529e-01 1.34869299e-02 2.16262077e+02] [-1.16018068e-01 9.93245994e-01 -1.48441931e-03 -3.08015392e+01] [-1.35680726e-02 -9.04699450e-05 9.99907945e-01 -6.88656358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.704203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.29, Y:-30.80, Z:-6.89 [[ 9.93072675e-01 1.16635383e-01 1.42425138e-02 2.16289570e+02] [-1.16624910e-01 9.93174797e-01 -1.56651285e-03 -3.08026048e+01] [-1.43280166e-02 -1.05370785e-04 9.99897343e-01 -6.88657943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.734203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.32, Y:-30.80, Z:-6.89 [[ 9.93003526e-01 1.17179918e-01 1.45898932e-02 2.16318842e+02] [-1.17169003e-01 9.93110695e-01 -1.60362678e-03 -3.08044666e+01] [-1.46772918e-02 -1.17076192e-04 9.99892276e-01 -6.88616915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.764203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.35, Y:-30.81, Z:-6.89 [[ 9.92811730e-01 1.18688660e-01 1.54230514e-02 2.16347236e+02] [-1.18676657e-01 9.92931508e-01 -1.69439233e-03 -3.08058443e+01] [-1.55151389e-02 -1.48143612e-04 9.99879622e-01 -6.88540969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.79420382200001 meters Centerline goodness [0,1] 0.9999786643908684 Centerline is valid? [True, True] Translation: X:216.38, Y:-30.80, Z:-6.88 [[ 9.92587836e-01 1.20414562e-01 1.64232124e-02 2.16375099e+02] [-1.20401200e-01 9.92723677e-01 -1.80355095e-03 -3.08048659e+01] [-1.65208855e-02 -1.87191744e-04 9.99863503e-01 -6.88498604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.82420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.40, Y:-30.81, Z:-6.88 [[ 9.92482272e-01 1.21305855e-01 1.62427960e-02 2.16403811e+02] [-1.21292923e-01 9.92615157e-01 -1.78263203e-03 -3.08059502e+01] [-1.63390892e-02 -2.00905520e-04 9.99866488e-01 -6.88479180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.85420382200002 meters Centerline goodness [0,1] 0.9999787175176112 Centerline is valid? [True, True] Translation: X:216.43, Y:-30.80, Z:-6.89 [[ 9.92393274e-01 1.22101223e-01 1.57124804e-02 2.16432200e+02] [-1.22089229e-01 9.92517631e-01 -1.72388873e-03 -3.08036668e+01] [-1.58054028e-02 -2.07549038e-04 9.99875065e-01 -6.88911538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.88420382200002 meters Centerline goodness [0,1] 0.9999786898521076 Centerline is valid? [True, True] Translation: X:216.46, Y:-30.80, Z:-6.89 [[ 9.92212813e-01 1.23699378e-01 1.45669727e-02 2.16460155e+02] [-1.23689251e-01 9.92319715e-01 -1.59757738e-03 -3.07984027e+01] [-1.46527135e-02 -2.16641202e-04 9.99892620e-01 -6.89250471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.91420382200002 meters Centerline goodness [0,1] 0.9999787057345457 Centerline is valid? [True, True] Translation: X:216.49, Y:-30.80, Z:-6.89 [[ 9.92114469e-01 1.24476809e-01 1.46425404e-02 2.16489590e+02] [-1.24466681e-01 9.92222491e-01 -1.60449256e-03 -3.07976053e+01] [-1.47283800e-02 -2.30668122e-04 9.99891505e-01 -6.89331726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.94420382200002 meters Centerline goodness [0,1] 0.9999787365242723 Centerline is valid? [True, True] Translation: X:216.52, Y:-30.80, Z:-6.89 [[ 9.92035583e-01 1.25049469e-01 1.51007370e-02 2.16518767e+02] [-1.25038775e-01 9.92150477e-01 -1.65400489e-03 -3.07982062e+01] [-1.51890358e-02 -2.47345945e-04 9.99884609e-01 -6.89200631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.97420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.55, Y:-30.80, Z:-6.89 [[ 9.92086361e-01 1.24623468e-01 1.52853796e-02 2.16547558e+02] [-1.24612471e-01 9.92204078e-01 -1.67349529e-03 -3.08007093e+01] [-1.53747728e-02 -2.44497079e-04 9.99881771e-01 -6.89168664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.00420382200002 meters Centerline goodness [0,1] 0.9999784264233167 Centerline is valid? [True, True] Translation: X:216.58, Y:-30.80, Z:-6.89 [[ 9.92451455e-01 1.21734650e-01 1.48588106e-02 2.16575927e+02] [-1.21723945e-01 9.92562661e-01 -1.62611651e-03 -3.08041615e+01] [-1.49462553e-02 -1.94831351e-04 9.99888280e-01 -6.89245332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.03420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.60, Y:-30.81, Z:-6.90 [[ 9.92796558e-01 1.18944587e-01 1.43937580e-02 2.16603882e+02] [-1.18934258e-01 9.92900883e-01 -1.57453625e-03 -3.08077986e+01] [-1.44788576e-02 -1.48716762e-04 9.99895165e-01 -6.89699371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.06420382200002 meters Centerline goodness [0,1] 0.9998295369798215 Centerline is valid? [True, True] Translation: X:216.63, Y:-30.81, Z:-6.90 [[ 9.93184604e-01 1.15710859e-01 1.39763891e-02 2.16631737e+02] [-1.15700810e-01 9.93282934e-01 -1.52818245e-03 -3.08132841e+01] [-1.40593361e-02 -9.93122582e-05 9.99901158e-01 -6.89951664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.09420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.66, Y:-30.82, Z:-6.90 [[ 9.93996323e-01 1.08491627e-01 1.41730832e-02 2.16659519e+02] [-1.08480568e-01 9.94097363e-01 -1.54903409e-03 -3.08240533e+01] [-1.42574819e-02 2.23006975e-06 9.99898357e-01 -6.89666629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.124203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.69, Y:-30.83, Z:-6.90 [[ 9.94390932e-01 1.04854294e-01 1.38654808e-02 2.16687153e+02] [-1.04843362e-01 9.94487594e-01 -1.51494566e-03 -3.08306922e+01] [-1.39478972e-02 5.27445921e-05 9.99902722e-01 -6.89994627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.154203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.72, Y:-30.84, Z:-6.90 [[ 9.95073567e-01 9.81977713e-02 1.36306183e-02 2.16715177e+02] [-9.81865991e-02 9.95166909e-01 -1.48806115e-03 -3.08426562e+01] [-1.37108645e-02 1.42386270e-04 9.99905992e-01 -6.90085861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.184203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.74, Y:-30.85, Z:-6.90 [[ 9.95388014e-01 9.49130405e-02 1.39361473e-02 2.16742778e+02] [-9.49010474e-02 9.95485549e-01 -1.52087635e-03 -3.08519944e+01] [-1.40175842e-02 1.91307122e-04 9.99901731e-01 -6.90300930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.214203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.77, Y:-30.86, Z:-6.90 [[ 9.95690708e-01 9.16835121e-02 1.39336766e-02 2.16772614e+02] [-9.16712224e-02 9.95788169e-01 -1.51950553e-03 -3.08581937e+01] [-1.40143039e-02 2.35640375e-04 9.99901767e-01 -6.90208891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.244203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.80, Y:-30.87, Z:-6.90 [[ 9.96299074e-01 8.48924075e-02 1.34697472e-02 2.16801263e+02] [-8.48803125e-02 9.96390073e-01 -1.46812980e-03 -3.08731129e+01] [-1.35457554e-02 3.19380012e-04 9.99908201e-01 -6.90498817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.274203822 meters Centerline goodness [0,1] 0.9999567286888793 Centerline is valid? [True, True] Translation: X:216.83, Y:-30.89, Z:-6.90 [[ 9.96812417e-01 7.86517521e-02 1.33756346e-02 2.16831069e+02] [-7.86392457e-02 9.96902071e-01 -1.45922534e-03 -3.08854328e+01] [-1.34489685e-02 4.02724124e-04 9.99909477e-01 -6.90439292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.304203822 meters Centerline goodness [0,1] 0.9999349452455817 Centerline is valid? [True, True] Translation: X:216.86, Y:-30.90, Z:-6.91 [[ 9.96994939e-01 7.63162065e-02 1.33014222e-02 2.16861370e+02] [-7.63036653e-02 9.97083573e-01 -1.44854277e-03 -3.08956270e+01] [-1.33731768e-02 4.29242545e-04 9.99910483e-01 -6.90596001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.334203822 meters Centerline goodness [0,1] 0.9997426549431696 Centerline is valid? [True, True] Translation: X:216.89, Y:-30.90, Z:-6.91 [[ 9.97135488e-01 7.42968032e-02 1.41705528e-02 2.16892039e+02] [-7.42823293e-02 9.97236053e-01 -1.54575059e-03 -3.09049237e+01] [-1.42462304e-02 4.88701101e-04 9.99898398e-01 -6.90600387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.364203822 meters Centerline goodness [0,1] 0.9998492386552088 Centerline is valid? [True, True] Translation: X:216.92, Y:-30.91, Z:-6.90 [[ 9.97217976e-01 7.30226406e-02 1.49666863e-02 2.16923524e+02] [-7.30063166e-02 9.97330138e-01 -1.63489532e-03 -3.09108980e+01] [-1.50461116e-02 5.37684363e-04 9.99886656e-01 -6.90472505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.394203822 meters Centerline goodness [0,1] 0.9995231902904205 Centerline is valid? [True, True] Translation: X:216.95, Y:-30.93, Z:-6.91 [[ 9.97321973e-01 7.16957424e-02 1.44430935e-02 2.16952389e+02] [-7.16803352e-02 9.97426401e-01 -1.58227788e-03 -3.09285424e+01] [-1.45193653e-02 5.42754718e-04 9.99894441e-01 -6.90762176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.424203822 meters Centerline goodness [0,1] 0.9998284035091483 Centerline is valid? [True, True] Translation: X:216.98, Y:-30.93, Z:-6.91 [[ 9.97223263e-01 7.31591169e-02 1.39106811e-02 2.16984639e+02] [-7.31449963e-02 9.97320156e-01 -1.52184996e-03 -3.09326682e+01] [-1.39847399e-02 5.00127465e-04 9.99902084e-01 -6.90728960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.454203822 meters Centerline goodness [0,1] 0.9999784292154705 Centerline is valid? [True, True] Translation: X:217.02, Y:-30.94, Z:-6.91 [[ 9.97078733e-01 7.50476902e-02 1.42071952e-02 2.17015807e+02] [-7.50330829e-02 9.97179826e-01 -1.55917112e-03 -3.09352654e+01] [-1.42841406e-02 4.88606713e-04 9.99897857e-01 -6.90663396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.484203822 meters Centerline goodness [0,1] 0.9999570474411013 Centerline is valid? [True, True] Translation: X:217.05, Y:-30.94, Z:-6.91 [[ 9.96880063e-01 7.75824005e-02 1.45296473e-02 2.17047482e+02] [-7.75673888e-02 9.96985836e-01 -1.59473958e-03 -3.09395320e+01] [-1.46095762e-02 4.62737299e-04 9.99893167e-01 -6.90691663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.514203822 meters Centerline goodness [0,1] 0.9998258408620877 Centerline is valid? [True, True] Translation: X:217.08, Y:-30.94, Z:-6.91 [[ 9.96293752e-01 8.49388983e-02 1.35699542e-02 2.17076604e+02] [-8.49264715e-02 9.96386106e-01 -1.49043909e-03 -3.09418949e+01] [-1.36475101e-02 3.32466821e-04 9.99906813e-01 -6.90864753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.54420382200001 meters Centerline goodness [0,1] 0.9998258408620877 Centerline is valid? [True, True] Translation: X:217.11, Y:-30.95, Z:-6.91 [[ 9.96277025e-01 8.51348067e-02 1.35703131e-02 2.17108911e+02] [-8.51224426e-02 9.96369388e-01 -1.48717439e-03 -3.09456214e+01] [-1.36476549e-02 3.26499485e-04 9.99906813e-01 -6.90964278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.57420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.14, Y:-30.95, Z:-6.91 [[ 9.95875343e-01 8.97244330e-02 1.34843059e-02 2.17139106e+02] [-8.97125667e-02 9.95966593e-01 -1.48355470e-03 -3.09477088e+01] [-1.35630293e-02 2.67723849e-04 9.99907982e-01 -6.91086780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.60420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.17, Y:-30.95, Z:-6.91 [[ 9.94850959e-01 1.00526318e-01 1.28852556e-02 2.17168938e+02] [-1.00516380e-01 9.94934393e-01 -1.41822449e-03 -3.09457644e+01] [-1.29625529e-02 1.15742751e-04 9.99915976e-01 -6.91368683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.63420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.20, Y:-30.94, Z:-6.91 [[ 9.94240392e-01 1.06356441e-01 1.32041861e-02 2.17198944e+02] [-1.06346518e-01 9.94328067e-01 -1.45336860e-03 -3.09427987e+01] [-1.32838680e-02 4.07785473e-05 9.99911765e-01 -6.91337285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.66420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.23, Y:-30.94, Z:-6.91 [[ 9.93585488e-01 1.12245656e-01 1.37401071e-02 2.17229021e+02] [-1.12235479e-01 9.93680487e-01 -1.51199055e-03 -3.09374581e+01] [-1.38229907e-02 -3.98356303e-05 9.99904457e-01 -6.91261492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.69420382200002 meters Centerline goodness [0,1] 0.9999356554564173 Centerline is valid? [True, True] Translation: X:217.26, Y:-30.92, Z:-6.92 [[ 9.92200210e-01 1.23891546e-01 1.37705309e-02 2.17259618e+02] [-1.23882449e-01 9.92295744e-01 -1.51499420e-03 -3.09201083e+01] [-1.38521341e-02 -2.02749518e-04 9.99904034e-01 -6.91841342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.72420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.29, Y:-30.92, Z:-6.92 [[ 9.91540125e-01 1.29099817e-01 1.34691241e-02 2.17289384e+02] [-1.29091597e-01 9.91631567e-01 -1.48151738e-03 -3.09212618e+01] [-1.35476723e-02 -2.69766817e-04 9.99908190e-01 -6.91652399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.75420382200002 meters Centerline goodness [0,1] 0.999829387929196 Centerline is valid? [True, True] Translation: X:217.32, Y:-30.92, Z:-6.92 [[ 9.90333883e-01 1.38028979e-01 1.36674904e-02 2.17319972e+02] [-1.38021375e-01 9.90428111e-01 -1.50259594e-03 -3.09151047e+01] [-1.37440684e-02 -3.98334133e-04 9.99905466e-01 -6.91784634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.78420382200002 meters Centerline goodness [0,1] 0.9995524773574853 Centerline is valid? [True, True] Translation: X:217.35, Y:-30.91, Z:-6.92 [[ 9.89849129e-01 1.41470177e-01 1.35974291e-02 2.17348746e+02] [-1.41462964e-01 9.89942419e-01 -1.49566082e-03 -3.09121558e+01] [-1.36722632e-02 -4.43054057e-04 9.99906432e-01 -6.91937108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.81420382200002 meters Centerline goodness [0,1] 0.994291754756871 Centerline is valid? [True, True] Translation: X:217.38, Y:-30.91, Z:-6.92 [[ 9.89502051e-01 1.43900926e-01 1.33496673e-02 2.17377634e+02] [-1.43894203e-01 9.89591989e-01 -1.46779640e-03 -3.09061564e+01] [-1.34219411e-02 -4.68552194e-04 9.99909812e-01 -6.92271358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.84420382200003 meters Centerline goodness [0,1] 0.9963488843813387 Centerline is valid? [True, True] Translation: X:217.41, Y:-30.91, Z:-6.92 [[ 9.89241956e-01 1.45783580e-01 1.21449447e-02 2.17407427e+02] [-1.45778168e-01 9.89316403e-01 -1.33446195e-03 -3.09089251e+01] [-1.22097357e-02 -4.50362036e-04 9.99925357e-01 -6.92348000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.874203822 meters Centerline goodness [0,1] 0.9971009549795361 Centerline is valid? [True, True] Translation: X:217.44, Y:-30.91, Z:-6.92 [[ 9.89275998e-01 1.45514481e-01 1.25911176e-02 2.17436184e+02] [-1.45508641e-01 9.89356013e-01 -1.38358500e-03 -3.09118092e+01] [-1.26584296e-02 -4.63368991e-04 9.99919772e-01 -6.92396051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.904203822 meters Centerline goodness [0,1] 0.998117244330338 Centerline is valid? [True, True] Translation: X:217.46, Y:-30.92, Z:-6.93 [[ 9.89709510e-01 1.42532463e-01 1.26326408e-02 2.17464161e+02] [-1.42526352e-01 9.89790035e-01 -1.38733133e-03 -3.09176924e+01] [-1.27014018e-02 -4.27429204e-04 9.99919243e-01 -6.92542005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.934203822 meters Centerline goodness [0,1] 0.9991878780107286 Centerline is valid? [True, True] Translation: X:217.49, Y:-30.93, Z:-6.93 [[ 9.90086963e-01 1.39879931e-01 1.27047564e-02 2.17493715e+02] [-1.39873538e-01 9.90168394e-01 -1.39475868e-03 -3.09260987e+01] [-1.27749469e-02 -3.96126842e-04 9.99918319e-01 -6.92581871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.964203822 meters Centerline goodness [0,1] 0.9997644993470209 Centerline is valid? [True, True] Translation: X:217.52, Y:-30.93, Z:-6.93 [[ 9.90518766e-01 1.36743106e-01 1.31869839e-02 2.17523149e+02] [-1.36735955e-01 9.90606474e-01 -1.44664224e-03 -3.09330016e+01] [-1.32609300e-02 -3.70208552e-04 9.99912001e-01 -6.92616358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.994203822 meters Centerline goodness [0,1] 0.9999145171286303 Centerline is valid? [True, True] Translation: X:217.55, Y:-30.94, Z:-6.92 [[ 9.91317652e-01 1.30593949e-01 1.53144860e-02 2.17553118e+02] [-1.30583570e-01 9.91435882e-01 -1.68006356e-03 -3.09433264e+01] [-1.54027371e-02 -3.34343594e-04 9.99881315e-01 -6.92253594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.024203822 meters Centerline goodness [0,1] 0.9999784580254626 Centerline is valid? [True, True] Translation: X:217.58, Y:-30.95, Z:-6.92 [[ 9.91690919e-01 1.27647055e-01 1.59796733e-02 2.17581799e+02] [-1.27635364e-01 9.91819610e-01 -1.75348995e-03 -3.09496967e+01] [-1.60727811e-02 -3.00651359e-04 9.99870779e-01 -6.92180584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.054203822 meters Centerline goodness [0,1] 0.9999151211645376 Centerline is valid? [True, True] Translation: X:217.61, Y:-30.95, Z:-6.92 [[ 9.91973143e-01 1.25387865e-01 1.63452569e-02 2.17609086e+02] [-1.25375332e-01 9.92107761e-01 -1.79332874e-03 -3.09527348e+01] [-1.64411179e-02 -2.70358065e-04 9.99864799e-01 -6.92395824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.084203822 meters Centerline goodness [0,1] 0.9999785908497292 Centerline is valid? [True, True] Translation: X:217.64, Y:-30.96, Z:-6.92 [[ 9.92384660e-01 1.22100332e-01 1.62540660e-02 2.17637024e+02] [-1.22087515e-01 9.92517739e-01 -1.78223525e-03 -3.09627122e+01] [-1.63500604e-02 -2.15755608e-04 9.99866306e-01 -6.92163619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.114203822 meters Centerline goodness [0,1] 0.999914210955261 Centerline is valid? [True, True] Translation: X:217.66, Y:-30.96, Z:-6.93 [[ 9.92534302e-01 1.20895752e-01 1.61206797e-02 2.17664950e+02] [-1.20882996e-01 9.92665190e-01 -1.76699346e-03 -3.09633523e+01] [-1.62160596e-02 -1.94914436e-04 9.99868492e-01 -6.92622874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.144203822 meters Centerline goodness [0,1] 0.9999576907617779 Centerline is valid? [True, True] Translation: X:217.69, Y:-30.97, Z:-6.93 [[ 9.92817074e-01 1.18697488e-01 1.50054607e-02 2.17692523e+02] [-1.18686197e-01 9.92930453e-01 -1.64390107e-03 -3.09679610e+01] [-1.50945058e-02 -1.48848015e-04 9.99886060e-01 -6.92866086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.174203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.72, Y:-30.97, Z:-6.93 [[ 9.92968115e-01 1.17454224e-01 1.47928338e-02 2.17720884e+02] [-1.17443128e-01 9.93078289e-01 -1.61959800e-03 -3.09720014e+01] [-1.48806707e-02 -1.29107501e-04 9.99889268e-01 -6.93019132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.204203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.75, Y:-30.98, Z:-6.93 [[ 9.93261417e-01 1.14907941e-01 1.50970794e-02 2.17749612e+02] [-1.14896101e-01 9.93376140e-01 -1.65219010e-03 -3.09765575e+01] [-1.51869282e-02 -9.35388689e-05 9.99884668e-01 -6.93060155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.234203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.78, Y:-30.98, Z:-6.93 [[ 9.93392640e-01 1.13775471e-01 1.50401161e-02 2.17778646e+02] [-1.13763600e-01 9.93506485e-01 -1.64533429e-03 -3.09812226e+01] [-1.51296516e-02 -7.65547804e-05 9.99885537e-01 -6.92790905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.264203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.81, Y:-30.99, Z:-6.93 [[ 9.93623434e-01 1.11758062e-01 1.49199923e-02 2.17808389e+02] [-1.11746169e-01 9.93735444e-01 -1.63110088e-03 -3.09854274e+01] [-1.50088139e-02 -4.65519173e-05 9.99887360e-01 -6.92815133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.29420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.84, Y:-30.99, Z:-6.93 [[ 9.93731307e-01 1.10829626e-01 1.46589364e-02 2.17836329e+02] [-1.10818046e-01 9.93839420e-01 -1.60240154e-03 -3.09889471e+01] [-1.47462224e-02 -3.21181067e-05 9.99891268e-01 -6.93181355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.32420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.87, Y:-31.00, Z:-6.93 [[ 9.93901079e-01 1.09330745e-01 1.44025165e-02 2.17865427e+02] [-1.09319420e-01 9.94005427e-01 -1.57367562e-03 -3.09953421e+01] [-1.44882307e-02 -1.03968462e-05 9.99895040e-01 -6.93093077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.35420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.89, Y:-31.00, Z:-6.93 [[ 9.93939824e-01 1.09000385e-01 1.42317227e-02 2.17893707e+02] [-1.08989295e-01 9.94041707e-01 -1.55486505e-03 -3.09991475e+01] [-1.43164068e-02 -5.66312331e-06 9.99897515e-01 -6.93363993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.38420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.92, Y:-31.00, Z:-6.93 [[ 9.93926150e-01 1.09162702e-01 1.39396363e-02 2.17923354e+02] [-1.09152088e-01 9.94023895e-01 -1.52225555e-03 -3.10017910e+01] [-1.40225051e-02 -8.53081558e-06 9.99901680e-01 -6.93359652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.41420382200002 meters Centerline goodness [0,1] 0.9999573269608262 Centerline is valid? [True, True] Translation: X:217.95, Y:-31.00, Z:-6.94 [[ 9.93824547e-01 1.10130670e-01 1.35648491e-02 2.17952735e+02] [-1.10120714e-01 9.93917117e-01 -1.48101158e-03 -3.10026885e+01] [-1.36454405e-02 -2.19051982e-05 9.99906896e-01 -6.93601450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.44420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.98, Y:-31.00, Z:-6.94 [[ 9.93651615e-01 1.11743958e-01 1.30290068e-02 2.17981618e+02] [-1.11734909e-01 9.93737031e-01 -1.42264576e-03 -3.10034433e+01] [-1.31063786e-02 -4.21806228e-05 9.99914107e-01 -6.93653354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.47420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.01, Y:-31.00, Z:-6.94 [[ 9.93506874e-01 1.13028551e-01 1.29860649e-02 2.18010215e+02] [-1.13019680e-01 9.93591739e-01 -1.41732035e-03 -3.10041141e+01] [-1.30630445e-02 -5.95633899e-05 9.99914673e-01 -6.93778397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.50420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.04, Y:-31.00, Z:-6.94 [[ 9.93336311e-01 1.14541342e-01 1.27770913e-02 2.18038533e+02] [-1.14532885e-01 9.93418479e-01 -1.39412093e-03 -3.10042407e+01] [-1.28526831e-02 -7.85661891e-05 9.99917398e-01 -6.94122341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.53420382200002 meters Centerline goodness [0,1] 0.9999787252148753 Centerline is valid? [True, True] Translation: X:218.07, Y:-31.00, Z:-6.94 [[ 9.93005908e-01 1.17426915e-01 1.22550399e-02 2.18065977e+02] [-1.17419361e-01 9.93081521e-01 -1.33665970e-03 -3.10035390e+01] [-1.23272134e-02 -1.11667972e-04 9.99924011e-01 -6.94422191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.56420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.09, Y:-31.01, Z:-6.94 [[ 9.92894248e-01 1.18328912e-01 1.26206660e-02 2.18094912e+02] [-1.18320990e-01 9.92974447e-01 -1.37516813e-03 -3.10059182e+01] [-1.26947210e-02 -1.27893168e-04 9.99919411e-01 -6.94307413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.59420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.12, Y:-31.01, Z:-6.94 [[ 9.92846737e-01 1.18586907e-01 1.38745264e-02 2.18124065e+02] [-1.18577369e-01 9.92943666e-01 -1.51097226e-03 -3.10067928e+01] [-1.39558046e-02 -1.45040955e-04 9.99902602e-01 -6.94177679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.624203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.15, Y:-31.01, Z:-6.94 [[ 9.92897773e-01 1.18151905e-01 1.39333861e-02 2.18151823e+02] [-1.18142251e-01 9.92995522e-01 -1.51688597e-03 -3.10096068e+01] [-1.40150129e-02 -1.40008890e-04 9.99901775e-01 -6.94289457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.654203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.18, Y:-31.02, Z:-6.95 [[ 9.93185910e-01 1.15756475e-01 1.34976373e-02 2.18179063e+02] [-1.15747205e-01 9.93277619e-01 -1.46865783e-03 -3.10171237e+01] [-1.35769077e-02 -1.03663516e-04 9.99907824e-01 -6.94581921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.684203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.21, Y:-31.02, Z:-6.94 [[ 9.93384885e-01 1.14017711e-01 1.36540073e-02 2.18207328e+02] [-1.14008074e-01 9.93478714e-01 -1.48464114e-03 -3.10246953e+01] [-1.37342410e-02 -8.18470113e-05 9.99905678e-01 -6.94454993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.714203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.24, Y:-31.03, Z:-6.95 [[ 9.93611002e-01 1.12013219e-01 1.37918324e-02 2.18235412e+02] [-1.12003203e-01 9.93706715e-01 -1.49892224e-03 -3.10309528e+01] [-1.38729355e-02 -5.53837673e-05 9.99903765e-01 -6.94560624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.744203822 meters Centerline goodness [0,1] 0.9999573196756295 Centerline is valid? [True, True] Translation: X:218.26, Y:-31.04, Z:-6.95 [[ 9.94033337e-01 1.08061225e-01 1.48491049e-02 2.18263060e+02] [-1.08049189e-01 9.94144241e-01 -1.61278075e-03 -3.10408459e+01] [-1.49364312e-02 -1.27591174e-06 9.99888445e-01 -6.94563760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.774203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.29, Y:-31.05, Z:-6.94 [[ 9.94465768e-01 1.03811618e-01 1.61550331e-02 2.18292467e+02] [-1.03796831e-01 9.94596975e-01 -1.75338781e-03 -3.10548863e+01] [-1.62497691e-02 6.68429168e-05 9.99867962e-01 -6.94411482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.804203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.32, Y:-31.06, Z:-6.94 [[ 9.94661079e-01 1.01937924e-01 1.60623003e-02 2.18323363e+02] [-1.01923068e-01 9.94790757e-01 -1.74297852e-03 -3.10639653e+01] [-1.61563035e-02 9.65539728e-05 9.99869474e-01 -6.94492157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.834203822 meters Centerline goodness [0,1] 0.9998713053923041 Centerline is valid? [True, True] Translation: X:218.35, Y:-31.07, Z:-6.95 [[ 9.94854797e-01 1.00050641e-01 1.59311941e-02 2.18354789e+02] [-1.00035811e-01 9.94982338e-01 -1.72704618e-03 -3.10726191e+01] [-1.60240488e-02 1.24470254e-04 9.99871599e-01 -6.94751208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.864203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.39, Y:-31.08, Z:-6.95 [[ 9.95038380e-01 9.82749211e-02 1.55132696e-02 2.18386012e+02] [-9.82606065e-02 9.95159292e-01 -1.68412351e-03 -3.10816162e+01] [-1.56036815e-02 1.51424256e-04 9.99878244e-01 -6.94626949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.894203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.42, Y:-31.10, Z:-6.95 [[ 9.95303418e-01 9.55424872e-02 1.55801090e-02 2.18415922e+02] [-9.55276682e-02 9.95425333e-01 -1.69430886e-03 -3.10958076e+01] [-1.56707137e-02 1.98019912e-04 9.99877187e-01 -6.94784409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.924203822 meters Centerline goodness [0,1] 0.9999786155721404 Centerline is valid? [True, True] Translation: X:218.45, Y:-31.11, Z:-6.95 [[ 9.95454513e-01 9.39248321e-02 1.57619527e-02 2.18445694e+02] [-9.39094056e-02 9.95579265e-01 -1.71766493e-03 -3.11087225e+01] [-1.58536047e-02 2.29661701e-04 9.99874297e-01 -6.95076403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.954203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.48, Y:-31.12, Z:-6.95 [[ 9.95457646e-01 9.38790539e-02 1.58365964e-02 2.18478165e+02] [-9.38634746e-02 9.95583582e-01 -1.72583754e-03 -3.11158155e+01] [-1.59286753e-02 2.31520215e-04 9.99873104e-01 -6.95052847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.984203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.51, Y:-31.12, Z:-6.95 [[ 9.95442175e-01 9.40566958e-02 1.57547858e-02 2.18510078e+02] [-9.40412520e-02 9.95566816e-01 -1.71990490e-03 -3.11230883e+01] [-1.58467105e-02 2.30466090e-04 9.99874406e-01 -6.95200611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.014203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.54, Y:-31.13, Z:-6.95 [[ 9.95331518e-01 9.51344964e-02 1.62664278e-02 2.18539845e+02] [-9.51181153e-02 9.95464403e-01 -1.77953249e-03 -3.11341830e+01] [-1.63619448e-02 2.23992824e-04 9.99866109e-01 -6.95219547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.04420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.57, Y:-31.14, Z:-6.95 [[ 9.95260407e-01 9.58263077e-02 1.65542118e-02 2.18570382e+02] [-9.58093933e-02 9.95398046e-01 -1.81366381e-03 -3.11413562e+01] [-1.66518267e-02 2.19018798e-04 9.99861325e-01 -6.95310970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.07420382200002 meters Centerline goodness [0,1] 0.9999571835327867 Centerline is valid? [True, True] Translation: X:218.60, Y:-31.15, Z:-6.95 [[ 9.95127247e-01 9.73032086e-02 1.59325999e-02 2.18601807e+02] [-9.72876983e-02 9.95254766e-01 -1.74752973e-03 -3.11474693e+01] [-1.60270363e-02 1.88968469e-04 9.99871541e-01 -6.95442653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.10420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.63, Y:-31.15, Z:-6.96 [[ 9.95019952e-01 9.84127479e-02 1.58185675e-02 2.18632127e+02] [-9.83975539e-02 9.95145668e-01 -1.73785685e-03 -3.11542736e+01] [-1.59128062e-02 1.72693888e-04 9.99873368e-01 -6.95669604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.13420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.66, Y:-31.16, Z:-6.96 [[ 9.94919103e-01 9.94581003e-02 1.56225736e-02 2.18664382e+02] [-9.94433750e-02 9.95041739e-01 -1.71851128e-03 -3.11584428e+01] [-1.57160326e-02 1.56218261e-04 9.99876483e-01 -6.95581053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.16420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.70, Y:-31.17, Z:-6.96 [[ 9.94759047e-01 1.01167142e-01 1.48205291e-02 2.18695308e+02] [-1.01154034e-01 9.94869435e-01 -1.63335360e-03 -3.11693331e+01] [-1.49097331e-02 1.25636967e-04 9.99888836e-01 -6.95838184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.19420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.73, Y:-31.18, Z:-6.96 [[ 9.94652241e-01 1.02248775e-01 1.45638837e-02 2.18726747e+02] [-1.02236221e-01 9.94758853e-01 -1.60588671e-03 -3.11760820e+01] [-1.46517522e-02 1.08342397e-04 9.99892651e-01 -6.96120269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.22420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.76, Y:-31.19, Z:-6.96 [[ 9.94473424e-01 1.04037799e-01 1.40976983e-02 2.18757334e+02] [-1.04026181e-01 9.94573340e-01 -1.55693676e-03 -3.11858517e+01] [-1.41831752e-02 8.18025182e-05 9.99899410e-01 -6.96470037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.25420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.79, Y:-31.19, Z:-6.96 [[ 9.94371911e-01 1.04925799e-01 1.46655640e-02 2.18788267e+02] [-1.04913274e-01 9.94480051e-01 -1.62290306e-03 -3.11927150e+01] [-1.47548952e-02 7.51568862e-05 9.99891138e-01 -6.96444603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.28420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.82, Y:-31.20, Z:-6.96 [[ 9.94241804e-01 1.05922757e-01 1.62359300e-02 2.18819948e+02] [-1.05907496e-01 9.94374358e-01 -1.79929816e-03 -3.12012203e+01] [-1.63351791e-02 6.94307584e-05 9.99866570e-01 -6.95991350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.31420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.85, Y:-31.21, Z:-6.96 [[ 9.94187881e-01 1.06390636e-01 1.64769308e-02 2.18852350e+02] [-1.06374944e-01 9.94324408e-01 -1.82838890e-03 -3.12082223e+01] [-1.65779379e-02 6.50294985e-05 9.99862574e-01 -6.95889479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.34420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.89, Y:-31.22, Z:-6.96 [[ 9.94150775e-01 1.06748176e-01 1.64031506e-02 2.18885011e+02] [-1.06732620e-01 9.94286087e-01 -1.82339057e-03 -3.12170373e+01] [-1.65040681e-02 6.19739151e-05 9.99863797e-01 -6.96011620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.374203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.92, Y:-31.23, Z:-6.96 [[ 9.94117185e-01 1.07052351e-01 1.64564910e-02 2.18915498e+02] [-1.07036678e-01 9.94253383e-01 -1.83276320e-03 -3.12292992e+01] [-1.65581234e-02 6.05332704e-05 9.99862903e-01 -6.96141244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.404203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.95, Y:-31.24, Z:-6.96 [[ 9.93972840e-01 1.08549538e-01 1.53294427e-02 2.18947302e+02] [-1.08536077e-01 9.94091040e-01 -1.70984471e-03 -3.12363159e+01] [-1.54244645e-02 3.57416329e-05 9.99881035e-01 -6.96326558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.434203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.98, Y:-31.24, Z:-6.96 [[ 9.93951617e-01 1.08743728e-01 1.53291910e-02 2.18979572e+02] [-1.08730255e-01 9.94069817e-01 -1.71209644e-03 -3.12401179e+01] [-1.54244659e-02 3.49941813e-05 9.99881035e-01 -6.96426034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.464203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.01, Y:-31.25, Z:-6.97 [[ 9.93821216e-01 1.09983393e-01 1.49346265e-02 2.19010986e+02] [-1.09970699e-01 9.93933425e-01 -1.67103355e-03 -3.12455383e+01] [-1.50278104e-02 1.83372746e-05 9.99887076e-01 -6.96739638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.494203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.04, Y:-31.25, Z:-6.97 [[ 9.93663552e-01 1.11336823e-01 1.53901965e-02 2.19042553e+02] [-1.11323455e-01 9.93782729e-01 -1.72525296e-03 -3.12501426e+01] [-1.54865957e-02 1.03112590e-06 9.99880075e-01 -6.96726005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.524203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.07, Y:-31.25, Z:-6.97 [[ 9.93346369e-01 1.14048163e-01 1.60002384e-02 2.19074288e+02] [-1.14034019e-01 9.93475221e-01 -1.79651855e-03 -3.12549361e+01] [-1.61007300e-02 -4.00063194e-05 9.99870374e-01 -6.96630826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.554203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.11, Y:-31.26, Z:-6.97 [[ 9.93218048e-01 1.15147439e-01 1.60927680e-02 2.19106214e+02] [-1.15133233e-01 9.93348410e-01 -1.80952494e-03 -3.12600901e+01] [-1.61940877e-02 -5.55595749e-05 9.99868866e-01 -6.96693741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.584203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.14, Y:-31.27, Z:-6.97 [[ 9.93068003e-01 1.16363623e-01 1.65966359e-02 2.19138101e+02] [-1.16348632e-01 9.93206676e-01 -1.86922868e-03 -3.12677104e+01] [-1.67013998e-02 -7.47246989e-05 9.99860519e-01 -6.96793970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.614203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.17, Y:-31.27, Z:-6.97 [[ 9.93090317e-01 1.16252102e-01 1.60334664e-02 2.19170423e+02] [-1.16238051e-01 9.93219736e-01 -1.80869428e-03 -3.12741928e+01] [-1.61350198e-02 -6.75021076e-05 9.99869820e-01 -6.97029350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.644203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.20, Y:-31.29, Z:-6.97 [[ 9.93282461e-01 1.14718019e-01 1.51567907e-02 2.19202199e+02] [-1.14705244e-01 9.93398095e-01 -1.71239187e-03 -3.12855608e+01] [-1.52531692e-02 -3.76745692e-05 9.99883663e-01 -6.97323283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.674203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.23, Y:-31.29, Z:-6.97 [[ 9.93433424e-01 1.13419870e-01 1.50321659e-02 2.19233974e+02] [-1.13407116e-01 9.93547147e-01 -1.70099482e-03 -3.12943954e+01] [-1.51280922e-02 -1.49294693e-05 9.99885564e-01 -6.97301036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.704203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.27, Y:-31.30, Z:-6.98 [[ 9.93565297e-01 1.12234315e-01 1.52137614e-02 2.19265151e+02] [-1.12221060e-01 9.93681769e-01 -1.72484090e-03 -3.13032203e+01] [-1.53112237e-02 6.43762966e-06 9.99882776e-01 -6.97572644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.734203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.30, Y:-31.32, Z:-6.97 [[ 9.93820653e-01 1.09857885e-01 1.58667766e-02 2.19297223e+02] [-1.09843115e-01 9.93947304e-01 -1.80199392e-03 -3.13153388e+01] [-1.59687031e-02 4.80025982e-05 9.99872491e-01 -6.97491210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.764203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.33, Y:-31.32, Z:-6.98 [[ 9.93905440e-01 1.09077321e-01 1.59409674e-02 2.19329579e+02] [-1.09062263e-01 9.94033266e-01 -1.81351794e-03 -3.13249821e+01] [-1.60436656e-02 6.39073606e-05 9.99871290e-01 -6.97518261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.79420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.36, Y:-31.33, Z:-6.98 [[ 9.93888019e-01 1.09271628e-01 1.56944759e-02 2.19360923e+02] [-1.09256992e-01 9.94011925e-01 -1.78950285e-03 -3.13303236e+01] [-1.57960381e-02 6.38342148e-05 9.99875233e-01 -6.97669785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.82420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.39, Y:-31.33, Z:-6.98 [[ 9.93837054e-01 1.09743209e-01 1.56312926e-02 2.19393301e+02] [-1.09728738e-01 9.93959971e-01 -1.78303849e-03 -3.13347491e+01] [-1.57325555e-02 5.68477038e-05 9.99876234e-01 -6.97733035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.85420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.43, Y:-31.34, Z:-6.98 [[ 9.93617807e-01 1.11735570e-01 1.54536546e-02 2.19425215e+02] [-1.11721617e-01 9.93737974e-01 -1.76597992e-03 -3.13394677e+01] [-1.55542061e-02 2.82018192e-05 9.99879026e-01 -6.98004622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.88420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.46, Y:-31.34, Z:-6.98 [[ 9.93414870e-01 1.13447081e-01 1.60204599e-02 2.19457488e+02] [-1.13432254e-01 9.93544040e-01 -1.83410900e-03 -3.13419972e+01] [-1.61251068e-02 4.79427636e-06 9.99869982e-01 -6.97919215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.91420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.49, Y:-31.35, Z:-6.98 [[ 9.93354401e-01 1.13948076e-01 1.62132928e-02 2.19489060e+02] [-1.13932913e-01 9.93486707e-01 -1.85886137e-03 -3.13459337e+01] [-1.63195045e-02 -7.19555227e-07 9.99866828e-01 -6.98075064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.94420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.52, Y:-31.35, Z:-6.98 [[ 9.93305235e-01 1.14373880e-01 1.62273015e-02 2.19521926e+02] [-1.14358701e-01 9.93437776e-01 -1.86327273e-03 -3.13499547e+01] [-1.63339241e-02 -4.93457710e-06 9.99866593e-01 -6.98090657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.97420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.55, Y:-31.35, Z:-6.99 [[ 9.93367158e-01 1.14069870e-01 1.44828822e-02 2.19552334e+02] [-1.14057707e-01 9.93472730e-01 -1.66574341e-03 -3.13547492e+01] [-1.45783596e-02 2.81046577e-06 9.99893730e-01 -6.98574773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.00420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.58, Y:-31.36, Z:-6.99 [[ 9.93472585e-01 1.13223407e-01 1.38810552e-02 2.19583633e+02] [-1.13212128e-01 9.93569555e-01 -1.59823176e-03 -3.13611067e+01] [-1.39727511e-02 1.62956394e-05 9.99902376e-01 -6.98634069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.03420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.61, Y:-31.37, Z:-6.99 [[ 9.93725422e-01 1.10821272e-01 1.51139539e-02 2.19613846e+02] [-1.10807572e-01 9.93840351e-01 -1.74344402e-03 -3.13725351e+01] [-1.52140679e-02 5.77641002e-05 9.99884258e-01 -6.98849859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.06420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.65, Y:-31.38, Z:-6.99 [[ 9.93849077e-01 1.09668240e-01 1.53911996e-02 2.19646890e+02] [-1.09653865e-01 9.93968244e-01 -1.77740607e-03 -3.13789310e+01] [-1.54932887e-02 7.87688609e-05 9.99879969e-01 -6.98648566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.09420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.68, Y:-31.39, Z:-6.99 [[ 9.93972323e-01 1.08614482e-01 1.48968442e-02 2.19678125e+02] [-1.08600850e-01 9.94083943e-01 -1.72340254e-03 -3.13854877e+01] [-1.49959001e-02 9.52044844e-05 9.99887551e-01 -6.98804293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.124203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.71, Y:-31.39, Z:-6.99 [[ 9.93946484e-01 1.08875547e-01 1.47139861e-02 2.19710948e+02] [-1.08862246e-01 9.94055384e-01 -1.70428800e-03 -3.13896558e+01] [-1.48120724e-02 9.21734941e-05 9.99890291e-01 -6.98836720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.154203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.74, Y:-31.39, Z:-6.99 [[ 9.93845006e-01 1.09779374e-01 1.48523935e-02 2.19741984e+02] [-1.09765868e-01 9.93955976e-01 -1.72396439e-03 -3.13939062e+01] [-1.49518810e-02 8.30675327e-05 9.99888211e-01 -6.99060027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.184203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.77, Y:-31.40, Z:-6.99 [[ 9.93689207e-01 1.11278634e-01 1.41005794e-02 2.19774976e+02] [-1.11266591e-01 9.93789244e-01 -1.63811178e-03 -3.13983242e+01] [-1.41952910e-02 5.88505903e-05 9.99899240e-01 -6.99106012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.214203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.81, Y:-31.40, Z:-6.99 [[ 9.93575360e-01 1.12300738e-01 1.40195549e-02 2.19806971e+02] [-1.12288894e-01 9.93674264e-01 -1.63168044e-03 -3.14028936e+01] [-1.41141098e-02 4.69571796e-05 9.99900390e-01 -6.99373520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.244203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.84, Y:-31.41, Z:-6.99 [[ 9.93490912e-01 1.13011416e-01 1.42907918e-02 2.19839069e+02] [-1.12999138e-01 9.93593689e-01 -1.66630810e-03 -3.14078663e+01] [-1.43875524e-02 4.06147998e-05 9.99896493e-01 -6.99477126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.274203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.87, Y:-31.41, Z:-7.00 [[ 9.93459915e-01 1.13296847e-01 1.41852686e-02 2.19871957e+02] [-1.13284751e-01 9.93561182e-01 -1.65593077e-03 -3.14112865e+01] [-1.42815440e-02 3.81262195e-05 9.99898013e-01 -6.99526913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.304203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.90, Y:-31.41, Z:-7.00 [[ 9.93440669e-01 1.13530988e-01 1.36511133e-02 2.19903273e+02] [-1.13519765e-01 9.93534455e-01 -1.59669767e-03 -3.14147315e+01] [-1.37441261e-02 3.65532218e-05 9.99905544e-01 -6.99873881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.334203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.93, Y:-31.42, Z:-7.00 [[ 9.93385965e-01 1.14072834e-01 1.31039038e-02 2.19934257e+02] [-1.14062515e-01 9.93472389e-01 -1.53460737e-03 -3.14186426e+01] [-1.31934236e-02 2.97932062e-05 9.99912963e-01 -7.00222291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.364203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.97, Y:-31.42, Z:-7.00 [[ 9.93294169e-01 1.15091954e-01 1.09789193e-02 2.19966451e+02] [-1.15084766e-01 9.93354842e-01 -1.28639731e-03 -3.14227588e+01] [-1.10540166e-02 1.42645965e-05 9.99938902e-01 -7.00344058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.394203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.00, Y:-31.43, Z:-7.01 [[ 9.93249869e-01 1.15532529e-01 1.03407720e-02 2.19997225e+02] [-1.15526158e-01 9.93303697e-01 -1.21338623e-03 -3.14277230e+01] [-1.04117127e-02 1.05660488e-05 9.99945797e-01 -7.00732436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.424203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.03, Y:-31.43, Z:-7.01 [[ 9.93198342e-01 1.15962688e-01 1.04742041e-02 2.20029507e+02] [-1.15956164e-01 9.93253570e-01 -1.23013966e-03 -3.14326046e+01] [-1.05461909e-02 7.22414352e-06 9.99944387e-01 -7.00734172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.454203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.06, Y:-31.44, Z:-7.01 [[ 9.93174529e-01 1.16141266e-01 1.07499848e-02 2.20062183e+02] [-1.16134381e-01 9.93232705e-01 -1.26461167e-03 -3.14366357e+01] [-1.08241100e-02 7.53726804e-06 9.99941418e-01 -7.00547560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.484203822 meters Centerline goodness [0,1] 0.9998708344097132 Centerline is valid? [True, True] Translation: X:220.09, Y:-31.44, Z:-7.01 [[ 9.93119279e-01 1.16561248e-01 1.12948747e-02 2.20092898e+02] [-1.16553623e-01 9.93183505e-01 -1.33322848e-03 -3.14394479e+01] [-1.13732860e-02 7.59633653e-06 9.99935322e-01 -7.01128305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.514203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.12, Y:-31.45, Z:-7.01 [[ 9.93171396e-01 1.16000877e-01 1.24247793e-02 2.20124637e+02] [-1.15991603e-01 9.93249111e-01 -1.46693257e-03 -3.14470598e+01] [-1.25110665e-02 1.57454033e-05 9.99921733e-01 -7.00734255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.54420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.16, Y:-31.45, Z:-7.01 [[ 9.93178572e-01 1.15866623e-01 1.30862322e-02 2.20156364e+02] [-1.15856290e-01 9.93264781e-01 -1.54748375e-03 -3.14524983e+01] [-1.31773953e-02 2.08053862e-05 9.99913174e-01 -7.00718102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.57420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.19, Y:-31.46, Z:-7.01 [[ 9.93181736e-01 1.15799312e-01 1.34372200e-02 2.20189362e+02] [-1.15788387e-01 9.93272631e-01 -1.59082517e-03 -3.14575117e+01] [-1.35310393e-02 2.41044811e-05 9.99908451e-01 -7.00529021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.60420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.22, Y:-31.46, Z:-7.01 [[ 9.93175145e-01 1.15844876e-01 1.35312731e-02 2.20221321e+02] [-1.15833762e-01 9.93267317e-01 -1.60492030e-03 -3.14624007e+01] [-1.36260931e-02 2.65886904e-05 9.99907160e-01 -7.00718312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.63420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.25, Y:-31.47, Z:-7.01 [[ 9.93167024e-01 1.15859241e-01 1.39963570e-02 2.20253016e+02] [-1.15847307e-01 9.93265642e-01 -1.66313181e-03 -3.14667305e+01] [-1.40947897e-02 3.03274014e-05 9.99900663e-01 -7.00727082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.66420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.28, Y:-31.47, Z:-7.01 [[ 9.93154621e-01 1.15878282e-01 1.47011241e-02 2.20283580e+02] [-1.15865060e-01 9.93263421e-01 -1.75080648e-03 -3.14708255e+01] [-1.48049693e-02 3.54749117e-05 9.99890400e-01 -7.00808742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.69420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.32, Y:-31.48, Z:-7.01 [[ 9.93112025e-01 1.16267709e-01 1.45026055e-02 2.20316454e+02] [-1.16254886e-01 9.93217911e-01 -1.72699706e-03 -3.14756461e+01] [-1.46050415e-02 2.91028050e-05 9.99893340e-01 -7.00863483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.72420382200002 meters Centerline goodness [0,1] 0.9999132640891645 Centerline is valid? [True, True] Translation: X:220.35, Y:-31.48, Z:-7.01 [[ 9.92845777e-01 1.18437144e-01 1.51626829e-02 2.20348757e+02] [-1.18423327e-01 9.92961552e-01 -1.80904845e-03 -3.14782796e+01] [-1.52702197e-02 4.90755878e-07 9.99883403e-01 -7.00831919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.75420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.38, Y:-31.48, Z:-7.01 [[ 9.92717866e-01 1.19503801e-01 1.51683775e-02 2.20381218e+02] [-1.19490060e-01 9.92833743e-01 -1.81222584e-03 -3.14805063e+01] [-1.52762449e-02 -1.34413726e-05 9.99883311e-01 -7.00851105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.78420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.41, Y:-31.48, Z:-7.01 [[ 9.92396614e-01 1.22267097e-01 1.41321298e-02 2.20413154e+02] [-1.22255411e-01 9.92497232e-01 -1.69116178e-03 -3.14802042e+01] [-1.42328732e-02 -4.94261155e-05 9.99898706e-01 -7.01059762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.81420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.45, Y:-31.48, Z:-7.01 [[ 9.92202385e-01 1.23715492e-01 1.51295943e-02 2.20445026e+02] [-1.23702228e-01 9.92317727e-01 -1.81305661e-03 -3.14818968e+01] [-1.52376678e-02 -7.26454299e-05 9.99883897e-01 -7.00893571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.84420382200003 meters Centerline goodness [0,1] 0.9999574259744131 Centerline is valid? [True, True] Translation: X:220.48, Y:-31.48, Z:-7.01 [[ 9.91994364e-01 1.25202744e-01 1.64758895e-02 2.20476195e+02] [-1.25187147e-01 9.92131172e-01 -1.97874218e-03 -3.14813220e+01] [-1.65939875e-02 -9.96685005e-05 9.99862305e-01 -7.01007964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.874203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.51, Y:-31.48, Z:-7.01 [[ 9.91759045e-01 1.26883237e-01 1.77380945e-02 2.20507619e+02] [-1.26865404e-01 9.91917651e-01 -2.13159219e-03 -3.14801282e+01] [-1.78651923e-02 -1.36324693e-04 9.99840395e-01 -7.00728192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.904203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.54, Y:-31.48, Z:-7.01 [[ 9.91535839e-01 1.28544092e-01 1.82509523e-02 2.20540860e+02] [-1.28525449e-01 9.91703780e-01 -2.19565221e-03 -3.14796424e+01] [-1.83817765e-02 -1.68643983e-04 9.99831027e-01 -7.00596101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.934203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.57, Y:-31.48, Z:-7.01 [[ 9.91360688e-01 1.29831200e-01 1.86506144e-02 2.20573048e+02] [-1.29811886e-01 9.91536092e-01 -2.24766468e-03 -3.14784880e+01] [-1.87845743e-02 -1.92825028e-04 9.99823536e-01 -7.00747652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.964203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.60, Y:-31.48, Z:-7.01 [[ 9.91187058e-01 1.31139596e-01 1.87248992e-02 2.20604444e+02] [-1.31120289e-01 9.91363889e-01 -2.26040762e-03 -3.14780029e+01] [-1.88596178e-02 -2.14727417e-04 9.99822119e-01 -7.00896672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.994203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.64, Y:-31.47, Z:-7.01 [[ 9.90878675e-01 1.33549127e-01 1.80022967e-02 2.20637023e+02] [-1.33531636e-01 9.91042163e-01 -2.17557231e-03 -3.14740691e+01] [-1.81315808e-02 -2.48147920e-04 9.99835579e-01 -7.01087310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.024203822 meters Centerline goodness [0,1] 0.9999787613626709 Centerline is valid? [True, True] Translation: X:220.67, Y:-31.48, Z:-7.01 [[ 9.90741596e-01 1.34749251e-01 1.65447420e-02 2.20669146e+02] [-1.34734608e-01 9.90879699e-01 -2.00167098e-03 -3.14750582e+01] [-1.66635727e-02 -2.46010632e-04 9.99861123e-01 -7.01314079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.054203822 meters Centerline goodness [0,1] 0.9999150508632956 Centerline is valid? [True, True] Translation: X:220.70, Y:-31.47, Z:-7.02 [[ 9.90543788e-01 1.36497286e-01 1.38381893e-02 2.20700775e+02] [-1.36487172e-01 9.90640419e-01 -1.67713765e-03 -3.14672549e+01] [-1.39375944e-02 -2.27457051e-04 9.99902841e-01 -7.02313576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.084203822 meters Centerline goodness [0,1] 0.9998507335380417 Centerline is valid? [True, True] Translation: X:220.73, Y:-31.47, Z:-7.03 [[ 9.90441783e-01 1.37288838e-01 1.32984581e-02 2.20732627e+02] [-1.37279574e-01 9.90531030e-01 -1.61133272e-03 -3.14696011e+01] [-1.33937534e-02 -2.29675414e-04 9.99910273e-01 -7.02588502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.114203822 meters Centerline goodness [0,1] 0.9999787211405469 Centerline is valid? [True, True] Translation: X:220.77, Y:-31.47, Z:-7.02 [[ 9.90500585e-01 1.36902674e-01 1.28937533e-02 2.20765862e+02] [-1.36893912e-01 9.90584480e-01 -1.56382126e-03 -3.14695355e+01] [-1.29864432e-02 -2.16110461e-04 9.99915649e-01 -7.02426538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.144203822 meters Centerline goodness [0,1] 0.9999786050492084 Centerline is valid? [True, True] Translation: X:220.80, Y:-31.47, Z:-7.03 [[ 9.90590299e-01 1.36266406e-01 1.27407113e-02 2.20796626e+02] [-1.36257760e-01 9.90672209e-01 -1.54832658e-03 -3.14704295e+01] [-1.28328535e-02 -2.02263492e-04 9.99917635e-01 -7.02656851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.174203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.83, Y:-31.47, Z:-7.03 [[ 9.90922034e-01 1.33865440e-01 1.23922053e-02 2.20828386e+02] [-1.33857052e-01 9.90999504e-01 -1.50759778e-03 -3.14727076e+01] [-1.24824846e-02 -1.64872221e-04 9.99922077e-01 -7.02757985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.204203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.86, Y:-31.48, Z:-7.03 [[ 9.91168957e-01 1.32021247e-01 1.24293679e-02 2.20860269e+02] [-1.32012638e-01 9.91246877e-01 -1.51420168e-03 -3.14776043e+01] [-1.25204789e-02 -1.40003948e-04 9.99921606e-01 -7.02890610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.234203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.89, Y:-31.49, Z:-7.03 [[ 9.91781138e-01 1.27283839e-01 1.29999516e-02 2.20891100e+02] [-1.27273982e-01 9.91866331e-01 -1.58613642e-03 -3.14858664e+01] [-1.30961038e-02 -8.14554216e-05 9.99914239e-01 -7.03011491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.264203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.92, Y:-31.49, Z:-7.03 [[ 9.92121588e-01 1.24535830e-01 1.36228609e-02 2.20922418e+02] [-1.24524712e-01 9.92215110e-01 -1.66468292e-03 -3.14931999e+01] [-1.37241211e-02 -4.48149568e-05 9.99905819e-01 -7.03004498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.29420382200001 meters Centerline goodness [0,1] 0.999978646166987 Centerline is valid? [True, True] Translation: X:220.95, Y:-31.50, Z:-7.03 [[ 9.92813038e-01 1.18776472e-01 1.46431290e-02 2.20954000e+02] [-1.18762958e-01 9.92921018e-01 -1.79212415e-03 -3.15023114e+01] [-1.47523328e-02 4.01828992e-05 9.99891178e-01 -7.02912015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.32420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.99, Y:-31.51, Z:-7.03 [[ 9.93141719e-01 1.15985789e-01 1.47249189e-02 2.20985660e+02] [-1.15971781e-01 9.93250869e-01 -1.80457925e-03 -3.15084675e+01] [-1.48348441e-02 8.45278690e-05 9.99889954e-01 -7.03047817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.35420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.02, Y:-31.51, Z:-7.03 [[ 9.93119876e-01 1.16172700e-01 1.47246693e-02 2.21017883e+02] [-1.16158682e-01 9.93229025e-01 -1.80661317e-03 -3.15126341e+01] [-1.48348480e-02 8.37852737e-05 9.99889954e-01 -7.03147294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.38420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.05, Y:-31.52, Z:-7.04 [[ 9.93438749e-01 1.13490595e-01 1.41186567e-02 2.21048591e+02] [-1.13477377e-01 9.93539063e-01 -1.73639498e-03 -3.15201387e+01] [-1.42245015e-02 1.22853914e-04 9.99898819e-01 -7.03501475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.41420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.08, Y:-31.53, Z:-7.03 [[ 9.93999597e-01 1.08520342e-01 1.37162888e-02 2.21079934e+02] [-1.08507370e-01 9.94094210e-01 -1.68867533e-03 -3.15303996e+01] [-1.38185389e-02 1.90224183e-04 9.99904501e-01 -7.03405643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.44420382200002 meters Centerline goodness [0,1] 0.9999786320220517 Centerline is valid? [True, True] Translation: X:221.11, Y:-31.54, Z:-7.04 [[ 9.94142449e-01 1.07172016e-01 1.39624304e-02 2.21110568e+02] [-1.07158456e-01 9.94240471e-01 -1.71789561e-03 -3.15385210e+01] [-1.40661237e-02 2.11640473e-04 9.99901045e-01 -7.03591696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.47420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.14, Y:-31.55, Z:-7.04 [[ 9.94284375e-01 1.06036603e-01 1.24426689e-02 2.21141573e+02] [-1.06025729e-01 9.94362206e-01 -1.53222784e-03 -3.15465295e+01] [-1.25349919e-02 2.04227166e-04 9.99921413e-01 -7.03909758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.50420382200002 meters Centerline goodness [0,1] 0.9999136348915039 Centerline is valid? [True, True] Translation: X:221.17, Y:-31.55, Z:-7.05 [[ 9.94227992e-01 1.06717815e-01 1.10457274e-02 2.21173065e+02] [-1.06709273e-01 9.94289333e-01 -1.36147088e-03 -3.15494129e+01] [-1.11279421e-02 1.74930919e-04 9.99938067e-01 -7.04518256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.53420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.21, Y:-31.55, Z:-7.05 [[ 9.93866042e-01 1.10112069e-01 1.02773325e-02 2.21205088e+02] [-1.10104840e-01 9.93919170e-01 -1.26837707e-03 -3.15469031e+01] [-1.03545014e-02 1.29012845e-04 9.99946382e-01 -7.04573316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.56420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.24, Y:-31.54, Z:-7.04 [[ 9.93285398e-01 1.15180153e-01 1.08466616e-02 2.21237670e+02] [-1.15172355e-01 9.93344616e-01 -1.34287934e-03 -3.15421482e+01] [-1.09291460e-02 8.46268687e-05 9.99940272e-01 -7.04289540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.59420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.27, Y:-31.54, Z:-7.04 [[ 9.92953242e-01 1.17916510e-01 1.18133390e-02 2.21269106e+02] [-1.17907475e-01 9.93023511e-01 -1.46079682e-03 -3.15437636e+01] [-1.19031754e-02 5.76219625e-05 9.99929153e-01 -7.04488067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.624203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.30, Y:-31.54, Z:-7.04 [[ 9.92636832e-01 1.20411824e-01 1.31572337e-02 2.21301730e+02] [-1.20400804e-01 9.92724026e-01 -1.62935162e-03 -3.15432665e+01] [-1.32576952e-02 3.32129092e-05 9.99912112e-01 -7.03907816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.654203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.33, Y:-31.54, Z:-7.04 [[ 9.92119279e-01 1.24539108e-01 1.37603430e-02 2.21333261e+02] [-1.24527410e-01 9.92214700e-01 -1.70701584e-03 -3.15406743e+01] [-1.38658049e-02 -1.99765533e-05 9.99903865e-01 -7.04324487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.684203822 meters Centerline goodness [0,1] 0.9999129734786676 Centerline is valid? [True, True] Translation: X:221.37, Y:-31.54, Z:-7.05 [[ 9.91853873e-01 1.26730729e-01 1.28537108e-02 2.21365746e+02] [-1.26720684e-01 9.91937155e-01 -1.59620239e-03 -3.15416583e+01] [-1.29523613e-02 -4.56315126e-05 9.99916114e-01 -7.04558861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.714203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.40, Y:-31.54, Z:-7.05 [[ 9.91457922e-01 1.29800094e-01 1.27720083e-02 2.21398329e+02] [-1.29790403e-01 9.91540180e-01 -1.58826734e-03 -3.15404066e+01] [-1.28701167e-02 -8.29838630e-05 9.99917173e-01 -7.04516284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.744203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.43, Y:-31.54, Z:-7.05 [[ 9.91240671e-01 1.31416420e-01 1.31017508e-02 2.21430114e+02] [-1.31406320e-01 9.91327249e-01 -1.63258007e-03 -3.15404472e+01] [-1.32026704e-02 -1.03373093e-04 9.99912836e-01 -7.04914048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.774203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.46, Y:-31.54, Z:-7.05 [[ 9.90793315e-01 1.34649191e-01 1.40784450e-02 2.21462842e+02] [-1.34637837e-01 9.90893320e-01 -1.75551307e-03 -3.15394426e+01] [-1.41866155e-02 -1.56140761e-04 9.99899353e-01 -7.04512722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.804203822 meters Centerline goodness [0,1] 0.9999785789259473 Centerline is valid? [True, True] Translation: X:221.50, Y:-31.54, Z:-7.05 [[ 9.90539377e-01 1.36418476e-01 1.48910210e-02 2.21495656e+02] [-1.36405932e-01 9.90651283e-01 -1.85954598e-03 -3.15368651e+01] [-1.50054854e-02 -1.89270079e-04 9.99887393e-01 -7.04825057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.834203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.53, Y:-31.54, Z:-7.05 [[ 9.90322459e-01 1.37962663e-01 1.50907367e-02 2.21527734e+02] [-1.37949910e-01 9.90437408e-01 -1.88774575e-03 -3.15370639e+01] [-1.52068685e-02 -2.12288754e-04 9.99884346e-01 -7.04823089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.864203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.56, Y:-31.54, Z:-7.05 [[ 9.90041553e-01 1.40076716e-01 1.40084847e-02 2.21559627e+02] [-1.40065912e-01 9.90140628e-01 -1.75426385e-03 -3.15373085e+01] [-1.41161014e-02 -2.25317079e-04 9.99900337e-01 -7.04851407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.894203822 meters Centerline goodness [0,1] 0.9998523798477403 Centerline is valid? [True, True] Translation: X:221.59, Y:-31.54, Z:-7.05 [[ 9.89992635e-01 1.40455027e-01 1.36736022e-02 2.21590642e+02] [-1.40444741e-01 9.90087034e-01 -1.71438603e-03 -3.15357605e+01] [-1.37788504e-02 -2.23155966e-04 9.99905042e-01 -7.05439115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.924203822 meters Centerline goodness [0,1] 0.9999784059254141 Centerline is valid? [True, True] Translation: X:221.62, Y:-31.55, Z:-7.05 [[ 9.90327723e-01 1.38053497e-01 1.38648013e-02 2.21621371e+02] [-1.38042659e-01 9.90424755e-01 -1.74034126e-03 -3.15470622e+01] [-1.39723026e-02 -1.90425832e-04 9.99902364e-01 -7.05108771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.954203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.65, Y:-31.56, Z:-7.05 [[ 9.90672115e-01 1.35553206e-01 1.39315657e-02 2.21652521e+02] [-1.35541982e-01 9.90770056e-01 -1.75112067e-03 -3.15553432e+01] [-1.40403481e-02 -1.53525609e-04 9.99901418e-01 -7.05166093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.984203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.68, Y:-31.57, Z:-7.05 [[ 9.91508182e-01 1.29290527e-01 1.39815585e-02 2.21682663e+02] [-1.29278564e-01 9.91606755e-01 -1.75988056e-03 -3.15677722e+01] [-1.40917438e-02 -6.25798323e-05 9.99900704e-01 -7.05472572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.014203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.72, Y:-31.58, Z:-7.05 [[ 9.91952120e-01 1.25865699e-01 1.37410980e-02 2.21715069e+02] [-1.25853789e-01 9.92047290e-01 -1.73150817e-03 -3.15776955e+01] [-1.38497565e-02 -1.17960416e-05 9.99904087e-01 -7.05444048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.04420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.75, Y:-31.59, Z:-7.06 [[ 9.92812622e-01 1.18957180e-01 1.31258475e-02 2.21745489e+02] [-1.18945673e-01 9.92899382e-01 -1.65666449e-03 -3.15934234e+01] [-1.32297180e-02 8.34946461e-05 9.99912480e-01 -7.05553253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.07420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.78, Y:-31.60, Z:-7.06 [[ 9.93136992e-01 1.16262646e-01 1.27244397e-02 2.21777035e+02] [-1.16251584e-01 9.93218497e-01 -1.60809355e-03 -3.16027448e+01] [-1.28251101e-02 1.17820930e-04 9.99917748e-01 -7.05745790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.10420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.81, Y:-31.62, Z:-7.06 [[ 9.93680847e-01 1.11605693e-01 1.19391953e-02 2.21805831e+02] [-1.11595576e-01 9.93752555e-01 -1.51229932e-03 -3.16192911e+01] [-1.20333871e-02 1.70381486e-04 9.99927582e-01 -7.06309807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.13420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.84, Y:-31.63, Z:-7.06 [[ 9.93809561e-01 1.10361868e-01 1.27598413e-02 2.21838884e+02] [-1.10350218e-01 9.93891452e-01 -1.61567002e-03 -3.16252343e+01] [-1.28602055e-02 1.97617044e-04 9.99917285e-01 -7.05975206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.16420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.87, Y:-31.63, Z:-7.06 [[ 9.93829420e-01 1.10027847e-01 1.40341125e-02 2.21869074e+02] [-1.10013651e-01 9.93928479e-01 -1.78197868e-03 -3.16317188e+01] [-1.41449714e-02 2.27038884e-04 9.99899929e-01 -7.06012105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.19420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.90, Y:-31.64, Z:-7.06 [[ 9.93663222e-01 1.11419683e-01 1.48005006e-02 2.21901649e+02] [-1.11404014e-01 9.93773418e-01 -1.88151046e-03 -3.16352083e+01] [-1.49179814e-02 2.20752560e-04 9.99888696e-01 -7.06002765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.22420382200002 meters Centerline goodness [0,1] 0.9999784091890491 Centerline is valid? [True, True] Translation: X:221.93, Y:-31.64, Z:-7.06 [[ 9.93525337e-01 1.12652264e-01 1.47265657e-02 2.21933803e+02] [-1.12636901e-01 9.93634454e-01 -1.87115346e-03 -3.16375741e+01] [-1.48436128e-02 2.00283647e-04 9.99889807e-01 -7.05815373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.25420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.97, Y:-31.64, Z:-7.06 [[ 9.93227713e-01 1.15104745e-01 1.57989766e-02 2.21966097e+02] [-1.15087297e-01 9.93353344e-01 -2.01221032e-03 -3.16425566e+01] [-1.59255812e-02 1.80321543e-04 9.99873164e-01 -7.05709814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.28420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.00, Y:-31.65, Z:-7.06 [[ 9.93070214e-01 1.16426466e-01 1.60133758e-02 2.21997334e+02] [-1.16408719e-01 9.93199301e-01 -2.03911862e-03 -3.16465909e+01] [-1.61418810e-02 1.60891404e-04 9.99869698e-01 -7.05809852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.31420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.03, Y:-31.65, Z:-7.06 [[ 9.92826987e-01 1.18532821e-01 1.56379376e-02 2.22027785e+02] [-1.18516119e-01 9.92950127e-01 -1.99375630e-03 -3.16513922e+01] [-1.57640177e-02 1.26107386e-04 9.99875732e-01 -7.06114286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.34420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.06, Y:-31.66, Z:-7.06 [[ 9.92703483e-01 1.19602673e-01 1.53295767e-02 2.22059840e+02] [-1.19586719e-01 9.92821831e-01 -1.95650570e-03 -3.16557016e+01] [-1.54535417e-02 1.09016246e-04 9.99880581e-01 -7.06357072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.374203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.09, Y:-31.66, Z:-7.06 [[ 9.92497044e-01 1.21290363e-01 1.54358388e-02 2.22091411e+02] [-1.21274346e-01 9.92617066e-01 -1.97300542e-03 -3.16615983e+01] [-1.55611836e-02 8.62308005e-05 9.99878914e-01 -7.06391821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.404203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.12, Y:-31.67, Z:-7.06 [[ 9.92394382e-01 1.22081612e-01 1.57946200e-02 2.22122952e+02] [-1.22064897e-01 9.92520062e-01 -2.02163068e-03 -3.16682942e+01] [-1.59232811e-02 7.82862793e-05 9.99873213e-01 -7.06330043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.434203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.15, Y:-31.68, Z:-7.06 [[ 9.92286029e-01 1.22935839e-01 1.59754634e-02 2.22153412e+02] [-1.22918786e-01 9.92414618e-01 -2.04872165e-03 -3.16774754e+01] [-1.61061447e-02 6.92333070e-05 9.99870285e-01 -7.06375104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.464203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.18, Y:-31.68, Z:-7.07 [[ 9.92158562e-01 1.23951090e-01 1.60472692e-02 2.22184957e+02] [-1.23934011e-01 9.92288327e-01 -2.05829055e-03 -3.16830218e+01] [-1.61786453e-02 5.33481494e-05 9.99869116e-01 -7.06529487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.494203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.22, Y:-31.69, Z:-7.07 [[ 9.91826018e-01 1.26772590e-01 1.44865430e-02 2.22216697e+02] [-1.26758939e-01 9.91931807e-01 -1.86037911e-03 -3.16894428e+01] [-1.46055079e-02 8.87357925e-06 9.99893334e-01 -7.06673038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.524203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.25, Y:-31.69, Z:-7.07 [[ 9.91625715e-01 1.28392920e-01 1.39176168e-02 2.22247932e+02] [-1.28380430e-01 9.91723378e-01 -1.79082462e-03 -3.16939336e+01] [-1.40323551e-02 -1.09218896e-05 9.99901542e-01 -7.07022259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.554203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.28, Y:-31.70, Z:-7.07 [[ 9.91150695e-01 1.32052574e-01 1.35062314e-02 2.22278610e+02] [-1.32041135e-01 9.91242712e-01 -1.73915257e-03 -3.16957818e+01] [-1.36176130e-02 -5.96158433e-05 9.99907274e-01 -7.07315286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.584203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.31, Y:-31.70, Z:-7.07 [[ 9.90878046e-01 1.34089671e-01 1.34409367e-02 2.22310832e+02] [-1.34078530e-01 9.90969199e-01 -1.73069486e-03 -3.16993157e+01] [-1.35516226e-02 -8.72334943e-05 9.99908169e-01 -7.07431756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.614203822 meters Centerline goodness [0,1] 0.9999786648460669 Centerline is valid? [True, True] Translation: X:222.34, Y:-31.70, Z:-7.07 [[ 9.90402589e-01 1.37482376e-01 1.41883142e-02 2.22341405e+02] [-1.37470268e-01 9.90504204e-01 -1.82979860e-03 -3.17033841e+01] [-1.43051499e-02 -1.38234078e-04 9.99897667e-01 -7.07448682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.644203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.37, Y:-31.71, Z:-7.07 [[ 9.90201623e-01 1.38791757e-01 1.54140782e-02 2.22373856e+02] [-1.38777560e-01 9.90321574e-01 -1.99209483e-03 -3.17075825e+01] [-1.55413805e-02 -1.66552631e-04 9.99879212e-01 -7.07316379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.674203822 meters Centerline goodness [0,1] 0.9999785495184367 Centerline is valid? [True, True] Translation: X:222.41, Y:-31.71, Z:-7.07 [[ 9.89984549e-01 1.40197596e-01 1.65899476e-02 2.22405879e+02] [-1.40181356e-01 9.90123524e-01 -2.14356308e-03 -3.17112740e+01] [-1.67266198e-02 -2.03507030e-04 9.99860080e-01 -7.07199007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.704203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.44, Y:-31.72, Z:-7.07 [[ 9.89736360e-01 1.41886994e-01 1.70299145e-02 2.22436728e+02] [-1.41870071e-01 9.89882834e-01 -2.20391004e-03 -3.17164838e+01] [-1.71703262e-02 -2.34745273e-04 9.99852552e-01 -7.07131265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.734203822 meters Centerline goodness [0,1] 0.9999354880330301 Centerline is valid? [True, True] Translation: X:222.47, Y:-31.72, Z:-7.07 [[ 9.89619125e-01 1.42769254e-01 1.64598658e-02 2.22468997e+02] [-1.42753530e-01 9.89755971e-01 -2.13233626e-03 -3.17202896e+01] [-1.65956825e-02 -2.39503197e-04 9.99862253e-01 -7.07304680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.764203822 meters Centerline goodness [0,1] 0.9999784077904692 Centerline is valid? [True, True] Translation: X:222.50, Y:-31.72, Z:-7.08 [[ 9.89452339e-01 1.44179097e-01 1.40162812e-02 2.22501119e+02] [-1.44167789e-01 9.89551585e-01 -1.81921683e-03 -3.17237942e+01] [-1.41321264e-02 -2.20667921e-04 9.99900112e-01 -7.07918247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.79420382200001 meters Centerline goodness [0,1] 0.9999788216358169 Centerline is valid? [True, True] Translation: X:222.53, Y:-31.73, Z:-7.08 [[ 9.89369746e-01 1.44828878e-01 1.31187527e-02 2.22533015e+02] [-1.44819047e-01 9.89456694e-01 -1.70125787e-03 -3.17292405e+01] [-1.32268289e-02 -2.16672197e-04 9.99912498e-01 -7.08323509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.82420382200002 meters Centerline goodness [0,1] 0.9999785715816316 Centerline is valid? [True, True] Translation: X:222.56, Y:-31.74, Z:-7.09 [[ 9.89369462e-01 1.44900675e-01 1.23232637e-02 2.22563823e+02] [-1.44891969e-01 9.89446185e-01 -1.60112585e-03 -3.17350260e+01] [-1.24252105e-02 -2.01436922e-04 9.99922784e-01 -7.08644404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.85420382200002 meters Centerline goodness [0,1] 0.9999786370433668 Centerline is valid? [True, True] Translation: X:222.59, Y:-31.74, Z:-7.08 [[ 9.89373124e-01 1.44725499e-01 1.39767977e-02 2.22594851e+02] [-1.44714278e-01 9.89471818e-01 -1.81627804e-03 -3.17436822e+01] [-1.40925092e-02 -2.25665502e-04 9.99900670e-01 -7.08395367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.88420382200002 meters Centerline goodness [0,1] 0.9999785490583036 Centerline is valid? [True, True] Translation: X:222.63, Y:-31.75, Z:-7.08 [[ 9.89372205e-01 1.44621617e-01 1.50740684e-02 2.22626828e+02] [-1.44608508e-01 9.89487004e-01 -1.96176521e-03 -3.17493528e+01] [-1.51993085e-02 -2.38922573e-04 9.99884455e-01 -7.08275059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.91420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.66, Y:-31.75, Z:-7.08 [[ 9.89347977e-01 1.44614166e-01 1.66530052e-02 2.22657507e+02] [-1.44598108e-01 9.89488087e-01 -2.17071219e-03 -3.17547714e+01] [-1.67918660e-02 -2.60403330e-04 9.99858973e-01 -7.07993004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.94420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.69, Y:-31.76, Z:-7.08 [[ 9.89285988e-01 1.45076813e-01 1.63080225e-02 2.22689583e+02] [-1.45061440e-01 9.89420361e-01 -2.12796924e-03 -3.17591387e+01] [-1.64442085e-02 -2.60495066e-04 9.99864751e-01 -7.08066877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.97420382200002 meters Centerline goodness [0,1] 0.9999568751751946 Centerline is valid? [True, True] Translation: X:222.72, Y:-31.76, Z:-7.09 [[ 9.89123788e-01 1.46373400e-01 1.44554233e-02 2.22721881e+02] [-1.46361433e-01 9.89229380e-01 -1.88806787e-03 -3.17621485e+01] [-1.45760924e-02 -2.48183621e-04 9.99893732e-01 -7.08507853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.00420382200002 meters Centerline goodness [0,1] 0.9999357174998393 Centerline is valid? [True, True] Translation: X:222.75, Y:-31.76, Z:-7.09 [[ 9.88962162e-01 1.47488188e-01 1.41801489e-02 2.22752871e+02] [-1.47476752e-01 9.89063784e-01 -1.85450803e-03 -3.17641527e+01] [-1.42985897e-02 -2.57204027e-04 9.99897737e-01 -7.08769487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.03420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.78, Y:-31.77, Z:-7.09 [[ 9.88770888e-01 1.48760950e-01 1.42235897e-02 2.22784975e+02] [-1.48749550e-01 9.88873149e-01 -1.86200063e-03 -3.17695494e+01] [-1.43423189e-02 -2.74660543e-04 9.99897106e-01 -7.08613027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.06420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.82, Y:-31.77, Z:-7.08 [[ 9.88328258e-01 1.51532907e-01 1.56534895e-02 2.22817861e+02] [-1.51519397e-01 9.88452154e-01 -2.05235682e-03 -3.17697485e+01] [-1.57837250e-02 -3.43405046e-04 9.99875370e-01 -7.08498983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.09420382200003 meters Centerline goodness [0,1] 0.999893544540964 Centerline is valid? [True, True] Translation: X:222.85, Y:-31.77, Z:-7.09 [[ 9.88122729e-01 1.52807582e-01 1.62269657e-02 2.22849164e+02] [-1.52793183e-01 9.88255889e-01 -2.13076197e-03 -3.17690582e+01] [-1.63619910e-02 -3.73915413e-04 9.99866064e-01 -7.08663633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.124203822 meters Centerline goodness [0,1] 0.9999141557215212 Centerline is valid? [True, True] Translation: X:222.88, Y:-31.77, Z:-7.09 [[ 9.87942445e-01 1.54006006e-01 1.58705521e-02 2.22881108e+02] [-1.53992351e-01 9.88069837e-01 -2.08626955e-03 -3.17709878e+01] [-1.60025118e-02 -3.82829373e-04 9.99871878e-01 -7.08683600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.154203822 meters Centerline goodness [0,1] 0.999871937163835 Centerline is valid? [True, True] Translation: X:222.91, Y:-31.77, Z:-7.09 [[ 9.87979352e-01 1.53807973e-01 1.54889253e-02 2.22913480e+02] [-1.53794908e-01 9.88100689e-01 -2.03825400e-03 -3.17745663e+01] [-1.56181175e-02 -3.68364982e-04 9.99877962e-01 -7.08895001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.184203822 meters Centerline goodness [0,1] 0.9999144348421323 Centerline is valid? [True, True] Translation: X:222.94, Y:-31.77, Z:-7.09 [[ 9.88139814e-01 1.52827152e-01 1.49522701e-02 2.22944689e+02] [-1.52814815e-01 9.88252876e-01 -1.97088525e-03 -3.17748898e+01] [-1.50778287e-02 -3.37418210e-04 9.99886266e-01 -7.09405521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.214203822 meters Centerline goodness [0,1] 0.9998269222448185 Centerline is valid? [True, True] Translation: X:222.98, Y:-31.79, Z:-7.10 [[ 9.88618711e-01 1.49649223e-01 1.54322807e-02 2.22975338e+02] [-1.49635627e-01 9.88739108e-01 -2.03849719e-03 -3.17853725e+01] [-1.55635590e-02 -2.93922543e-04 9.99878837e-01 -7.09523433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.244203822 meters Centerline goodness [0,1] 0.9998269222448185 Centerline is valid? [True, True] Translation: X:223.01, Y:-31.79, Z:-7.10 [[ 9.88590172e-01 1.49837610e-01 1.54325130e-02 2.23007526e+02] [-1.49824065e-01 9.88710575e-01 -2.03674184e-03 -3.17898136e+01] [-1.55634693e-02 -2.98658856e-04 9.99878837e-01 -7.09622882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.274203822 meters Centerline goodness [0,1] 0.9999571624400274 Centerline is valid? [True, True] Translation: X:223.04, Y:-31.79, Z:-7.09 [[ 9.88789109e-01 1.48479125e-01 1.58128771e-02 2.23038135e+02] [-1.48464669e-01 9.88915502e-01 -2.09069597e-03 -3.17943139e+01] [-1.59480240e-02 -2.80396167e-04 9.99872783e-01 -7.09238934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.304203822 meters Centerline goodness [0,1] 0.9999567875893957 Centerline is valid? [True, True] Translation: X:223.07, Y:-31.80, Z:-7.09 [[ 9.89105639e-01 1.46374531e-01 1.56375331e-02 2.23069377e+02] [-1.46360098e-01 9.89229214e-01 -2.06964856e-03 -3.18022194e+01] [-1.57720485e-02 -2.41609822e-04 9.99875584e-01 -7.09197190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.334203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.10, Y:-31.81, Z:-7.09 [[ 9.89138373e-01 1.46164195e-01 1.55340759e-02 2.23101561e+02] [-1.46149873e-01 9.89260316e-01 -2.05937229e-03 -3.18054749e+01] [-1.56682513e-02 -2.33299071e-04 9.99877218e-01 -7.09385081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.364203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.13, Y:-31.81, Z:-7.10 [[ 9.89106263e-01 1.46357138e-01 1.57603491e-02 2.23133400e+02] [-1.46342401e-01 9.89231788e-01 -2.09054842e-03 -3.18062904e+01] [-1.58966050e-02 -2.38632801e-04 9.99873613e-01 -7.09642631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.394203822 meters Centerline goodness [0,1] 0.9999786616592694 Centerline is valid? [True, True] Translation: X:223.17, Y:-31.81, Z:-7.10 [[ 9.89043514e-01 1.46686638e-01 1.66119642e-02 2.23165895e+02] [-1.46670252e-01 9.89182979e-01 -2.20705105e-03 -3.18061499e+01] [-1.67560172e-02 -2.53611454e-04 9.99859576e-01 -7.09609999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.424203822 meters Centerline goodness [0,1] 0.9999786739459597 Centerline is valid? [True, True] Translation: X:223.20, Y:-31.81, Z:-7.09 [[ 9.89048657e-01 1.46524134e-01 1.77039975e-02 2.23198398e+02] [-1.46505415e-01 9.89207061e-01 -2.35675638e-03 -3.18095444e+01] [-1.78582410e-02 -2.62784765e-04 9.99840494e-01 -7.09473348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.454203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.23, Y:-31.81, Z:-7.09 [[ 9.89141380e-01 1.45803496e-01 1.84572848e-02 2.23230544e+02] [-1.45783029e-01 9.89313536e-01 -2.45682681e-03 -3.18128932e+01] [-1.86182556e-02 -2.60609814e-04 9.99826631e-01 -7.09234288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.484203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.26, Y:-31.81, Z:-7.10 [[ 9.89188831e-01 1.45598680e-01 1.75065967e-02 2.23262302e+02] [-1.45580188e-01 9.89343705e-01 -2.33293165e-03 -3.18140918e+01] [-1.76597130e-02 -2.40903703e-04 9.99844026e-01 -7.09537952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.514203822 meters Centerline goodness [0,1] 0.9999787735348432 Centerline is valid? [True, True] Translation: X:223.29, Y:-31.81, Z:-7.10 [[ 9.89228447e-01 1.45427128e-01 1.66742474e-02 2.23294079e+02] [-1.45410279e-01 9.89368941e-01 -2.22490996e-03 -3.18133976e+01] [-1.68205447e-02 -2.23662753e-04 9.99858500e-01 -7.10122984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.54420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.33, Y:-31.82, Z:-7.10 [[ 9.89466563e-01 1.44037155e-01 1.44643818e-02 2.23325781e+02] [-1.44024298e-01 9.89572265e-01 -1.93214222e-03 -3.18195382e+01] [-1.45918514e-02 -1.71432316e-04 9.99893519e-01 -7.10372780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.57420382200002 meters Centerline goodness [0,1] 0.9998713302309622 Centerline is valid? [True, True] Translation: X:223.36, Y:-31.82, Z:-7.11 [[ 9.89586924e-01 1.43235838e-01 1.41850113e-02 2.23357610e+02] [-1.43223356e-01 9.89688573e-01 -1.89718475e-03 -3.18236739e+01] [-1.43104884e-02 -1.54195689e-04 9.99897588e-01 -7.10964415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.60420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.39, Y:-31.83, Z:-7.11 [[ 9.89749981e-01 1.42078358e-01 1.44469836e-02 2.23388324e+02] [-1.42065246e-01 9.89855404e-01 -1.93504992e-03 -3.18270643e+01] [-1.45753535e-02 -1.37198656e-04 9.99893764e-01 -7.10769363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.63420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.42, Y:-31.83, Z:-7.11 [[ 9.90121392e-01 1.39352771e-01 1.55059162e-02 2.23420263e+02] [-1.39337289e-01 9.90242796e-01 -2.07963546e-03 -3.18332897e+01] [-1.56444248e-02 -1.01460775e-04 9.99877613e-01 -7.10590857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.66420382200002 meters Centerline goodness [0,1] 0.9999143101970865 Centerline is valid? [True, True] Translation: X:223.45, Y:-31.84, Z:-7.11 [[ 9.90275386e-01 1.38200730e-01 1.59755610e-02 2.23452183e+02] [-1.38184100e-01 9.90404236e-01 -2.14545166e-03 -3.18389814e+01] [-1.61187662e-02 -8.29805479e-05 9.99870081e-01 -7.11026908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.69420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.49, Y:-31.85, Z:-7.10 [[ 9.90468710e-01 1.36855833e-01 1.55632792e-02 2.23485110e+02] [-1.36839855e-01 9.90590974e-01 -2.09200890e-03 -3.18457871e+01] [-1.57031475e-02 -5.76075204e-05 9.99876696e-01 -7.10414356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.72420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.52, Y:-31.85, Z:-7.11 [[ 9.90765742e-01 1.34810780e-01 1.44671412e-02 2.23516028e+02] [-1.34796710e-01 9.90871361e-01 -1.94781497e-03 -3.18494598e+01] [-1.45976624e-02 -2.02946844e-05 9.99893448e-01 -7.10981302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.75420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.55, Y:-31.85, Z:-7.11 [[ 9.90906799e-01 1.33890731e-01 1.33036802e-02 2.23547913e+02] [-1.33878728e-01 9.90996101e-01 -1.79281949e-03 -3.18541819e+01] [-1.34239372e-02 -4.56276100e-06 9.99909895e-01 -7.11187577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.78420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.58, Y:-31.86, Z:-7.11 [[ 9.90986576e-01 1.33230785e-01 1.39701162e-02 2.23578510e+02] [-1.33217442e-01 9.91085041e-01 -1.88553077e-03 -3.18580491e+01] [-1.40967839e-02 7.47253646e-06 9.99900635e-01 -7.11404940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.81420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.61, Y:-31.86, Z:-7.11 [[ 9.90909873e-01 1.33640349e-01 1.54233946e-02 2.23610919e+02] [-1.33624090e-01 9.91029897e-01 -2.08455316e-03 -3.18608184e+01] [-1.55636256e-02 4.66724190e-06 9.99878879e-01 -7.11188824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.84420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.64, Y:-31.86, Z:-7.11 [[ 9.90803427e-01 1.34280413e-01 1.66535214e-02 2.23641948e+02] [-1.34261491e-01 9.90943374e-01 -2.25421712e-03 -3.18627929e+01] [-1.68053938e-02 -2.44055709e-06 9.99858779e-01 -7.11110052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.874203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.67, Y:-31.86, Z:-7.11 [[ 9.90499347e-01 1.36500398e-01 1.66938386e-02 2.23673756e+02] [-1.36481660e-01 9.90640015e-01 -2.26198698e-03 -3.18624648e+01] [-1.68463466e-02 -3.79061734e-05 9.99858090e-01 -7.11265464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.904203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.71, Y:-31.86, Z:-7.11 [[ 9.90347438e-01 1.37701199e-01 1.58218627e-02 2.23705391e+02] [-1.37684476e-01 9.90473814e-01 -2.14663062e-03 -3.18649869e+01] [-1.59667343e-02 -5.25147387e-05 9.99872522e-01 -7.11262443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.934203822 meters Centerline goodness [0,1] 0.9999566282826968 Centerline is valid? [True, True] Translation: X:223.74, Y:-31.86, Z:-7.12 [[ 9.90051794e-01 1.39870286e-01 1.52888536e-02 2.23736759e+02] [-1.39854894e-01 9.90169832e-01 -2.07661506e-03 -3.18626728e+01] [-1.54290183e-02 -8.22645399e-05 9.99880962e-01 -7.12024996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.964203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.77, Y:-31.87, Z:-7.11 [[ 9.89925767e-01 1.40747736e-01 1.53964807e-02 2.23770040e+02] [-1.40732204e-01 9.90045487e-01 -2.09306749e-03 -3.18660884e+01] [-1.55378107e-02 -9.47992120e-05 9.99879276e-01 -7.11472981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.994203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.80, Y:-31.87, Z:-7.12 [[ 9.89752436e-01 1.41918603e-01 1.57868772e-02 2.23802220e+02] [-1.41902365e-01 9.89878325e-01 -2.14972332e-03 -3.18681662e+01] [-1.59321733e-02 -1.12501320e-04 9.99873069e-01 -7.11616409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.024203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.83, Y:-31.87, Z:-7.12 [[ 9.89533476e-01 1.43381850e-01 1.62832970e-02 2.23834097e+02] [-1.43364718e-01 9.89667432e-01 -2.22069654e-03 -3.18687450e+01] [-1.64334563e-02 -1.36996714e-04 9.99864952e-01 -7.11824637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.054203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.87, Y:-31.87, Z:-7.12 [[ 9.89421826e-01 1.44186929e-01 1.59555825e-02 2.23866085e+02] [-1.44170534e-01 9.89550458e-01 -2.17910939e-03 -3.18736986e+01] [-1.61030530e-02 -1.44266446e-04 9.99870327e-01 -7.11847541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.084203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.90, Y:-31.88, Z:-7.12 [[ 9.89397392e-01 1.44401688e-01 1.55226841e-02 2.23898663e+02] [-1.44386165e-01 9.89519142e-01 -2.12198664e-03 -3.18781179e+01] [-1.56664115e-02 -1.41772784e-04 9.99877264e-01 -7.11853007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.114203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.93, Y:-31.88, Z:-7.12 [[ 9.89302719e-01 1.45016346e-01 1.58236845e-02 2.23930969e+02] [-1.45000239e-01 9.89429248e-01 -2.16659002e-03 -3.18800215e+01] [-1.59706073e-02 -1.51024649e-04 9.99872450e-01 -7.12022012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.144203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.96, Y:-31.88, Z:-7.12 [[ 9.89204953e-01 1.45667258e-01 1.59565331e-02 2.23963792e+02] [-1.45650918e-01 9.89333626e-01 -2.18765386e-03 -3.18831461e+01] [-1.61050043e-02 -1.60045646e-04 9.99870293e-01 -7.12092732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.174203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.00, Y:-31.88, Z:-7.12 [[ 9.89032562e-01 1.46751786e-01 1.66884290e-02 2.23996348e+02] [-1.46734005e-01 9.89173332e-01 -2.29169563e-03 -3.18845371e+01] [-1.68440594e-02 -1.82198423e-04 9.99858112e-01 -7.12119024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.204203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.03, Y:-31.89, Z:-7.12 [[ 9.88923448e-01 1.47510110e-01 1.64675653e-02 2.24028114e+02] [-1.47492850e-01 9.89060530e-01 -2.26447972e-03 -3.18869187e+01] [-1.66214525e-02 -1.89451038e-04 9.99861836e-01 -7.12273885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.234203822 meters Centerline goodness [0,1] 0.9999787820920857 Centerline is valid? [True, True] Translation: X:224.06, Y:-31.89, Z:-7.13 [[ 9.88635789e-01 1.49503792e-01 1.57446037e-02 2.24059947e+02] [-1.49488225e-01 9.88761130e-01 -2.16764494e-03 -3.18875785e+01] [-1.58917233e-02 -2.10621494e-04 9.99873696e-01 -7.12559307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.264203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.09, Y:-31.89, Z:-7.13 [[ 9.88525907e-01 1.50265340e-01 1.53902458e-02 2.24091677e+02] [-1.50250525e-01 9.88645680e-01 -2.12097021e-03 -3.18907801e+01] [-1.55342084e-02 -2.15758526e-04 9.99879314e-01 -7.12748236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.29420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.12, Y:-31.89, Z:-7.12 [[ 9.88251751e-01 1.51935023e-01 1.65597238e-02 2.24124949e+02] [-1.51918062e-01 9.88390450e-01 -2.28479335e-03 -3.18938183e+01] [-1.67146130e-02 -2.57770106e-04 9.99860268e-01 -7.12325901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.32420382200002 meters Centerline goodness [0,1] 0.9999356982102668 Centerline is valid? [True, True] Translation: X:224.16, Y:-31.89, Z:-7.12 [[ 9.88048348e-01 1.53111476e-01 1.78140031e-02 2.24157580e+02] [-1.53091962e-01 9.88208879e-01 -2.46207596e-03 -3.18942120e+01] [-1.79809281e-02 -2.94530607e-04 9.99838287e-01 -7.12333484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.35420382200002 meters Centerline goodness [0,1] 0.999957015130674 Centerline is valid? [True, True] Translation: X:224.19, Y:-31.90, Z:-7.12 [[ 9.87830138e-01 1.54464721e-01 1.82282387e-02 2.24189663e+02] [-1.54444451e-01 9.87998252e-01 -2.52303983e-03 -3.18964287e+01] [-1.83991886e-02 -3.22915541e-04 9.99830668e-01 -7.12242022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.38420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.22, Y:-31.89, Z:-7.12 [[ 9.87337178e-01 1.57615141e-01 1.79656490e-02 2.24222925e+02] [-1.57595890e-01 9.87500546e-01 -2.49125321e-03 -3.18921261e+01] [-1.81337474e-02 -3.71605522e-04 9.99835501e-01 -7.12355098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.41420382200002 meters Centerline goodness [0,1] 0.9999364352911264 Centerline is valid? [True, True] Translation: X:224.25, Y:-31.89, Z:-7.13 [[ 9.87111373e-01 1.59092004e-01 1.73456415e-02 2.24254084e+02] [-1.59074267e-01 9.87263687e-01 -2.40641295e-03 -3.18898518e+01] [-1.75075630e-02 -3.83847617e-04 9.99846657e-01 -7.12699823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.44420382200002 meters Centerline goodness [0,1] 0.9999785495184367 Centerline is valid? [True, True] Translation: X:224.29, Y:-31.89, Z:-7.13 [[ 9.86787396e-01 1.61092328e-01 1.73175361e-02 2.24285344e+02] [-1.61074943e-01 9.86939252e-01 -2.40326330e-03 -3.18893235e+01] [-1.74785034e-02 -4.17911205e-04 9.99847152e-01 -7.12755214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.47420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.32, Y:-31.89, Z:-7.13 [[ 9.86696058e-01 1.61580747e-01 1.79597350e-02 2.24315816e+02] [-1.61562129e-01 9.86859396e-01 -2.49238528e-03 -3.18903522e+01] [-1.81264547e-02 -4.42386301e-04 9.99835604e-01 -7.12753861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.50420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.35, Y:-31.89, Z:-7.13 [[ 9.86677145e-01 1.61682387e-01 1.80836228e-02 2.24345481e+02] [-1.61663525e-01 9.86842746e-01 -2.50972838e-03 -3.18909497e+01] [-1.82514709e-02 -4.47170579e-04 9.99833328e-01 -7.12847658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.53420382200002 meters Centerline goodness [0,1] 0.999978675765007 Centerline is valid? [True, True] Translation: X:224.38, Y:-31.89, Z:-7.13 [[ 9.86809541e-01 1.60994178e-01 1.69648097e-02 2.24375010e+02] [-1.60977480e-01 9.86955272e-01 -2.35426768e-03 -3.18891623e+01] [-1.71225317e-02 -4.07738503e-04 9.99853316e-01 -7.13184417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.56420382200002 meters Centerline goodness [0,1] 0.9999360940695297 Centerline is valid? [True, True] Translation: X:224.40, Y:-31.89, Z:-7.13 [[ 9.86901791e-01 1.60419713e-01 1.70402541e-02 2.24404215e+02] [-1.60402781e-01 9.87048811e-01 -2.36468834e-03 -3.18920320e+01] [-1.71989052e-02 -3.99588998e-04 9.99852008e-01 -7.13198308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.59420382200003 meters Centerline goodness [0,1] 0.9999575362534237 Centerline is valid? [True, True] Translation: X:224.43, Y:-31.89, Z:-7.13 [[ 9.87054548e-01 1.59444069e-01 1.73467252e-02 2.24433267e+02] [-1.59426381e-01 9.87206887e-01 -2.40671840e-03 -3.18896058e+01] [-1.75085436e-02 -3.89963276e-04 9.99846638e-01 -7.13270602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.624203822 meters Centerline goodness [0,1] 0.9999573060091792 Centerline is valid? [True, True] Translation: X:224.46, Y:-31.89, Z:-7.13 [[ 9.87155740e-01 1.58759334e-01 1.78610858e-02 2.24462185e+02] [-1.58740472e-01 9.87317235e-01 -2.47791354e-03 -3.18909729e+01] [-1.80279497e-02 -3.89190620e-04 9.99837408e-01 -7.13348802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.654203822 meters Centerline goodness [0,1] 0.999978581678768 Centerline is valid? [True, True] Translation: X:224.49, Y:-31.90, Z:-7.13 [[ 9.87253777e-01 1.58049305e-01 1.87189213e-02 2.24491479e+02] [-1.58028476e-01 9.87431142e-01 -2.59607611e-03 -3.18961261e+01] [-1.88939539e-02 -3.95136667e-04 9.99821415e-01 -7.13165306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.684203822 meters Centerline goodness [0,1] 0.9999574911262726 Centerline is valid? [True, True] Translation: X:224.52, Y:-31.89, Z:-7.13 [[ 9.87492281e-01 1.56492734e-01 1.92098546e-02 2.24520616e+02] [-1.56470511e-01 9.87679039e-01 -2.66379952e-03 -3.18948233e+01] [-1.93900360e-02 -3.75294282e-04 9.99811925e-01 -7.13338033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.714203822 meters Centerline goodness [0,1] 0.9999787030135235 Centerline is valid? [True, True] Translation: X:224.55, Y:-31.90, Z:-7.14 [[ 9.87651242e-01 1.55605774e-01 1.82172266e-02 2.24550624e+02] [-1.55585652e-01 9.87819178e-01 -2.52537145e-03 -3.18967371e+01] [-1.83882882e-02 -3.40152826e-04 9.99830863e-01 -7.13668820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.744203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.58, Y:-31.90, Z:-7.14 [[ 9.87902948e-01 1.54190290e-01 1.65263496e-02 2.24580545e+02] [-1.54173537e-01 9.88041129e-01 -2.29066605e-03 -3.18980045e+01] [-1.66819116e-02 -2.84970033e-04 9.99860807e-01 -7.13889093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.774203822 meters Centerline goodness [0,1] 0.9999573896925666 Centerline is valid? [True, True] Translation: X:224.61, Y:-31.90, Z:-7.14 [[ 9.88042304e-01 1.53341610e-01 1.60859073e-02 2.24609576e+02] [-1.53325632e-01 9.88173204e-01 -2.22923941e-03 -3.18971319e+01] [-1.62374977e-02 -2.63799058e-04 9.99868128e-01 -7.14315258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.804203822 meters Centerline goodness [0,1] 0.999978596348537 Centerline is valid? [True, True] Translation: X:224.64, Y:-31.90, Z:-7.14 [[ 9.88227890e-01 1.52203015e-01 1.54880179e-02 2.24638047e+02] [-1.52188064e-01 9.88349223e-01 -2.14634637e-03 -3.18999263e+01] [-1.56342508e-02 -2.36012108e-04 9.99877750e-01 -7.14465705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.834203822 meters Centerline goodness [0,1] 0.9999576871813316 Centerline is valid? [True, True] Translation: X:224.67, Y:-31.90, Z:-7.15 [[ 9.88672605e-01 1.49340595e-01 1.49622080e-02 2.24667056e+02] [-1.49326323e-01 9.88785797e-01 -2.07282502e-03 -3.19027717e+01] [-1.51039757e-02 -1.84906194e-04 9.99885911e-01 -7.14657846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.864203822 meters Centerline goodness [0,1] 0.9999357243861678 Centerline is valid? [True, True] Translation: X:224.70, Y:-31.91, Z:-7.15 [[ 9.88965332e-01 1.47403776e-01 1.48222378e-02 2.24695803e+02] [-1.47389568e-01 9.89076389e-01 -2.05237802e-03 -3.19082772e+01] [-1.49628537e-02 -1.54912521e-04 9.99888038e-01 -7.14877415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.894203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.72, Y:-31.91, Z:-7.15 [[ 9.89308284e-01 1.44999924e-01 1.56250100e-02 2.24723817e+02] [-1.44983840e-01 9.89431658e-01 -2.16328090e-03 -3.19128460e+01] [-1.57735551e-02 -1.25222228e-04 9.99875582e-01 -7.14698904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.924203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.75, Y:-31.92, Z:-7.15 [[ 9.90102873e-01 1.39386879e-01 1.63584573e-02 2.24753131e+02] [-1.39368497e-01 9.90238000e-01 -2.26397847e-03 -3.19198099e+01] [-1.65143349e-02 -3.82820222e-05 9.99863628e-01 -7.14603373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.954203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.78, Y:-31.93, Z:-7.15 [[ 9.90514926e-01 1.36463378e-01 1.60601202e-02 2.24781972e+02] [-1.36445285e-01 9.90645116e-01 -2.22212356e-03 -3.19258543e+01] [-1.62131181e-02 9.71886347e-06 9.99868559e-01 -7.14892052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.984203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.81, Y:-31.94, Z:-7.15 [[ 9.91351665e-01 1.30340013e-01 1.52760153e-02 2.24812425e+02] [-1.30322927e-01 9.91469349e-01 -2.11289795e-03 -3.19360698e+01] [-1.54210961e-02 1.03809873e-04 9.99881082e-01 -7.14980536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.014203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.84, Y:-31.95, Z:-7.15 [[ 9.91674350e-01 1.27861362e-01 1.52792331e-02 2.24842974e+02] [-1.27843985e-01 9.91792041e-01 -2.11268158e-03 -3.19451226e+01] [-1.54239522e-02 1.41734084e-04 9.99881034e-01 -7.15366663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.04420382200001 meters Centerline goodness [0,1] 0.9998914954102559 Centerline is valid? [True, True] Translation: X:224.87, Y:-31.95, Z:-7.15 [[ 9.92108243e-01 1.24330865e-01 1.62194149e-02 2.24874568e+02] [-1.24310803e-01 9.92240793e-01 -2.24326208e-03 -3.19518998e+01] [-1.63724718e-02 2.09310319e-04 9.99865940e-01 -7.15382146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.07420382200002 meters Centerline goodness [0,1] 0.9999571330589849 Centerline is valid? [True, True] Translation: X:224.91, Y:-31.96, Z:-7.15 [[ 9.92191403e-01 1.23580667e-01 1.68534245e-02 2.24905448e+02] [-1.23558831e-01 9.92334502e-01 -2.33479417e-03 -3.19590122e+01] [-1.70127701e-02 2.34173264e-04 9.99855245e-01 -7.15385502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.10420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.94, Y:-31.96, Z:-7.15 [[ 9.92255451e-01 1.22967761e-01 1.75513352e-02 2.24936643e+02] [-1.22943955e-01 9.92410633e-01 -2.43313703e-03 -3.19648169e+01] [-1.77173291e-02 2.56462933e-04 9.99843003e-01 -7.15080471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.13420382200002 meters Centerline goodness [0,1] 0.9999354519439723 Centerline is valid? [True, True] Translation: X:224.97, Y:-31.97, Z:-7.15 [[ 9.92180114e-01 1.23678682e-01 1.67989441e-02 2.24969819e+02] [-1.23656931e-01 9.92322290e-01 -2.33137028e-03 -3.19655917e+01] [-1.69583075e-02 2.35833356e-04 9.99856170e-01 -7.15493975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.16420382200002 meters Centerline goodness [0,1] 0.9999354519439723 Centerline is valid? [True, True] Translation: X:225.00, Y:-31.97, Z:-7.16 [[ 9.92159204e-01 1.23846385e-01 1.67984450e-02 2.25001171e+02] [-1.23824597e-01 9.92301374e-01 -2.33495904e-03 -3.19700919e+01] [-1.69582963e-02 2.36590412e-04 9.99856170e-01 -7.15590907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.19420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.03, Y:-31.97, Z:-7.15 [[ 9.92114955e-01 1.24175963e-01 1.69778323e-02 2.25032996e+02] [-1.24153705e-01 9.92260185e-01 -2.36288333e-03 -3.19738209e+01] [-1.71398404e-02 2.36391111e-04 9.99853074e-01 -7.15342380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.22420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.07, Y:-31.98, Z:-7.15 [[ 9.91951869e-01 1.25431662e-01 1.72739215e-02 2.25065252e+02] [-1.25408758e-01 9.92102237e-01 -2.40711247e-03 -3.19764680e+01] [-1.74394243e-02 2.21438670e-04 9.99847897e-01 -7.15403584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.25420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.10, Y:-31.98, Z:-7.16 [[ 9.91814642e-01 1.26559223e-01 1.69256844e-02 2.25095674e+02] [-1.26537346e-01 9.91959033e-01 -2.36160850e-03 -3.19817212e+01] [-1.70884689e-02 2.00546713e-04 9.99853961e-01 -7.15749680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.28420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.13, Y:-31.98, Z:-7.16 [[ 9.91344267e-01 1.30304239e-01 1.60421313e-02 2.25127077e+02] [-1.30285005e-01 9.91474048e-01 -2.24276286e-03 -3.19810200e+01] [-1.61975984e-02 1.33300949e-04 9.99868801e-01 -7.15908410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.31420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.16, Y:-31.98, Z:-7.16 [[ 9.91041037e-01 1.32570842e-01 1.62060096e-02 2.25156500e+02] [-1.32551514e-01 9.91173528e-01 -2.26579269e-03 -3.19821223e+01] [-1.63633458e-02 9.73624268e-05 9.99866107e-01 -7.16034700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.34420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.19, Y:-31.98, Z:-7.16 [[ 9.90744338e-01 1.34745105e-01 1.64138434e-02 2.25185839e+02] [-1.34725571e-01 9.90880292e-01 -2.29519835e-03 -3.19830966e+01] [-1.65734207e-02 6.25903446e-05 9.99862649e-01 -7.16103881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.374203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.22, Y:-31.98, Z:-7.16 [[ 9.90126422e-01 1.39297015e-01 1.56846976e-02 2.25216342e+02] [-1.39279736e-01 9.90250646e-01 -2.19401292e-03 -3.19795857e+01] [-1.58374014e-02 -1.22103731e-05 9.99874580e-01 -7.16149219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.404203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.25, Y:-31.98, Z:-7.16 [[ 9.89850663e-01 1.41236989e-01 1.57409390e-02 2.25245716e+02] [-1.41219831e-01 9.89975813e-01 -2.20185831e-03 -3.19805404e+01] [-1.58941328e-02 -4.34218470e-05 9.99873679e-01 -7.16187231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.434203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.27, Y:-31.98, Z:-7.16 [[ 9.89357204e-01 1.44571549e-01 1.64738972e-02 2.25273576e+02] [-1.44553231e-01 9.89494344e-01 -2.30365436e-03 -3.19797804e+01] [-1.66338710e-02 -1.02218017e-04 9.99861642e-01 -7.16204621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.464203822 meters Centerline goodness [0,1] 0.9998716769681545 Centerline is valid? [True, True] Translation: X:225.30, Y:-31.98, Z:-7.17 [[ 9.89174686e-01 1.45824898e-01 1.63872037e-02 2.25302675e+02] [-1.45806963e-01 9.89310408e-01 -2.29033768e-03 -3.19817738e+01] [-1.65460195e-02 -1.23824350e-04 9.99863098e-01 -7.16673349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.494203822 meters Centerline goodness [0,1] 0.9999786566495208 Centerline is valid? [True, True] Translation: X:225.33, Y:-31.98, Z:-7.17 [[ 9.89032712e-01 1.46802431e-01 1.62277911e-02 2.25331016e+02] [-1.46784984e-01 9.89165824e-01 -2.26752307e-03 -3.19831477e+01] [-1.63848543e-02 -1.39341577e-04 9.99865750e-01 -7.16519529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.524203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.36, Y:-31.99, Z:-7.17 [[ 9.89021942e-01 1.46948007e-01 1.55525222e-02 2.25359471e+02] [-1.46932020e-01 9.89144208e-01 -2.17192490e-03 -3.19873504e+01] [-1.57028473e-02 -1.37082123e-04 9.99876693e-01 -7.16603659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.554203822 meters Centerline goodness [0,1] 0.9999785107983239 Centerline is valid? [True, True] Translation: X:225.39, Y:-31.99, Z:-7.17 [[ 9.88910371e-01 1.47776474e-01 1.47780650e-02 2.25386995e+02] [-1.47762142e-01 9.89020775e-01 -2.06304126e-03 -3.19873301e+01] [-1.49206822e-02 -1.43475631e-04 9.99888670e-01 -7.16907129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.584203822 meters Centerline goodness [0,1] 0.9999147739378702 Centerline is valid? [True, True] Translation: X:225.41, Y:-31.99, Z:-7.17 [[ 9.88829719e-01 1.48312100e-01 1.48090383e-02 2.25414679e+02] [-1.48297773e-01 9.88940594e-01 -2.06700690e-03 -3.19887719e+01] [-1.49518213e-02 -1.52229553e-04 9.99888204e-01 -7.17055724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.614203822 meters Centerline goodness [0,1] 0.9999148193104623 Centerline is valid? [True, True] Translation: X:225.44, Y:-31.99, Z:-7.17 [[ 9.88696727e-01 1.49161896e-01 1.51496393e-02 2.25442658e+02] [-1.49147020e-01 9.88812773e-01 -2.11340628e-03 -3.19894011e+01] [-1.52953966e-02 -1.70005687e-04 9.99883004e-01 -7.17109889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.644203822 meters Centerline goodness [0,1] 0.9999573851529873 Centerline is valid? [True, True] Translation: X:225.47, Y:-31.99, Z:-7.17 [[ 9.88663051e-01 1.49405493e-01 1.49456029e-02 2.25470908e+02] [-1.49391060e-01 9.88775995e-01 -2.08387476e-03 -3.19920991e+01] [-1.50891957e-02 -1.72489471e-04 9.99886137e-01 -7.17231360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.674203822 meters Centerline goodness [0,1] 0.9999784175767256 Centerline is valid? [True, True] Translation: X:225.50, Y:-32.00, Z:-7.17 [[ 9.88690447e-01 1.49269594e-01 1.44840608e-02 2.25499266e+02] [-1.49256032e-01 9.88796521e-01 -2.01891791e-03 -3.19965932e+01] [-1.46231520e-02 -1.65748591e-04 9.99893062e-01 -7.17103625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.704203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.53, Y:-32.00, Z:-7.17 [[ 9.88876843e-01 1.47893930e-01 1.58106145e-02 2.25526768e+02] [-1.47877607e-01 9.89003215e-01 -2.20307090e-03 -3.19984303e+01] [-1.59625694e-02 -1.59470038e-04 9.99872577e-01 -7.17141491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.734203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.56, Y:-32.00, Z:-7.17 [[ 9.89118374e-01 1.46220900e-01 1.62570013e-02 2.25555103e+02] [-1.46203437e-01 9.89251954e-01 -2.26401108e-03 -3.20037697e+01] [-1.64133161e-02 -1.37454511e-04 9.99865283e-01 -7.17115018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.764203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.58, Y:-32.01, Z:-7.17 [[ 9.89652796e-01 1.42538558e-01 1.64348168e-02 2.25583422e+02] [-1.42520215e-01 9.89789247e-01 -2.28799442e-03 -3.20123894e+01] [-1.65931324e-02 -7.79735539e-05 9.99862321e-01 -7.16970683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.79420382200001 meters Centerline goodness [0,1] 0.9999576943416182 Centerline is valid? [True, True] Translation: X:225.61, Y:-32.02, Z:-7.17 [[ 9.89939635e-01 1.40473635e-01 1.69315225e-02 2.25611524e+02] [-1.40453885e-01 9.90084419e-01 -2.35589728e-03 -3.20179228e+01] [-1.70945781e-02 -4.59020264e-05 9.99853876e-01 -7.17249114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.82420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.64, Y:-32.03, Z:-7.17 [[ 9.90457458e-01 1.36844774e-01 1.63564004e-02 2.25640131e+02] [-1.36825854e-01 9.90592503e-01 -2.27552767e-03 -3.20260638e+01] [-1.65139217e-02 1.58348904e-05 9.99863636e-01 -7.16994184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.85420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.67, Y:-32.03, Z:-7.17 [[ 9.90685091e-01 1.35205946e-01 1.61988199e-02 2.25669271e+02] [-1.35187186e-01 9.90817516e-01 -2.25265206e-03 -3.20321046e+01] [-1.63546464e-02 4.17959407e-05 9.99866253e-01 -7.17346491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.88420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.70, Y:-32.04, Z:-7.17 [[ 9.90878075e-01 1.33788816e-01 1.61614533e-02 2.25698702e+02] [-1.33769942e-01 9.91009863e-01 -2.24820339e-03 -3.20369856e+01] [-1.63169441e-02 6.57787780e-05 9.99866868e-01 -7.17372867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.91420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.73, Y:-32.04, Z:-7.17 [[ 9.91156683e-01 1.31739201e-01 1.59126481e-02 2.25728053e+02] [-1.31720647e-01 9.91284406e-01 -2.21303773e-03 -3.20440213e+01] [-1.60655037e-02 9.74428377e-05 9.99870937e-01 -7.17403901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.94420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.76, Y:-32.05, Z:-7.18 [[ 9.91279191e-01 1.30825036e-01 1.58232768e-02 2.25755977e+02] [-1.30806572e-01 9.91405466e-01 -2.20077259e-03 -3.20505972e+01] [-1.59751993e-02 1.11791480e-04 9.99872382e-01 -7.17527363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.97420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.79, Y:-32.06, Z:-7.18 [[ 9.91313442e-01 1.30555130e-01 1.59065042e-02 2.25785078e+02] [-1.30536451e-01 9.91441044e-01 -2.21138848e-03 -3.20563784e+01] [-1.60590693e-02 1.15800512e-04 9.99871038e-01 -7.17740977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.00420382200002 meters Centerline goodness [0,1] 0.9999352345588394 Centerline is valid? [True, True] Translation: X:225.81, Y:-32.06, Z:-7.18 [[ 9.91225186e-01 1.31267677e-01 1.55379679e-02 2.25814418e+02] [-1.31249942e-01 9.91346956e-01 -2.16013733e-03 -3.20587760e+01] [-1.56870734e-02 1.01825145e-04 9.99876945e-01 -7.18253836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.03420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.84, Y:-32.06, Z:-7.18 [[ 9.91112343e-01 1.32138505e-01 1.53538167e-02 2.25844152e+02] [-1.32121298e-01 9.91231259e-01 -2.13419247e-03 -3.20616732e+01] [-1.55011921e-02 8.66583132e-05 9.99879846e-01 -7.17822371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.06420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.87, Y:-32.07, Z:-7.18 [[ 9.90991395e-01 1.32999512e-01 1.57220880e-02 2.25873149e+02] [-1.32981586e-01 9.91116100e-01 -2.18479905e-03 -3.20654806e+01] [-1.58729918e-02 7.43688511e-05 9.99874013e-01 -7.17899882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.09420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.90, Y:-32.07, Z:-7.18 [[ 9.90797193e-01 1.34599994e-01 1.42745831e-02 2.25903086e+02] [-1.34585383e-01 9.90900015e-01 -1.98371024e-03 -3.20680804e+01] [-1.44116920e-02 4.43042990e-05 9.99896145e-01 -7.18030596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.124203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.93, Y:-32.07, Z:-7.18 [[ 9.90709602e-01 1.35260767e-01 1.41071083e-02 2.25930888e+02] [-1.35246558e-01 9.90810034e-01 -1.96077919e-03 -3.20722027e+01] [-1.42426809e-02 3.46249311e-05 9.99898567e-01 -7.18315306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.154203822 meters Centerline goodness [0,1] 0.9999785761724189 Centerline is valid? [True, True] Translation: X:225.96, Y:-32.08, Z:-7.18 [[ 9.90646884e-01 1.35736534e-01 1.39407310e-02 2.25959244e+02] [-1.35722723e-01 9.90744969e-01 -1.93645567e-03 -3.20766788e+01] [-1.40745569e-02 2.62698085e-05 9.99900948e-01 -7.18382807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.184203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.99, Y:-32.08, Z:-7.18 [[ 9.90557077e-01 1.36375245e-01 1.40879492e-02 2.25987887e+02] [-1.36361218e-01 9.90657253e-01 -1.95600625e-03 -3.20806471e+01] [-1.42230799e-02 1.64859274e-05 9.99898847e-01 -7.18366055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.214203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.02, Y:-32.08, Z:-7.19 [[ 9.90286030e-01 1.38357437e-01 1.38129650e-02 2.26015733e+02] [-1.38344146e-01 9.90382360e-01 -1.91774271e-03 -3.20828184e+01] [-1.39454508e-02 -1.18290269e-05 9.99902757e-01 -7.18662886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.244203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.04, Y:-32.09, Z:-7.19 [[ 9.89938343e-01 1.41037713e-01 1.14210390e-02 2.26044849e+02] [-1.41028818e-01 9.90004223e-01 -1.58455444e-03 -3.20860598e+01] [-1.15303587e-02 -4.20844305e-05 9.99933522e-01 -7.18892331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.274203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.07, Y:-32.09, Z:-7.19 [[ 9.89751554e-01 1.42396668e-01 1.07261152e-02 2.26072383e+02] [-1.42388894e-01 9.89809672e-01 -1.48881917e-03 -3.20886869e+01] [-1.08288154e-02 -5.37185915e-05 9.99941365e-01 -7.19404411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.304203822 meters Centerline goodness [0,1] 0.9999570962759567 Centerline is valid? [True, True] Translation: X:226.10, Y:-32.09, Z:-7.19 [[ 9.89564071e-01 1.43706227e-01 1.05579231e-02 2.26101070e+02] [-1.43698783e-01 9.89620390e-01 -1.46429967e-03 -3.20912237e+01] [-1.06587650e-02 -6.81423601e-05 9.99943191e-01 -7.19482846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.334203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.13, Y:-32.09, Z:-7.19 [[ 9.89224814e-01 1.45846109e-01 1.27741805e-02 2.26130426e+02] [-1.45835402e-01 9.89307283e-01 -1.77078075e-03 -3.20932511e+01] [-1.28958512e-02 -1.11227472e-04 9.99916839e-01 -7.19035227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.364203822 meters Centerline goodness [0,1] 0.9999785858066726 Centerline is valid? [True, True] Translation: X:226.16, Y:-32.10, Z:-7.19 [[ 9.89152934e-01 1.46266046e-01 1.35172732e-02 2.26157913e+02] [-1.46254103e-01 9.89245282e-01 -1.87322599e-03 -3.20958419e+01] [-1.36458881e-02 -1.24049675e-04 9.99906883e-01 -7.19173679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.394203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.19, Y:-32.10, Z:-7.19 [[ 9.89207185e-01 1.46001129e-01 1.23618988e-02 2.26186422e+02] [-1.45991130e-01 9.89284417e-01 -1.71224662e-03 -3.21018845e+01] [-1.24794238e-02 -1.10960914e-04 9.99922123e-01 -7.19464016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.424203822 meters Centerline goodness [0,1] 0.9999573178539417 Centerline is valid? [True, True] Translation: X:226.21, Y:-32.11, Z:-7.20 [[ 9.89197101e-01 1.46116823e-01 1.17885077e-02 2.26214411e+02] [-1.46107744e-01 9.89267336e-01 -1.63233009e-03 -3.21067061e+01] [-1.19004965e-02 -1.07696074e-04 9.99929181e-01 -7.19694847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.454203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.24, Y:-32.11, Z:-7.20 [[ 9.89164218e-01 1.46411206e-01 1.08585543e-02 2.26242278e+02] [-1.46403525e-01 9.89223811e-01 -1.50322775e-03 -3.21132909e+01] [-1.09616298e-02 -1.02791520e-04 9.99939914e-01 -7.19514196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.484203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.27, Y:-32.11, Z:-7.20 [[ 9.88828968e-01 1.48710757e-01 1.01183991e-02 2.26270204e+02] [-1.48704210e-01 9.88880729e-01 -1.40060144e-03 -3.21124674e+01] [-1.02141743e-02 -1.19693263e-04 9.99947827e-01 -7.19772944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.514203822 meters Centerline goodness [0,1] 0.9999785264875776 Centerline is valid? [True, True] Translation: X:226.30, Y:-32.11, Z:-7.20 [[ 9.88608337e-01 1.50136285e-01 1.06137209e-02 2.26298639e+02] [-1.50129172e-01 9.88665300e-01 -1.46834890e-03 -3.21139547e+01] [-1.07138700e-02 -1.41807163e-04 9.99942595e-01 -7.19729968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.54420382200001 meters Centerline goodness [0,1] 0.9999785094128771 Centerline is valid? [True, True] Translation: X:226.33, Y:-32.11, Z:-7.20 [[ 9.88368963e-01 1.51654070e-01 1.13064974e-02 2.26326358e+02] [-1.51646106e-01 9.88433617e-01 -1.56332910e-03 -3.21136579e+01] [-1.14128073e-02 -1.69440343e-04 9.99934857e-01 -7.20016427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.57420382200002 meters Centerline goodness [0,1] 0.9999785029450965 Centerline is valid? [True, True] Translation: X:226.35, Y:-32.12, Z:-7.20 [[ 9.88291754e-01 1.52140181e-01 1.15227588e-02 2.26354710e+02] [-1.52131956e-01 9.88358909e-01 -1.59215459e-03 -3.21167178e+01] [-1.16308520e-02 -1.79466573e-04 9.99932343e-01 -7.20074047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.60420382200002 meters Centerline goodness [0,1] 0.9999360613810742 Centerline is valid? [True, True] Translation: X:226.38, Y:-32.12, Z:-7.20 [[ 9.88315272e-01 1.51947021e-01 1.20426715e-02 2.26383541e+02] [-1.51938030e-01 9.88388622e-01 -1.66336790e-03 -3.21207601e+01] [-1.21555833e-02 -1.85807880e-04 9.99926101e-01 -7.19976189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.63420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.41, Y:-32.13, Z:-7.20 [[ 9.88556737e-01 1.50325797e-01 1.25591659e-02 2.26411827e+02] [-1.50315895e-01 9.88636498e-01 -1.73408598e-03 -3.21280917e+01] [-1.26771276e-02 -1.73599876e-04 9.99919627e-01 -7.19641847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.66420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.44, Y:-32.14, Z:-7.20 [[ 9.89066511e-01 1.46963653e-01 1.22115408e-02 2.26438474e+02] [-1.46954040e-01 9.89141885e-01 -1.68573643e-03 -3.21355275e+01] [-1.23266885e-02 -1.27229810e-04 9.99924015e-01 -7.19794800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.69420382200002 meters Centerline goodness [0,1] 0.99993524993525 Centerline is valid? [True, True] Translation: X:226.47, Y:-32.14, Z:-7.20 [[ 9.89342207e-01 1.45083105e-01 1.23649121e-02 2.26466807e+02] [-1.45073115e-01 9.89419467e-01 -1.70587202e-03 -3.21413324e+01] [-1.24815779e-02 -1.06125121e-04 9.99922096e-01 -7.20187525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.72420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.49, Y:-32.15, Z:-7.20 [[ 9.89641451e-01 1.43041232e-01 1.22067122e-02 2.26494366e+02] [-1.43031345e-01 9.89716727e-01 -1.68367225e-03 -3.21485035e+01] [-1.23220218e-02 -7.97106154e-05 9.99924078e-01 -7.20132802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.75420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.52, Y:-32.16, Z:-7.20 [[ 9.90057771e-01 1.40242882e-01 1.08417788e-02 2.26522645e+02] [-1.40234928e-01 9.90117131e-01 -1.49421046e-03 -3.21595979e+01] [-1.09441833e-02 -4.10413846e-05 9.99940110e-01 -7.20375141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.78420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.55, Y:-32.17, Z:-7.20 [[ 9.90129575e-01 1.39707392e-01 1.11923869e-02 2.26551279e+02] [-1.39698879e-01 9.90192831e-01 -1.54270428e-03 -3.21653640e+01] [-1.12981485e-02 -3.60867762e-05 9.99936173e-01 -7.20385571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.81420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.58, Y:-32.17, Z:-7.20 [[ 9.89945239e-01 1.40946716e-01 1.19351394e-02 2.26580438e+02] [-1.40937134e-01 9.90017182e-01 -1.64437886e-03 -3.21654658e+01] [-1.20477629e-02 -5.42593229e-05 9.99927422e-01 -7.20315980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.84420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.61, Y:-32.17, Z:-7.20 [[ 9.89757438e-01 1.42273465e-01 1.17675093e-02 2.26609928e+02] [-1.42264251e-01 9.89827387e-01 -1.62072029e-03 -3.21654979e+01] [-1.18783885e-02 -6.99759351e-05 9.99929447e-01 -7.20412941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.874203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.64, Y:-32.17, Z:-7.21 [[ 9.89520853e-01 1.43957559e-01 1.11670049e-02 2.26639344e+02] [-1.43949374e-01 9.89583859e-01 -1.53753805e-03 -3.21656948e+01] [-1.12720281e-02 -8.60574018e-05 9.99936465e-01 -7.20506592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.904203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.67, Y:-32.16, Z:-7.21 [[ 9.88966555e-01 1.47792235e-01 1.01295864e-02 2.26668484e+02] [-1.47785707e-01 9.89018423e-01 -1.39407318e-03 -3.21616619e+01] [-1.02243808e-02 -1.18316346e-04 9.99947723e-01 -7.20709160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.934203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.70, Y:-32.16, Z:-7.21 [[ 9.88654785e-01 1.49883395e-01 9.83280054e-03 2.26697347e+02] [-1.49877348e-01 9.88703671e-01 -1.35315023e-03 -3.21616676e+01] [-9.92454075e-03 -1.35915624e-04 9.99950741e-01 -7.20822687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.964203822 meters Centerline goodness [0,1] 0.9999573005401482 Centerline is valid? [True, True] Translation: X:226.73, Y:-32.16, Z:-7.21 [[ 9.88189207e-01 1.52935116e-01 9.64056503e-03 2.26725250e+02] [-1.52929448e-01 9.88236219e-01 -1.32674791e-03 -3.21583224e+01] [-9.73006188e-03 -1.63248323e-04 9.99952649e-01 -7.21061023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.994203822 meters Centerline goodness [0,1] 0.9999147993524751 Centerline is valid? [True, True] Translation: X:226.75, Y:-32.16, Z:-7.21 [[ 9.88126745e-01 1.53320349e-01 9.91998657e-03 2.26752901e+02] [-1.53314375e-01 9.88176523e-01 -1.36445372e-03 -3.21580596e+01] [-1.00118964e-02 -1.72623327e-04 9.99949865e-01 -7.21288965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.024203822 meters Centerline goodness [0,1] 0.9999573778876482 Centerline is valid? [True, True] Translation: X:226.78, Y:-32.16, Z:-7.21 [[ 9.88172187e-01 1.52917375e-01 1.14893237e-02 2.26782101e+02] [-1.52909355e-01 9.88238958e-01 -1.57847085e-03 -3.21582596e+01] [-1.15955729e-02 -1.97024093e-04 9.99932750e-01 -7.21156150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.054203822 meters Centerline goodness [0,1] 0.9999787964886985 Centerline is valid? [True, True] Translation: X:226.81, Y:-32.16, Z:-7.21 [[ 9.88267240e-01 1.52287662e-01 1.16760394e-02 2.26810385e+02] [-1.52279342e-01 9.88336193e-01 -1.60354575e-03 -3.21616521e+01] [-1.17840525e-02 -1.93287860e-04 9.99930547e-01 -7.21142298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.084203822 meters Centerline goodness [0,1] 0.9999787964886985 Centerline is valid? [True, True] Translation: X:226.84, Y:-32.17, Z:-7.21 [[ 9.88277956e-01 1.52218106e-01 1.16760550e-02 2.26837635e+02] [-1.52209783e-01 9.88346908e-01 -1.60343227e-03 -3.21652518e+01] [-1.17840643e-02 -1.92573026e-04 9.99930547e-01 -7.21226423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.114203822 meters Centerline goodness [0,1] 0.9999788900382091 Centerline is valid? [True, True] Translation: X:226.87, Y:-32.17, Z:-7.21 [[ 9.88610844e-01 1.50093016e-01 1.09856564e-02 2.26866100e+02] [-1.50085529e-01 9.88671867e-01 -1.50749695e-03 -3.21703740e+01] [-1.10874742e-02 -1.58460230e-04 9.99938520e-01 -7.21497599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.144203822 meters Centerline goodness [0,1] 0.9999784436300927 Centerline is valid? [True, True] Translation: X:226.89, Y:-32.18, Z:-7.22 [[ 9.88862034e-01 1.48510112e-01 9.82979791e-03 2.26894679e+02] [-1.48504043e-01 9.88910881e-01 -1.34858319e-03 -3.21761949e+01] [-9.92107235e-03 -1.26202013e-04 9.99950777e-01 -7.21672531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.174203822 meters Centerline goodness [0,1] 0.9999785761724189 Centerline is valid? [True, True] Translation: X:226.92, Y:-32.18, Z:-7.22 [[ 9.89275255e-01 1.45773088e-01 9.20202847e-03 2.26922904e+02] [-1.45767654e-01 9.89318047e-01 -1.26210359e-03 -3.21816147e+01] [-9.28771357e-03 -9.27902425e-05 9.99956864e-01 -7.21867371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.204203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.95, Y:-32.19, Z:-7.22 [[ 9.89407915e-01 1.44835572e-01 9.72800342e-03 2.26951982e+02] [-1.44829461e-01 9.89455734e-01 -1.33343900e-03 -3.21851415e+01] [-9.81855816e-03 -8.95863931e-05 9.99951793e-01 -7.21890074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.234203822 meters Centerline goodness [0,1] 0.9999569624066622 Centerline is valid? [True, True] Translation: X:226.98, Y:-32.19, Z:-7.21 [[ 9.89498649e-01 1.44153864e-01 1.05871469e-02 2.26980952e+02] [-1.44146590e-01 9.89555282e-01 -1.45100985e-03 -3.21894086e+01] [-1.06857358e-02 -9.03288300e-05 9.99942902e-01 -7.21474512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.264203822 meters Centerline goodness [0,1] 0.9999572567374068 Centerline is valid? [True, True] Translation: X:227.01, Y:-32.19, Z:-7.21 [[ 9.89624206e-01 1.43172857e-01 1.20608658e-02 2.27008619e+02] [-1.43163350e-01 9.89697694e-01 -1.65239249e-03 -3.21904041e+01] [-1.21731888e-02 -9.14263495e-05 9.99925900e-01 -7.21410970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.29420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.04, Y:-32.19, Z:-7.21 [[ 9.89773255e-01 1.42059527e-01 1.29612682e-02 2.27037243e+02] [-1.42048468e-01 9.89858113e-01 -1.77459614e-03 -3.21941593e+01] [-1.30819148e-02 -8.46805006e-05 9.99914425e-01 -7.21106986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.32420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.06, Y:-32.20, Z:-7.21 [[ 9.89778229e-01 1.41953545e-01 1.37203325e-02 2.27064597e+02] [-1.41941150e-01 9.89873317e-01 -1.87794727e-03 -3.21964461e+01] [-1.38479723e-02 -8.87284417e-05 9.99904108e-01 -7.21208943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.35420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.09, Y:-32.20, Z:-7.21 [[ 9.89753169e-01 1.42095839e-01 1.40512524e-02 2.27092882e+02] [-1.42082869e-01 9.89852900e-01 -1.92211891e-03 -3.21996965e+01] [-1.41817981e-02 -9.40189808e-05 9.99899429e-01 -7.21058685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.38420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.12, Y:-32.20, Z:-7.21 [[ 9.89775117e-01 1.41970588e-01 1.37684707e-02 2.27120473e+02] [-1.41958126e-01 9.89870872e-01 -1.88318557e-03 -3.21988834e+01] [-1.38963650e-02 -9.06160877e-05 9.99903437e-01 -7.21420891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.41420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.15, Y:-32.20, Z:-7.22 [[ 9.89842493e-01 1.41511565e-01 1.36497528e-02 2.27148731e+02] [-1.41499294e-01 9.89936599e-01 -1.86552038e-03 -3.22016664e+01] [-1.37763825e-02 -8.48590300e-05 9.99905098e-01 -7.21507350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.44420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.18, Y:-32.21, Z:-7.22 [[ 9.90051275e-01 1.39954948e-01 1.45288017e-02 2.27176626e+02] [-1.39940887e-01 9.90157870e-01 -1.98503362e-03 -3.22050041e+01] [-1.46636226e-02 -6.78883216e-05 9.99892481e-01 -7.21721876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.47420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.20, Y:-32.21, Z:-7.22 [[ 9.90127699e-01 1.39409013e-01 1.45693928e-02 2.27204852e+02] [-1.39394830e-01 9.90234883e-01 -1.98947247e-03 -3.22093920e+01] [-1.47044714e-02 -6.10662467e-05 9.99891882e-01 -7.21728266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.50420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.23, Y:-32.21, Z:-7.22 [[ 9.90180873e-01 1.39006298e-01 1.48015970e-02 2.27232628e+02] [-1.38991621e-01 9.90291495e-01 -2.02069057e-03 -3.22113637e+01] [-1.49387843e-02 -5.64488112e-05 9.99888409e-01 -7.21720170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.53420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.26, Y:-32.21, Z:-7.22 [[ 9.90289805e-01 1.38283567e-01 1.42743855e-02 2.27261515e+02] [-1.38269858e-01 9.90392676e-01 -1.94762251e-03 -3.22143202e+01] [-1.44065710e-02 -4.50065421e-05 9.99896219e-01 -7.21798442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.56420382200002 meters Centerline goodness [0,1] 0.9999572357167293 Centerline is valid? [True, True] Translation: X:227.29, Y:-32.22, Z:-7.22 [[ 9.90425530e-01 1.37376677e-01 1.35984949e-02 2.27290326e+02] [-1.37364158e-01 9.90518878e-01 -1.85483707e-03 -3.22181354e+01] [-1.37243773e-02 -3.08678215e-05 9.99905816e-01 -7.21930385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.59420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.32, Y:-32.22, Z:-7.22 [[ 9.90644070e-01 1.35845163e-01 1.30544627e-02 2.27317968e+02] [-1.35833498e-01 9.90730080e-01 -1.78026007e-03 -3.22227599e+01] [-1.31752886e-02 -9.62924289e-06 9.99913202e-01 -7.22270689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.624203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.35, Y:-32.23, Z:-7.22 [[ 9.91087119e-01 1.32617280e-01 1.26087247e-02 2.27345915e+02] [-1.32606148e-01 9.91167320e-01 -1.71856351e-03 -3.22312325e+01] [-1.27252670e-02 3.12517436e-05 9.99919030e-01 -7.22461473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.654203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.37, Y:-32.24, Z:-7.22 [[ 9.91324627e-01 1.30805706e-01 1.28588831e-02 2.27374099e+02] [-1.30793984e-01 9.91408021e-01 -1.75203470e-03 -3.22373432e+01] [-1.29775760e-02 5.49705971e-05 9.99915786e-01 -7.22363945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.684203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.40, Y:-32.24, Z:-7.22 [[ 9.91733894e-01 1.27617199e-01 1.33316627e-02 2.27401734e+02] [-1.27604316e-01 9.91823493e-01 -1.81604601e-03 -3.22438239e+01] [-1.34544150e-02 9.98566786e-05 9.99909480e-01 -7.22449521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.714203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.43, Y:-32.25, Z:-7.23 [[ 9.91954033e-01 1.25885137e-01 1.34211866e-02 2.27430071e+02] [-1.25871938e-01 9.92044816e-01 -1.82699139e-03 -3.22492389e+01] [-1.35444097e-02 1.22940708e-04 9.99908263e-01 -7.22507909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.744203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.46, Y:-32.26, Z:-7.23 [[ 9.92147019e-01 1.24328969e-01 1.36601314e-02 2.27456795e+02] [-1.24315156e-01 9.92241042e-01 -1.85902034e-03 -3.22558952e+01] [-1.37852731e-02 1.46260117e-04 9.99904968e-01 -7.22712642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.774203822 meters Centerline goodness [0,1] 0.999978501558637 Centerline is valid? [True, True] Translation: X:227.49, Y:-32.26, Z:-7.23 [[ 9.92495225e-01 1.21588194e-01 1.30207005e-02 2.27485806e+02] [-1.21575426e-01 9.92580617e-01 -1.77065204e-03 -3.22640971e+01] [-1.31393854e-02 1.74366482e-04 9.99913659e-01 -7.22860480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.804203822 meters Centerline goodness [0,1] 0.9999568575003236 Centerline is valid? [True, True] Translation: X:227.51, Y:-32.27, Z:-7.23 [[ 9.92619173e-01 1.20639027e-01 1.23856066e-02 2.27513502e+02] [-1.20627398e-01 9.92696426e-01 -1.68444688e-03 -3.22688266e+01] [-1.24983574e-02 1.77970773e-04 9.99921877e-01 -7.23062486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.834203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.54, Y:-32.27, Z:-7.23 [[ 9.92724255e-01 1.19781950e-01 1.22816491e-02 2.27542110e+02] [-1.19770457e-01 9.92800206e-01 -1.66977332e-03 -3.22719155e+01] [-1.23932325e-02 1.86645753e-04 9.99923184e-01 -7.22974127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.864203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.57, Y:-32.28, Z:-7.23 [[ 9.92728652e-01 1.19676853e-01 1.29334505e-02 2.27569641e+02] [-1.19664110e-01 9.92812879e-01 -1.75745892e-03 -3.22800585e+01] [-1.30508234e-02 1.97009969e-04 9.99914815e-01 -7.23374945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.894203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.60, Y:-32.28, Z:-7.23 [[ 9.92660663e-01 1.20179333e-01 1.34809198e-02 2.27599618e+02] [-1.20165545e-01 9.92752179e-01 -1.83110771e-03 -3.22797753e+01] [-1.36032738e-02 1.97726520e-04 9.99907452e-01 -7.22871978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.924203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.63, Y:-32.28, Z:-7.23 [[ 9.92413107e-01 1.22192934e-01 1.36056022e-02 2.27628378e+02] [-1.22179081e-01 9.92506351e-01 -1.84790318e-03 -3.22808310e+01] [-1.37294473e-02 1.71563366e-04 9.99905732e-01 -7.22946453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.954203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.66, Y:-32.28, Z:-7.23 [[ 9.92074487e-01 1.24920217e-01 1.35333715e-02 2.27658072e+02] [-1.24906773e-01 9.92166781e-01 -1.83739545e-03 -3.22807728e+01] [-1.36568895e-02 1.32423384e-04 9.99906732e-01 -7.22916357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.984203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.69, Y:-32.28, Z:-7.23 [[ 9.91913128e-01 1.26169318e-01 1.37713442e-02 2.27686284e+02] [-1.26155515e-01 9.92008714e-01 -1.86996599e-03 -3.22824520e+01] [-1.38972258e-02 1.17512794e-04 9.99903422e-01 -7.22984778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.014203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.72, Y:-32.29, Z:-7.23 [[ 9.91773689e-01 1.27244229e-01 1.39231920e-02 2.27715322e+02] [-1.27230241e-01 9.91871411e-01 -1.88947959e-03 -3.22851491e+01] [-1.40504415e-02 1.02485066e-04 9.99901282e-01 -7.23069513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.04420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.74, Y:-32.29, Z:-7.23 [[ 9.91651192e-01 1.28249563e-01 1.34150480e-02 2.27744101e+02] [-1.28236677e-01 9.91741923e-01 -1.81991381e-03 -3.22881404e+01] [-1.35376687e-02 8.44185180e-05 9.99908358e-01 -7.23327681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.07420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.77, Y:-32.29, Z:-7.24 [[ 9.91619339e-01 1.28461760e-01 1.37354502e-02 2.27771613e+02] [-1.28448279e-01 9.91714460e-01 -1.86286312e-03 -3.22924187e+01] [-1.38609513e-02 8.29561471e-05 9.99903929e-01 -7.23502343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.10420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.80, Y:-32.30, Z:-7.24 [[ 9.91572509e-01 1.28742480e-01 1.44683366e-02 2.27799105e+02] [-1.28727566e-01 9.91678056e-01 -1.96124434e-03 -3.22976175e+01] [-1.46004273e-02 8.22422088e-05 9.99893405e-01 -7.23575606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.13420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.83, Y:-32.30, Z:-7.24 [[ 9.91609170e-01 1.28499639e-01 1.41101871e-02 2.27828060e+02] [-1.28485444e-01 9.91709552e-01 -1.91169340e-03 -3.23020055e+01] [-1.42388592e-02 8.26990437e-05 9.99898619e-01 -7.23665331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.16420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.86, Y:-32.31, Z:-7.24 [[ 9.91649887e-01 1.28266997e-01 1.33446068e-02 2.27855411e+02] [-1.28254284e-01 9.91739669e-01 -1.80772022e-03 -3.23068282e+01] [-1.34662468e-02 8.11225606e-05 9.99909323e-01 -7.23868137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.19420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.88, Y:-32.32, Z:-7.24 [[ 9.91776395e-01 1.27358366e-01 1.26265279e-02 2.27883606e+02] [-1.27346924e-01 9.91856763e-01 -1.70936949e-03 -3.23161285e+01] [-1.27414096e-02 8.73628337e-05 9.99918821e-01 -7.24230886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.22420382200002 meters Centerline goodness [0,1] 0.9999786639356504 Centerline is valid? [True, True] Translation: X:227.91, Y:-32.33, Z:-7.24 [[ 9.91961709e-01 1.25930531e-01 1.23883029e-02 2.27912400e+02] [-1.25919417e-01 9.92039057e-01 -1.67613063e-03 -3.23270155e+01] [-1.25007563e-02 1.02729521e-04 9.99921857e-01 -7.24283919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.25420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.94, Y:-32.33, Z:-7.24 [[ 9.92002046e-01 1.25571553e-01 1.27955580e-02 2.27939274e+02] [-1.25559664e-01 9.92084559e-01 -1.73152505e-03 -3.23327676e+01] [-1.29117059e-02 1.11070429e-04 9.99916634e-01 -7.24357012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.28420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.97, Y:-32.34, Z:-7.24 [[ 9.92000466e-01 1.25594839e-01 1.26890542e-02 2.27967448e+02] [-1.25583161e-01 9.92081612e-01 -1.71616100e-03 -3.23380674e+01] [-1.28041183e-02 1.08900979e-04 9.99918018e-01 -7.24408417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.31420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.00, Y:-32.34, Z:-7.24 [[ 9.91875536e-01 1.26554614e-01 1.29170442e-02 2.27996155e+02] [-1.26542601e-01 9.91959636e-01 -1.74638565e-03 -3.23430879e+01] [-1.30341996e-02 9.76408313e-05 9.99915046e-01 -7.24236295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.34420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.02, Y:-32.35, Z:-7.24 [[ 9.91761422e-01 1.27438952e-01 1.29844635e-02 2.28024757e+02] [-1.27426898e-01 9.91846413e-01 -1.75486292e-03 -3.23464662e+01] [-1.31022314e-02 8.58354400e-05 9.99914158e-01 -7.24228981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.374203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.05, Y:-32.35, Z:-7.24 [[ 9.91440612e-01 1.29926546e-01 1.28298318e-02 2.28052770e+02] [-1.29914990e-01 9.91523620e-01 -1.73361124e-03 -3.23496809e+01] [-1.29463234e-02 5.19851181e-05 9.99916191e-01 -7.24412834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.404203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.08, Y:-32.35, Z:-7.24 [[ 9.91243516e-01 1.31424034e-01 1.28068772e-02 2.28081324e+02] [-1.31412651e-01 9.91326244e-01 -1.72994121e-03 -3.23530615e+01] [-1.29231493e-02 3.18073219e-05 9.99916492e-01 -7.24476394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.434203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.11, Y:-32.36, Z:-7.24 [[ 9.91012699e-01 1.33119984e-01 1.31491239e-02 2.28110426e+02] [-1.33108156e-01 9.91099929e-01 -1.77454436e-03 -3.23556537e+01] [-1.32683231e-02 8.34035332e-06 9.99911972e-01 -7.24377476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.464203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.14, Y:-32.35, Z:-7.24 [[ 9.90435006e-01 1.37152905e-01 1.50857563e-02 2.28139471e+02] [-1.37137822e-01 9.90549887e-01 -2.03471355e-03 -3.23544224e+01] [-1.52222611e-02 -5.35762399e-05 9.99884133e-01 -7.24144157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.494203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.17, Y:-32.35, Z:-7.24 [[ 9.89875382e-01 1.41106183e-01 1.53549204e-02 2.28167820e+02] [-1.41091035e-01 9.89994460e-01 -2.07079501e-03 -3.23526184e+01] [-1.54934881e-02 -1.16612613e-04 9.99879962e-01 -7.24389351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.524203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.20, Y:-32.35, Z:-7.25 [[ 9.89625050e-01 1.42927681e-01 1.46266087e-02 2.28196809e+02] [-1.42914151e-01 9.89733125e-01 -1.97151191e-03 -3.23538400e+01] [-1.47582228e-02 -1.39291788e-04 9.99891082e-01 -7.24595588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.554203822 meters Centerline goodness [0,1] 0.99997877128179 Centerline is valid? [True, True] Translation: X:228.23, Y:-32.36, Z:-7.25 [[ 9.89367866e-01 1.44717113e-01 1.44285440e-02 2.28225802e+02] [-1.44704147e-01 9.89473057e-01 -1.94414797e-03 -3.23551536e+01] [-1.45580070e-02 -1.64392614e-04 9.99894013e-01 -7.24737411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.584203822 meters Centerline goodness [0,1] 0.9998506029239143 Centerline is valid? [True, True] Translation: X:228.25, Y:-32.36, Z:-7.25 [[ 9.88944384e-01 1.47480159e-01 1.54469147e-02 2.28254237e+02] [-1.47465644e-01 9.89064990e-01 -2.08073286e-03 -3.23559077e+01] [-1.55848693e-02 -2.20160151e-04 9.99878524e-01 -7.24836714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.614203822 meters Centerline goodness [0,1] 0.9999786721266023 Centerline is valid? [True, True] Translation: X:228.28, Y:-32.36, Z:-7.25 [[ 9.88884322e-01 1.47789986e-01 1.63069660e-02 2.28281616e+02] [-1.47773871e-01 9.89018737e-01 -2.19546159e-03 -3.23581693e+01] [-1.64523621e-02 -2.38685941e-04 9.99864622e-01 -7.24600032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.644203822 meters Centerline goodness [0,1] 0.9999577524292353 Centerline is valid? [True, True] Translation: X:228.31, Y:-32.36, Z:-7.25 [[ 9.88784446e-01 1.48419933e-01 1.66386178e-02 2.28309784e+02] [-1.48403262e-01 9.88924395e-01 -2.23910957e-03 -3.23566385e+01] [-1.67866636e-02 -2.55228442e-04 9.99859061e-01 -7.24851874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.674203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.34, Y:-32.36, Z:-7.25 [[ 9.88782298e-01 1.48539212e-01 1.56738329e-02 2.28338215e+02] [-1.48524451e-01 9.88906489e-01 -2.10810503e-03 -3.23626216e+01] [-1.58130914e-02 -2.43490500e-04 9.99874936e-01 -7.24731992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.704203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.37, Y:-32.36, Z:-7.25 [[ 9.88697220e-01 1.49360493e-01 1.30096129e-02 2.28366590e+02] [-1.49350397e-01 9.88782786e-01 -1.74962207e-03 -3.23633533e+01] [-1.31250057e-02 -2.13144373e-04 9.99913841e-01 -7.25134292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.734203822 meters Centerline goodness [0,1] 0.9999576594123126 Centerline is valid? [True, True] Translation: X:228.39, Y:-32.36, Z:-7.26 [[ 9.88595665e-01 1.50074145e-01 1.25044904e-02 2.28394644e+02] [-1.50064884e-01 9.88674721e-01 -1.68099021e-03 -3.23619507e+01] [-1.26151468e-02 -2.14665275e-04 9.99920403e-01 -7.25542911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.764203822 meters Centerline goodness [0,1] 0.9998927383889306 Centerline is valid? [True, True] Translation: X:228.42, Y:-32.36, Z:-7.25 [[ 9.88513774e-01 1.50563474e-01 1.30827389e-02 2.28422807e+02] [-1.50553388e-01 9.88600317e-01 -1.75803646e-03 -3.23635577e+01] [-1.31982959e-02 -2.31807410e-04 9.99912872e-01 -7.25377719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.79420382200001 meters Centerline goodness [0,1] 0.9999576271186441 Centerline is valid? [True, True] Translation: X:228.45, Y:-32.36, Z:-7.26 [[ 9.88548755e-01 1.50307496e-01 1.33797082e-02 2.28450378e+02] [-1.50296941e-01 9.88639268e-01 -1.79667240e-03 -3.23631249e+01] [-1.34977582e-02 -2.34830937e-04 9.99908874e-01 -7.25673361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.82420382200002 meters Centerline goodness [0,1] 0.9999787034670755 Centerline is valid? [True, True] Translation: X:228.48, Y:-32.37, Z:-7.26 [[ 9.88678354e-01 1.49487404e-01 1.29856945e-02 2.28479197e+02] [-1.49477404e-01 9.88763606e-01 -1.74275309e-03 -3.23664870e+01] [-1.31003017e-02 -2.18045654e-04 9.99914164e-01 -7.25760130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.85420382200002 meters Centerline goodness [0,1] 0.9999571780323306 Centerline is valid? [True, True] Translation: X:228.51, Y:-32.37, Z:-7.26 [[ 9.89025533e-01 1.47233810e-01 1.22760391e-02 2.28507257e+02] [-1.47224706e-01 9.89101700e-01 -1.64704269e-03 -3.23722846e+01] [-1.23847515e-02 -1.78368963e-04 9.99923290e-01 -7.25848868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.88420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.53, Y:-32.38, Z:-7.26 [[ 9.89239007e-01 1.45794308e-01 1.22558760e-02 2.28534549e+02] [-1.45785128e-01 9.89314911e-01 -1.64394812e-03 -3.23752357e+01] [-1.23645991e-02 -1.60466846e-04 9.99923543e-01 -7.25953344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.91420382200002 meters Centerline goodness [0,1] 0.999978596348537 Centerline is valid? [True, True] Translation: X:228.56, Y:-32.38, Z:-7.26 [[ 9.89655042e-01 1.42868463e-01 1.30957847e-02 2.28562468e+02] [-1.42857738e-01 9.89741676e-01 -1.75566858e-03 -3.23753970e+01] [-1.32122736e-02 -1.33327908e-04 9.99912705e-01 -7.26040587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.94420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.59, Y:-32.38, Z:-7.26 [[ 9.89891020e-01 1.41164017e-01 1.37291292e-02 2.28590988e+02] [-1.41152081e-01 9.89986215e-01 -1.83943092e-03 -3.23804306e+01] [-1.38513101e-02 -1.17059002e-04 9.99904059e-01 -7.25868502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.97420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.62, Y:-32.38, Z:-7.26 [[ 9.89901149e-01 1.41092964e-01 1.37291644e-02 2.28618245e+02] [-1.41081025e-01 9.89996344e-01 -1.83916799e-03 -3.23839427e+01] [-1.38513163e-02 -1.16330078e-04 9.99904059e-01 -7.25952614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.00420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.65, Y:-32.39, Z:-7.26 [[ 9.90478278e-01 1.36898083e-01 1.45497466e-02 2.28646955e+02] [-1.36884246e-01 9.90585136e-01 -1.94734120e-03 -3.23910818e+01] [-1.46793500e-02 -6.28319429e-05 9.99892251e-01 -7.25765337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.03420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.67, Y:-32.40, Z:-7.26 [[ 9.90774169e-01 1.34749619e-01 1.44598455e-02 2.28673992e+02] [-1.34735725e-01 9.90879679e-01 -1.93524668e-03 -3.23956080e+01] [-1.45887408e-02 -3.08653446e-05 9.99893578e-01 -7.25929148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.06420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.70, Y:-32.40, Z:-7.26 [[ 9.91039976e-01 1.32795021e-01 1.43265076e-02 2.28701668e+02] [-1.32781193e-01 9.91143523e-01 -1.91633849e-03 -3.24003787e+01] [-1.44541054e-02 -3.12272702e-06 9.99895534e-01 -7.26199068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.09420382200003 meters Centerline goodness [0,1] 0.9998496111373695 Centerline is valid? [True, True] Translation: X:228.73, Y:-32.41, Z:-7.27 [[ 9.91581592e-01 1.28743072e-01 1.38263553e-02 2.28729329e+02] [-1.28729812e-01 9.91677981e-01 -1.84847576e-03 -3.24075662e+01] [-1.39492706e-02 5.30504165e-05 9.99902703e-01 -7.26530923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.124203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.76, Y:-32.41, Z:-7.26 [[ 9.91827816e-01 1.26864185e-01 1.35300393e-02 2.28756962e+02] [-1.26851318e-01 9.91920094e-01 -1.80842221e-03 -3.24131976e+01] [-1.36501418e-02 7.73401273e-05 9.99906829e-01 -7.26319469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.154203822 meters Centerline goodness [0,1] 0.999849436462187 Centerline is valid? [True, True] Translation: X:228.78, Y:-32.42, Z:-7.27 [[ 9.92142329e-01 1.24579708e-01 1.15540233e-02 2.28784906e+02] [-1.24570182e-01 9.92209599e-01 -1.54339495e-03 -3.24172407e+01] [-1.16562885e-02 9.19806824e-05 9.99932059e-01 -7.27165453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.184203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.81, Y:-32.42, Z:-7.27 [[ 9.92247108e-01 1.23711379e-01 1.18815845e-02 2.28813471e+02] [-1.23701245e-01 9.92318237e-01 -1.58692237e-03 -3.24206085e+01] [-1.19866333e-02 1.04852341e-04 9.99928152e-01 -7.26773809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.214203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.84, Y:-32.43, Z:-7.27 [[ 9.92236363e-01 1.23773208e-01 1.21322786e-02 2.28841125e+02] [-1.23762652e-01 9.92310527e-01 -1.61998885e-03 -3.24253837e+01] [-1.22394990e-02 1.05888872e-04 9.99925089e-01 -7.27144256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.244203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.87, Y:-32.43, Z:-7.27 [[ 9.91986693e-01 1.25728974e-01 1.24349083e-02 2.28870238e+02] [-1.25718050e-01 9.92064624e-01 -1.65935226e-03 -3.24252065e+01] [-1.25448612e-02 8.27629363e-05 9.99921307e-01 -7.26909644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.274203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.90, Y:-32.43, Z:-7.27 [[ 9.91791502e-01 1.27288045e-01 1.21395709e-02 2.28897797e+02] [-1.27277756e-01 9.91865792e-01 -1.61959995e-03 -3.24252467e+01] [-1.22469808e-02 6.12081273e-05 9.99925001e-01 -7.27068912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.304203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.93, Y:-32.42, Z:-7.27 [[ 9.91341289e-01 1.30756985e-01 1.20440465e-02 2.28927199e+02] [-1.30747124e-01 9.91414449e-01 -1.60594227e-03 -3.24210162e+01] [-1.21506299e-02 1.73124425e-05 9.99926178e-01 -7.26967510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.334203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.95, Y:-32.42, Z:-7.27 [[ 9.91117022e-01 1.32404026e-01 1.24989287e-02 2.28954706e+02] [-1.32393542e-01 9.91195830e-01 -1.66613074e-03 -3.24216496e+01] [-1.26094885e-02 -3.44691198e-06 9.99920497e-01 -7.27329140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.364203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.98, Y:-32.42, Z:-7.27 [[ 9.90913938e-01 1.33884153e-01 1.28297161e-02 2.28983422e+02] [-1.33873245e-01 9.90996989e-01 -1.70915701e-03 -3.24222793e+01] [-1.29430390e-02 -2.39282232e-05 9.99916235e-01 -7.27088076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.394203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.01, Y:-32.42, Z:-7.27 [[ 9.90455788e-01 1.37213597e-01 1.30292246e-02 2.29012565e+02] [-1.37202641e-01 9.90541480e-01 -1.73527523e-03 -3.24178452e+01] [-1.31440907e-02 -6.89306309e-05 9.99913610e-01 -7.27170966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.424203822 meters Centerline goodness [0,1] 0.9998280050738503 Centerline is valid? [True, True] Translation: X:229.04, Y:-32.42, Z:-7.28 [[ 9.90236477e-01 1.38843189e-01 1.24213043e-02 2.29041400e+02] [-1.38833372e-01 9.90314375e-01 -1.65340545e-03 -3.24174780e+01] [-1.25305603e-02 -8.72291731e-05 9.99921486e-01 -7.27662805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.454203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.07, Y:-32.42, Z:-7.27 [[ 9.89998382e-01 1.40417326e-01 1.36447490e-02 2.29069419e+02] [-1.40405637e-01 9.90092400e-01 -1.81562928e-03 -3.24150459e+01] [-1.37645081e-02 -1.18329623e-04 9.99905258e-01 -7.27447160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.484203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.10, Y:-32.42, Z:-7.27 [[ 9.89974352e-01 1.40564975e-01 1.38661556e-02 2.29097437e+02] [-1.40552928e-01 9.90071448e-01 -1.84436360e-03 -3.24171626e+01] [-1.39877377e-02 -1.23056114e-04 9.99902159e-01 -7.27435515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.514203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.13, Y:-32.42, Z:-7.27 [[ 9.89989941e-01 1.40482688e-01 1.35842362e-02 2.29125740e+02] [-1.40471126e-01 9.90083128e-01 -1.80635629e-03 -3.24199143e+01] [-1.37032849e-02 -1.19918405e-04 9.99906098e-01 -7.27382803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.54420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.15, Y:-32.42, Z:-7.28 [[ 9.90181333e-01 1.39111818e-01 1.37415143e-02 2.29153204e+02] [-1.39099876e-01 9.90276674e-01 -1.82567833e-03 -3.24224800e+01] [-1.38618745e-02 -1.03690329e-04 9.99903914e-01 -7.27596151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.57420382200002 meters Centerline goodness [0,1] 0.9999786100832068 Centerline is valid? [True, True] Translation: X:229.18, Y:-32.43, Z:-7.28 [[ 9.90652109e-01 1.35675433e-01 1.41624853e-02 2.29181288e+02] [-1.35662425e-01 9.90753336e-01 -1.87968906e-03 -3.24295585e+01] [-1.42865572e-02 -5.91991550e-05 9.99897940e-01 -7.27615930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.60420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.21, Y:-32.43, Z:-7.28 [[ 9.90941045e-01 1.33587061e-01 1.37964369e-02 2.29208487e+02] [-1.33574517e-01 9.91037081e-01 -1.83088047e-03 -3.24346501e+01] [-1.39173625e-02 -2.85577968e-05 9.99903148e-01 -7.27698389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.63420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.24, Y:-32.44, Z:-7.28 [[ 9.91214621e-01 1.31552139e-01 1.36970852e-02 2.29237053e+02] [-1.31539600e-01 9.91309253e-01 -1.81628647e-03 -3.24390585e+01] [-1.38169836e-02 -1.37940451e-06 9.99904541e-01 -7.27693603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.66420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.26, Y:-32.44, Z:-7.28 [[ 9.91599511e-01 1.28535944e-01 1.44541270e-02 2.29264594e+02] [-1.28521669e-01 9.91704850e-01 -1.91605074e-03 -3.24435060e+01] [-1.45805092e-02 4.22864512e-05 9.99893698e-01 -7.27685952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.69420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.29, Y:-32.45, Z:-7.28 [[ 9.91747214e-01 1.27381392e-01 1.45411306e-02 2.29293065e+02] [-1.27366837e-01 9.91853809e-01 -1.92644816e-03 -3.24478863e+01] [-1.46680694e-02 5.84917862e-05 9.99892416e-01 -7.27785110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.72420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.32, Y:-32.45, Z:-7.28 [[ 9.91944452e-01 1.25888288e-01 1.40834456e-02 2.29319951e+02] [-1.25874496e-01 9.92044421e-01 -1.86506625e-03 -3.24524305e+01] [-1.42061936e-02 7.72955066e-05 9.99899084e-01 -7.28208457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.75420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.35, Y:-32.46, Z:-7.28 [[ 9.92073337e-01 1.24865854e-01 1.41071689e-02 2.29348832e+02] [-1.24851919e-01 9.92173629e-01 -1.86769322e-03 -3.24562347e+01] [-1.42299721e-02 9.15815387e-05 9.99898745e-01 -7.28064652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.78420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.38, Y:-32.46, Z:-7.28 [[ 9.92229310e-01 1.23546987e-01 1.47356438e-02 2.29375796e+02] [-1.23531646e-01 9.92338717e-01 -1.95028017e-03 -3.24608826e+01] [-1.48637011e-02 1.14806814e-04 9.99889523e-01 -7.28095385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.81420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.40, Y:-32.46, Z:-7.28 [[ 9.92401537e-01 1.21974677e-01 1.61668953e-02 2.29403701e+02] [-1.21956022e-01 9.92533201e-01 -2.13849715e-03 -3.24645288e+01] [-1.63070229e-02 1.50597623e-04 9.99867020e-01 -7.27981859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.84420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.43, Y:-32.47, Z:-7.28 [[ 9.92488661e-01 1.21242527e-01 1.63250395e-02 2.29433039e+02] [-1.21223425e-01 9.92622901e-01 -2.15823516e-03 -3.24665541e+01] [-1.64662780e-02 1.63046713e-04 9.99864408e-01 -7.27896138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.874203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.46, Y:-32.47, Z:-7.28 [[ 9.92697313e-01 1.19682923e-01 1.51010886e-02 2.29460344e+02] [-1.19666405e-01 9.92812151e-01 -1.99597524e-03 -3.24716002e+01] [-1.52314284e-02 1.74306269e-04 9.99883980e-01 -7.28252171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.904203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.49, Y:-32.48, Z:-7.29 [[ 9.92837823e-01 1.18486256e-01 1.52991410e-02 2.29487283e+02] [-1.18469175e-01 9.92955673e-01 -2.02117227e-03 -3.24788832e+01] [-1.54308500e-02 1.94219668e-04 9.99880918e-01 -7.28508536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.934203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.52, Y:-32.49, Z:-7.28 [[ 9.93253346e-01 1.14680136e-01 1.72121103e-02 2.29515523e+02] [-1.14657969e-01 9.93402429e-01 -2.27247998e-03 -3.24876347e+01] [-1.73591605e-02 2.83642727e-04 9.99849278e-01 -7.28111305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.964203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.54, Y:-32.50, Z:-7.28 [[ 9.93502574e-01 1.12414917e-01 1.77629580e-02 2.29544557e+02] [-1.12390968e-01 9.93661298e-01 -2.34398630e-03 -3.24962575e+01] [-1.79138629e-02 3.32360378e-04 9.99839479e-01 -7.28120229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.994203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.57, Y:-32.50, Z:-7.28 [[ 9.93784369e-01 1.09990518e-01 1.71672359e-02 2.29573333e+02] [-1.09967794e-01 9.93932570e-01 -2.26499107e-03 -3.25038563e+01] [-1.73122025e-02 3.63069656e-04 9.99850067e-01 -7.28159488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.024203822 meters Centerline goodness [0,1] 0.9999134274088823 Centerline is valid? [True, True] Translation: X:229.60, Y:-32.52, Z:-7.29 [[ 9.94240950e-01 1.06269317e-01 1.38479486e-02 2.29600458e+02] [-1.06254173e-01 9.94337324e-01 -1.82685456e-03 -3.25171564e+01] [-1.39636707e-02 3.44931290e-04 9.99902444e-01 -7.28969455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.054203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.63, Y:-32.53, Z:-7.29 [[ 9.94601724e-01 1.02895767e-01 1.34116045e-02 2.29629697e+02] [-1.02881265e-01 9.94692072e-01 -1.76856854e-03 -3.25288940e+01] [-1.35223949e-02 3.79218479e-04 9.99908496e-01 -7.29035726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.084203822 meters Centerline goodness [0,1] 0.9999126198746096 Centerline is valid? [True, True] Translation: X:229.66, Y:-32.54, Z:-7.29 [[ 9.94708676e-01 1.01925523e-01 1.28778393e-02 2.29658619e+02] [-1.01912069e-01 9.94791961e-01 -1.69839332e-03 -3.25372527e+01] [-1.29838807e-02 3.76999323e-04 9.99915635e-01 -7.29368264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.114203822 meters Centerline goodness [0,1] 0.9999783019072623 Centerline is valid? [True, True] Translation: X:229.69, Y:-32.55, Z:-7.29 [[ 9.94779473e-01 1.01100092e-01 1.38770151e-02 2.29687243e+02] [-1.01084389e-01 9.94876172e-01 -1.83017337e-03 -3.25450479e+01] [-1.39909424e-02 4.17869295e-04 9.99902035e-01 -7.29170401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.144203822 meters Centerline goodness [0,1] 0.9999349240780911 Centerline is valid? [True, True] Translation: X:229.72, Y:-32.55, Z:-7.29 [[ 9.94744216e-01 1.01259854e-01 1.51784912e-02 2.29715937e+02] [-1.01241095e-01 9.94859908e-01 -2.00119465e-03 -3.25533335e+01] [-1.53031130e-02 4.53989737e-04 9.99882797e-01 -7.28998836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.174203822 meters Centerline goodness [0,1] 0.9999788364267423 Centerline is valid? [True, True] Translation: X:229.75, Y:-32.56, Z:-7.29 [[ 9.94622722e-01 1.02365079e-01 1.57172479e-02 2.29745341e+02] [-1.02345109e-01 9.94746795e-01 -2.07184754e-03 -3.25601006e+01] [-1.58467669e-02 4.52123188e-04 9.99874330e-01 -7.29088339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.204203822 meters Centerline goodness [0,1] 0.9999567361772086 Centerline is valid? [True, True] Translation: X:229.78, Y:-32.56, Z:-7.29 [[ 9.94373277e-01 1.04921506e-01 1.46035395e-02 2.29775704e+02] [-1.04904541e-01 9.94480433e-01 -1.92503850e-03 -3.25618900e+01] [-1.47249123e-02 3.82229223e-04 9.99891510e-01 -7.29043111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.234203822 meters Centerline goodness [0,1] 0.9999784955485785 Centerline is valid? [True, True] Translation: X:229.81, Y:-32.57, Z:-7.29 [[ 9.94202404e-01 1.06533766e-01 1.45649203e-02 2.29805627e+02] [-1.06517063e-01 9.94309021e-01 -1.91994771e-03 -3.25658749e+01] [-1.46865709e-02 3.57404093e-04 9.99892083e-01 -7.29143754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.264203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.83, Y:-32.57, Z:-7.30 [[ 9.93759101e-01 1.10617262e-01 1.43760569e-02 2.29834731e+02] [-1.10601417e-01 9.93863037e-01 -1.89505173e-03 -3.25716959e+01] [-1.44974570e-02 2.93212648e-04 9.99894863e-01 -7.29560271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.29420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.86, Y:-32.57, Z:-7.29 [[ 9.93514347e-01 1.12791695e-01 1.43970906e-02 2.29864754e+02] [-1.12776026e-01 9.93618621e-01 -1.89822092e-03 -3.25707606e+01] [-1.45193209e-02 2.62263064e-04 9.99894555e-01 -7.29385599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.32420382200002 meters Centerline goodness [0,1] 0.9998715890850722 Centerline is valid? [True, True] Translation: X:229.89, Y:-32.57, Z:-7.30 [[ 9.93209881e-01 1.15515647e-01 1.37937206e-02 2.29893696e+02] [-1.15501530e-01 9.93305638e-01 -1.81835351e-03 -3.25737310e+01] [-1.39114287e-02 2.12810832e-04 9.99903209e-01 -7.29954648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.35420382200002 meters Centerline goodness [0,1] 0.9999785807612398 Centerline is valid? [True, True] Translation: X:229.92, Y:-32.57, Z:-7.30 [[ 9.92659101e-01 1.20120871e-01 1.41026695e-02 2.29924261e+02] [-1.20106585e-01 9.92759263e-01 -1.85870818e-03 -3.25708312e+01] [-1.42238254e-02 1.51240117e-04 9.99898825e-01 -7.29701684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.38420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.95, Y:-32.57, Z:-7.30 [[ 9.92373350e-01 1.22560070e-01 1.31971137e-02 2.29953500e+02] [-1.22547776e-01 9.92461091e-01 -1.73929920e-03 -3.25728397e+01] [-1.33107905e-02 1.08757242e-04 9.99911402e-01 -7.29920652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.41420382200002 meters Centerline goodness [0,1] 0.9998479054406396 Centerline is valid? [True, True] Translation: X:229.98, Y:-32.57, Z:-7.31 [[ 9.91882043e-01 1.26620824e-01 1.17124028e-02 2.29982242e+02] [-1.26611427e-01 9.91951191e-01 -1.54332794e-03 -3.25746006e+01] [-1.18135493e-02 4.78752396e-05 9.99930216e-01 -7.30500141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.44420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.01, Y:-32.58, Z:-7.30 [[ 9.91781800e-01 1.27318407e-01 1.26049798e-02 2.30009807e+02] [-1.27307581e-01 9.91861896e-01 -1.66082588e-03 -3.25782282e+01] [-1.27138529e-02 4.24673960e-05 9.99919175e-01 -7.30458898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.47420382200002 meters Centerline goodness [0,1] 0.9999137875293661 Centerline is valid? [True, True] Translation: X:230.04, Y:-32.58, Z:-7.31 [[ 9.91689799e-01 1.28164793e-01 1.11861100e-02 2.30038180e+02] [-1.28156321e-01 9.91752885e-01 -1.47391655e-03 -3.25823737e+01] [-1.12827611e-02 2.80973091e-05 9.99936347e-01 -7.30734173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.50420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.07, Y:-32.59, Z:-7.31 [[ 9.91815314e-01 1.27087537e-01 1.22939536e-02 2.30065642e+02] [-1.27077243e-01 9.91891504e-01 -1.61805784e-03 -3.25887685e+01] [-1.23999031e-02 4.25328181e-05 9.99923117e-01 -7.30683873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.53420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.09, Y:-32.60, Z:-7.31 [[ 9.91941932e-01 1.26050629e-01 1.27452925e-02 2.30093599e+02] [-1.26039495e-01 9.92023808e-01 -1.67630116e-03 -3.25950219e+01] [-1.28549324e-02 5.63831792e-05 9.99917370e-01 -7.30500313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.56420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.12, Y:-32.61, Z:-7.30 [[ 9.92258041e-01 1.23300379e-01 1.48659774e-02 2.30120940e+02] [-1.23284943e-01 9.92369390e-01 -1.95381872e-03 -3.26058975e+01] [-1.49934476e-02 1.05941148e-04 9.99887586e-01 -7.30479398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.59420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.15, Y:-32.61, Z:-7.30 [[ 9.92446193e-01 1.21776190e-01 1.48699067e-02 2.30150109e+02] [-1.21760580e-01 9.92557577e-01 -1.95402092e-03 -3.26126576e+01] [-1.49971918e-02 1.28692159e-04 9.99887528e-01 -7.30373885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.62420382200003 meters Centerline goodness [0,1] 0.9999141575637917 Centerline is valid? [True, True] Translation: X:230.18, Y:-32.62, Z:-7.31 [[ 9.92582288e-01 1.20764774e-01 1.40096814e-02 2.30179477e+02] [-1.20750827e-01 9.92681143e-01 -1.84028261e-03 -3.26199063e+01] [-1.41293878e-02 1.34951308e-04 9.99900166e-01 -7.30721358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.654203822 meters Centerline goodness [0,1] 0.9999134686107386 Centerline is valid? [True, True] Translation: X:230.21, Y:-32.63, Z:-7.31 [[ 9.92802895e-01 1.18881596e-01 1.44767750e-02 2.30208308e+02] [-1.18866498e-01 9.92908424e-01 -1.90203448e-03 -3.26302519e+01] [-1.46002288e-02 1.67541796e-04 9.99893397e-01 -7.30788874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.684203822 meters Centerline goodness [0,1] 0.9999352107809261 Centerline is valid? [True, True] Translation: X:230.24, Y:-32.64, Z:-7.31 [[ 9.92878865e-01 1.18237771e-01 1.45391987e-02 2.30236938e+02] [-1.18222481e-01 9.92985296e-01 -1.90967156e-03 -3.26359943e+01] [-1.46630058e-02 1.77212387e-04 9.99892477e-01 -7.30839155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.714203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.27, Y:-32.64, Z:-7.31 [[ 9.92955972e-01 1.17488104e-01 1.53291352e-02 2.30266556e+02] [-1.17471018e-01 9.93074270e-01 -2.01340049e-03 -3.26396777e+01] [-1.54595203e-02 1.98488926e-04 9.99880475e-01 -7.30601524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.744203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.30, Y:-32.64, Z:-7.31 [[ 9.92929667e-01 1.17650731e-01 1.57791415e-02 2.30296733e+02] [-1.17632660e-01 9.93055016e-01 -2.07173745e-03 -3.26432177e+01] [-1.59132971e-02 2.00947189e-04 9.99873355e-01 -7.30554694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.774203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.33, Y:-32.65, Z:-7.31 [[ 9.92791712e-01 1.18788972e-01 1.59310086e-02 2.30326591e+02] [-1.18770702e-01 9.92919506e-01 -2.09149629e-03 -3.26485170e+01] [-1.60666559e-02 1.84283108e-04 9.99870906e-01 -7.30744756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.804203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.36, Y:-32.65, Z:-7.31 [[ 9.92699247e-01 1.19649901e-01 1.52350310e-02 2.30355945e+02] [-1.19633285e-01 9.92816133e-01 -2.00067315e-03 -3.26524685e+01] [-1.53649649e-02 1.63449926e-04 9.99881939e-01 -7.31032027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.834203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.39, Y:-32.66, Z:-7.31 [[ 9.92565486e-01 1.20880820e-01 1.41979820e-02 2.30385581e+02] [-1.20866514e-01 9.92667018e-01 -1.86453073e-03 -3.26558377e+01] [-1.43192545e-02 1.34608255e-04 9.99897465e-01 -7.31286499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.864203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.41, Y:-32.66, Z:-7.31 [[ 9.92566687e-01 1.20965151e-01 1.33717775e-02 2.30414512e+02] [-1.20952470e-01 9.92656747e-01 -1.75598011e-03 -3.26592451e+01] [-1.34859976e-02 1.25577832e-04 9.99909052e-01 -7.31379201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.894203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.44, Y:-32.66, Z:-7.31 [[ 9.92569676e-01 1.20940615e-01 1.33718695e-02 2.30443426e+02] [-1.20927942e-01 9.92659736e-01 -1.75527938e-03 -3.26629961e+01] [-1.34860010e-02 1.25204431e-04 9.99909052e-01 -7.31468430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.924203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.47, Y:-32.67, Z:-7.32 [[ 9.92627104e-01 1.20605167e-01 1.20758770e-02 2.30472300e+02] [-1.20594812e-01 9.92700549e-01 -1.58469875e-03 -3.26674943e+01] [-1.21788526e-02 1.16726811e-04 9.99925828e-01 -7.31831286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.954203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.50, Y:-32.67, Z:-7.32 [[ 9.92819484e-01 1.19018180e-01 1.20060158e-02 2.30501783e+02] [-1.19007828e-01 9.92892066e-01 -1.57561032e-03 -3.26719234e+01] [-1.21082041e-02 1.35486762e-04 9.99926684e-01 -7.31946671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.984203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.53, Y:-32.68, Z:-7.32 [[ 9.92927341e-01 1.17993628e-01 1.31453005e-02 2.30530123e+02] [-1.17981130e-01 9.93014339e-01 -1.72493283e-03 -3.26782507e+01] [-1.32570030e-02 1.61835560e-04 9.99912109e-01 -7.31994974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.014203822 meters Centerline goodness [0,1] 0.9999786671217681 Centerline is valid? [True, True] Translation: X:230.56, Y:-32.69, Z:-7.32 [[ 9.93286637e-01 1.14865418e-01 1.36964198e-02 2.30558774e+02] [-1.14851572e-01 9.93381040e-01 -1.79588004e-03 -3.26906278e+01] [-1.38120483e-02 2.10768303e-04 9.99904587e-01 -7.32249281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.04420382200001 meters Centerline goodness [0,1] 0.9999786939384255 Centerline is valid? [True, True] Translation: X:230.59, Y:-32.69, Z:-7.32 [[ 9.93421536e-01 1.13714425e-01 1.35159388e-02 2.30589815e+02] [-1.13700835e-01 9.93513452e-01 -1.77217127e-03 -3.26945955e+01] [-1.36297885e-02 2.23739565e-04 9.99907085e-01 -7.32129034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.07420382200002 meters Centerline goodness [0,1] 0.9999785315586088 Centerline is valid? [True, True] Translation: X:230.62, Y:-32.70, Z:-7.32 [[ 9.93572034e-01 1.12385368e-01 1.35699117e-02 2.30620456e+02] [-1.12371541e-01 9.93664667e-01 -1.77957334e-03 -3.26998457e+01] [-1.36839398e-02 2.43262409e-04 9.99906341e-01 -7.32104452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.10420382200002 meters Centerline goodness [0,1] 0.9999786174011589 Centerline is valid? [True, True] Translation: X:230.65, Y:-32.71, Z:-7.32 [[ 9.93843025e-01 1.09787333e-01 1.49259360e-02 2.30650460e+02] [-1.09770320e-01 9.93955053e-01 -1.95681265e-03 -3.27094080e+01] [-1.50505428e-02 3.06339821e-04 9.99886687e-01 -7.31991589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.13420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.68, Y:-32.72, Z:-7.32 [[ 9.94082829e-01 1.07702720e-01 1.41228137e-02 2.30679809e+02] [-1.07687246e-01 9.94183092e-01 -1.85376494e-03 -3.27203518e+01] [-1.42403181e-02 3.21948975e-04 9.99898550e-01 -7.32240624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.16420382200002 meters Centerline goodness [0,1] 0.9999784408416695 Centerline is valid? [True, True] Translation: X:230.71, Y:-32.73, Z:-7.33 [[ 9.94132663e-01 1.07317478e-01 1.35353892e-02 2.30710109e+02] [-1.07303256e-01 9.94224754e-01 -1.77476900e-03 -3.27279884e+01] [-1.36476827e-02 3.11964506e-04 9.99906817e-01 -7.32544859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.19420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.74, Y:-32.73, Z:-7.32 [[ 9.94090011e-01 1.07709302e-01 1.35556858e-02 2.30742130e+02] [-1.07695049e-01 9.94182383e-01 -1.77921246e-03 -3.27306846e+01] [-1.36684617e-02 3.08817090e-04 9.99906535e-01 -7.32394874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.22420382200002 meters Centerline goodness [0,1] 0.999956870525317 Centerline is valid? [True, True] Translation: X:230.77, Y:-32.73, Z:-7.32 [[ 9.93773041e-01 1.10414883e-01 1.49565232e-02 2.30773444e+02] [-1.10397755e-01 9.93885537e-01 -1.96853136e-03 -3.27314409e+01] [-1.50824273e-02 3.05106808e-04 9.99886207e-01 -7.32323994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.25420382200002 meters Centerline goodness [0,1] 0.9999786447989408 Centerline is valid? [True, True] Translation: X:230.80, Y:-32.74, Z:-7.32 [[ 9.93511427e-01 1.12499540e-01 1.67002517e-02 2.30803673e+02] [-1.12478482e-01 9.93651730e-01 -2.19788370e-03 -3.27355793e+01] [-1.68414949e-02 3.05203620e-04 9.99858125e-01 -7.32204982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.28420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.84, Y:-32.73, Z:-7.32 [[ 9.92980067e-01 1.17172236e-01 1.61633493e-02 2.30836318e+02] [-1.17153102e-01 9.93111584e-01 -2.12886603e-03 -3.27318673e+01] [-1.63014534e-02 2.20335029e-04 9.99867098e-01 -7.32244811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.31420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.87, Y:-32.73, Z:-7.33 [[ 9.92743299e-01 1.19376369e-01 1.44922396e-02 2.30867675e+02] [-1.19361213e-01 9.92849060e-01 -1.90938062e-03 -3.27337050e+01] [-1.46165414e-02 1.65713514e-04 9.99893159e-01 -7.32606562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.34420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.90, Y:-32.73, Z:-7.33 [[ 9.92287210e-01 1.23343274e-01 1.23503165e-02 2.30898069e+02] [-1.23332567e-01 9.92364060e-01 -1.62781960e-03 -3.27323334e+01] [-1.24567908e-02 9.20683332e-05 9.99922407e-01 -7.33172124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.37420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.93, Y:-32.73, Z:-7.33 [[ 9.92028155e-01 1.25403767e-01 1.24110966e-02 2.30926605e+02] [-1.25393107e-01 9.92105786e-01 -1.63649531e-03 -3.27331236e+01] [-1.25183435e-02 6.71834625e-05 9.99921640e-01 -7.33373788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.404203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.96, Y:-32.73, Z:-7.33 [[ 9.91766893e-01 1.27369207e-01 1.32481984e-02 2.30956329e+02] [-1.27357245e-01 9.91855374e-01 -1.74609794e-03 -3.27330482e+01] [-1.33626959e-02 4.44680805e-05 9.99910714e-01 -7.33194365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.434203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.98, Y:-32.73, Z:-7.33 [[ 9.91344754e-01 1.30520699e-01 1.41394980e-02 2.30984763e+02] [-1.30507391e-01 9.91445585e-01 -1.86379757e-03 -3.27272647e+01] [-1.42618070e-02 2.35694522e-06 9.99898295e-01 -7.33107673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.464203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.01, Y:-32.72, Z:-7.33 [[ 9.91041933e-01 1.32817815e-01 1.39755498e-02 2.31012910e+02] [-1.32805054e-01 9.91140468e-01 -1.84136659e-03 -3.27236238e+01] [-1.40962993e-02 -3.11521372e-05 9.99900642e-01 -7.33262310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.494203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.04, Y:-32.73, Z:-7.33 [[ 9.90991489e-01 1.33182821e-01 1.40785521e-02 2.31042052e+02] [-1.33169925e-01 9.91091487e-01 -1.85368703e-03 -3.27259474e+01] [-1.42000124e-02 -3.78516559e-05 9.99899174e-01 -7.33336348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.524203822 meters Centerline goodness [0,1] 0.9999788252233939 Centerline is valid? [True, True] Translation: X:231.07, Y:-32.73, Z:-7.33 [[ 9.90969262e-01 1.33290440e-01 1.46144097e-02 2.31069698e+02] [-1.33276564e-01 9.91077019e-01 -1.92365613e-03 -3.27280434e+01] [-1.47404106e-02 -4.14742198e-05 9.99891353e-01 -7.33495294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.554203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.10, Y:-32.73, Z:-7.33 [[ 9.91225803e-01 1.31176990e-01 1.62482294e-02 2.31098287e+02] [-1.31159577e-01 9.91358965e-01 -2.13733632e-03 -3.27300237e+01] [-1.63881972e-02 -1.25279860e-05 9.99865704e-01 -7.33343863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.584203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.13, Y:-32.73, Z:-7.33 [[ 9.91478153e-01 1.29119182e-01 1.73005231e-02 2.31127383e+02] [-1.29099148e-01 9.91629082e-01 -2.27452331e-03 -3.27346530e+01] [-1.74493864e-02 2.16573727e-05 9.99847748e-01 -7.33240404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.614203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.16, Y:-32.74, Z:-7.33 [[ 9.91744857e-01 1.26947248e-01 1.80702831e-02 2.31155153e+02] [-1.26925031e-01 9.91909468e-01 -2.37574546e-03 -3.27398347e+01] [-1.82256792e-02 6.25620887e-05 9.99833897e-01 -7.33253897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.644203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.18, Y:-32.75, Z:-7.34 [[ 9.92379832e-01 1.22067259e-01 1.67884640e-02 2.31184886e+02] [-1.22047414e-01 9.92521821e-01 -2.20542087e-03 -3.27480318e+01] [-1.69321266e-02 1.39626566e-04 9.99856632e-01 -7.33580101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.674203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.21, Y:-32.75, Z:-7.34 [[ 9.92689539e-01 1.19682754e-01 1.56050756e-02 2.31214847e+02] [-1.19665313e-01 9.92812173e-01 -2.04996474e-03 -3.27547656e+01] [-1.57382544e-02 1.67592295e-04 9.99876132e-01 -7.33921805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.704203822 meters Centerline goodness [0,1] 0.9998929565403554 Centerline is valid? [True, True] Translation: X:231.24, Y:-32.76, Z:-7.34 [[ 9.93189007e-01 1.15547585e-01 1.49783987e-02 2.31244139e+02] [-1.15531045e-01 9.93301921e-01 -1.96783064e-03 -3.27609621e+01] [-1.51054503e-02 2.23957704e-04 9.99885881e-01 -7.34218513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.734203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.27, Y:-32.77, Z:-7.34 [[ 9.93447580e-01 1.13217632e-01 1.56100462e-02 2.31273287e+02] [-1.13199383e-01 9.93570176e-01 -2.05060499e-03 -3.27687610e+01] [-1.57418410e-02 2.70120973e-04 9.99876053e-01 -7.34111428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.764203822 meters Centerline goodness [0,1] 0.9998269372214771 Centerline is valid? [True, True] Translation: X:231.30, Y:-32.77, Z:-7.34 [[ 9.93963890e-01 1.08658890e-01 1.51337866e-02 2.31304147e+02] [-1.08641220e-01 9.94079039e-01 -1.98730661e-03 -3.27739078e+01] [-1.52601186e-02 3.31157963e-04 9.99883503e-01 -7.34363085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.79420382200001 meters Centerline goodness [0,1] 0.9998482647996012 Centerline is valid? [True, True] Translation: X:231.33, Y:-32.78, Z:-7.34 [[ 9.94255568e-01 1.05907976e-01 1.54714695e-02 2.31334931e+02] [-1.05889169e-01 9.94375862e-01 -2.03204162e-03 -3.27805270e+01] [-1.55996652e-02 3.82107642e-04 9.99878245e-01 -7.34369439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.82420382200002 meters Centerline goodness [0,1] 0.9996122528111672 Centerline is valid? [True, True] Translation: X:231.36, Y:-32.80, Z:-7.34 [[ 9.94838302e-01 1.00054796e-01 1.69053202e-02 2.31362398e+02] [-1.00031482e-01 9.94981793e-01 -2.22119915e-03 -3.28026009e+01] [-1.70427274e-02 5.18669760e-04 9.99854628e-01 -7.34488603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.85420382200002 meters Centerline goodness [0,1] 0.9998910699113309 Centerline is valid? [True, True] Translation: X:231.40, Y:-32.80, Z:-7.34 [[ 9.95064004e-01 9.77294740e-02 1.72214471e-02 2.31395020e+02] [-9.77049437e-02 9.95212855e-01 -2.26208460e-03 -3.28042310e+01] [-1.73600779e-02 5.68298436e-04 9.99849141e-01 -7.33992147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.88420382200002 meters Centerline goodness [0,1] 0.9998923944389446 Centerline is valid? [True, True] Translation: X:231.42, Y:-32.81, Z:-7.34 [[ 9.95245568e-01 9.59374228e-02 1.68009247e-02 2.31424550e+02] [-9.59138157e-02 9.95387195e-01 -2.20715211e-03 -3.28142023e+01] [-1.69351738e-02 5.85217558e-04 9.99856418e-01 -7.34210045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.91420382200002 meters Centerline goodness [0,1] 0.9998488675864153 Centerline is valid? [True, True] Translation: X:231.45, Y:-32.82, Z:-7.34 [[ 9.95466136e-01 9.37664841e-02 1.59693121e-02 2.31454543e+02] [-9.37448455e-02 9.95594041e-01 -2.09988545e-03 -3.28234936e+01] [-1.60958508e-02 5.93324164e-04 9.99870277e-01 -7.34434130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.94420382200002 meters Centerline goodness [0,1] 0.9996744226428199 Centerline is valid? [True, True] Translation: X:231.49, Y:-32.83, Z:-7.35 [[ 9.95513649e-01 9.33478484e-02 1.54516420e-02 2.31485525e+02] [-9.33275606e-02 9.95633388e-01 -2.03047895e-03 -3.28303908e+01] [-1.55737116e-02 5.79305448e-04 9.99878555e-01 -7.34882832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.97420382200002 meters Centerline goodness [0,1] 0.9990168839495619 Centerline is valid? [True, True] Translation: X:231.52, Y:-32.85, Z:-7.35 [[ 9.95569843e-01 9.24861283e-02 1.69412109e-02 2.31515008e+02] [-9.24615614e-02 9.95713759e-01 -2.22937771e-03 -3.28466165e+01] [-1.70747833e-02 6.53090405e-04 9.99854002e-01 -7.34668402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.00420382200002 meters Centerline goodness [0,1] 0.9998700088827264 Centerline is valid? [True, True] Translation: X:231.55, Y:-32.85, Z:-7.35 [[ 9.95579723e-01 9.24312173e-02 1.66578626e-02 2.31546857e+02] [-9.24074008e-02 9.95718862e-01 -2.19548029e-03 -3.28476741e+01] [-1.67894789e-02 6.46465867e-04 9.99858838e-01 -7.34533535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.03420382200002 meters Centerline goodness [0,1] 0.9997395550732502 Centerline is valid? [True, True] Translation: X:231.58, Y:-32.86, Z:-7.35 [[ 9.95534791e-01 9.29845115e-02 1.62591711e-02 2.31576298e+02] [-9.29618856e-02 9.95667361e-01 -2.14351484e-03 -3.28596376e+01] [-1.63880397e-02 6.22460386e-04 9.99865513e-01 -7.34854277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.06420382200002 meters Centerline goodness [0,1] 0.9995918367346939 Centerline is valid? [True, True] Translation: X:231.61, Y:-32.87, Z:-7.35 [[ 9.95219258e-01 9.64380276e-02 1.54381441e-02 2.31605289e+02] [-9.64179722e-02 9.95338844e-01 -2.03989549e-03 -3.28683741e+01] [-1.55629080e-02 5.41628728e-04 9.99878744e-01 -7.35338796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.09420382200003 meters Centerline goodness [0,1] 0.9999785112600997 Centerline is valid? [True, True] Translation: X:231.64, Y:-32.87, Z:-7.35 [[ 9.94388924e-01 1.04473209e-01 1.66137374e-02 2.31635209e+02] [-1.04451099e-01 9.94527600e-01 -2.19540956e-03 -3.28677234e+01] [-1.67521819e-02 4.47767821e-04 9.99859572e-01 -7.35047051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.12420382200003 meters Centerline goodness [0,1] 0.9999571468363652 Centerline is valid? [True, True] Translation: X:231.67, Y:-32.87, Z:-7.35 [[ 9.93798160e-01 1.10002797e-01 1.62666130e-02 2.31666279e+02] [-1.09982348e-01 9.93931217e-01 -2.14915174e-03 -3.28655113e+01] [-1.64043072e-02 3.46782753e-04 9.99865380e-01 -7.35173693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.154203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.70, Y:-32.86, Z:-7.35 [[ 9.93102355e-01 1.16216806e-01 1.55359592e-02 2.31698759e+02] [-1.16198917e-01 9.93223842e-01 -2.05225223e-03 -3.28598656e+01] [-1.56691912e-02 2.32834890e-04 9.99877204e-01 -7.35237541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.184203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.73, Y:-32.85, Z:-7.36 [[ 9.91518210e-01 1.29191352e-01 1.41856831e-02 2.31730765e+02] [-1.29177754e-01 9.91619682e-01 -1.87456878e-03 -3.28460358e+01] [-1.43089806e-02 2.61944058e-05 9.99897621e-01 -7.35769631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.214203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.76, Y:-32.84, Z:-7.36 [[ 9.90743936e-01 1.35038897e-01 1.38184792e-02 2.31760831e+02] [-1.35026554e-01 9.90840296e-01 -1.82665608e-03 -3.28414620e+01] [-1.39385757e-02 -5.61131942e-05 9.99902852e-01 -7.35772011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.244203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.79, Y:-32.83, Z:-7.36 [[ 9.89321180e-01 1.44928616e-01 1.54692744e-02 2.31792208e+02] [-1.44914368e-01 9.89442089e-01 -2.04398461e-03 -3.28312372e+01] [-1.56021831e-02 -2.19562861e-04 9.99878254e-01 -7.35578909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.274203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.82, Y:-32.83, Z:-7.36 [[ 9.88784542e-01 1.48487390e-01 1.60195055e-02 2.31820994e+02] [-1.48472575e-01 9.88914260e-01 -2.11679128e-03 -3.28264117e+01] [-1.61562343e-02 -2.85406748e-04 9.99869439e-01 -7.35764434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.304203822 meters Centerline goodness [0,1] 0.9999786548272108 Centerline is valid? [True, True] Translation: X:231.85, Y:-32.82, Z:-7.36 [[ 9.88363841e-01 1.51292522e-01 1.57318640e-02 2.31850959e+02] [-1.51278613e-01 9.88488981e-01 -2.07729181e-03 -3.28244891e+01] [-1.58650529e-02 -3.26774450e-04 9.99874089e-01 -7.35893115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.334203822 meters Centerline goodness [0,1] 0.9999785292538915 Centerline is valid? [True, True] Translation: X:231.88, Y:-32.83, Z:-7.36 [[ 9.88093256e-01 1.53218736e-01 1.39905457e-02 2.31880647e+02] [-1.53207933e-01 9.88192247e-01 -1.84712817e-03 -3.28255035e+01] [-1.41083635e-02 -3.18327695e-04 9.99900421e-01 -7.36144056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.364203822 meters Centerline goodness [0,1] 0.9999572448586943 Centerline is valid? [True, True] Translation: X:231.91, Y:-32.83, Z:-7.36 [[ 9.88218623e-01 1.52392568e-01 1.41583527e-02 2.31908743e+02] [-1.52381416e-01 9.88319993e-01 -1.86952340e-03 -3.28267129e+01] [-1.42778845e-02 -3.09971992e-04 9.99898018e-01 -7.36442253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.394203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.94, Y:-32.84, Z:-7.36 [[ 9.88870501e-01 1.47865578e-01 1.64591523e-02 2.31937416e+02] [-1.47849909e-01 9.89007426e-01 -2.17147652e-03 -3.28356121e+01] [-1.65993105e-02 -2.86175098e-04 9.99862181e-01 -7.36109824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.424203822 meters Centerline goodness [0,1] 0.9999573497110443 Centerline is valid? [True, True] Translation: X:231.96, Y:-32.84, Z:-7.36 [[ 9.89345341e-01 1.44551632e-01 1.73384258e-02 2.31964609e+02] [-1.44533737e-01 9.89497229e-01 -2.28742071e-03 -3.28411440e+01] [-1.74869747e-02 -2.42938448e-04 9.99847062e-01 -7.36229324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.454203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.99, Y:-32.85, Z:-7.36 [[ 9.89886345e-01 1.40736547e-01 1.78395392e-02 2.31992702e+02] [-1.40717003e-01 9.90047065e-01 -2.35236129e-03 -3.28499338e+01] [-1.79930466e-02 -1.81756167e-04 9.99838096e-01 -7.36169924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.484203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.02, Y:-32.87, Z:-7.36 [[ 9.91045490e-01 1.32164824e-01 1.90078092e-02 2.32020457e+02] [-1.32141083e-01 9.91227753e-01 -2.50514288e-03 -3.28661372e+01] [-1.91721598e-02 -2.90019341e-05 9.99816197e-01 -7.36001411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.514203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.05, Y:-32.88, Z:-7.36 [[ 9.91639679e-01 1.27636632e-01 1.89641068e-02 2.32049796e+02] [-1.27612185e-01 9.91820995e-01 -2.49866363e-03 -3.28767893e+01] [-1.91279203e-02 5.77228971e-05 9.99817043e-01 -7.36023078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.54420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.08, Y:-32.89, Z:-7.36 [[ 9.92643096e-01 1.19665033e-01 1.84381079e-02 2.32079657e+02] [-1.19640558e-01 9.92814302e-01 -2.42876448e-03 -3.28942125e+01] [-1.85962554e-02 2.04950770e-04 9.99827054e-01 -7.36174623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.57420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.11, Y:-32.90, Z:-7.36 [[ 9.93023652e-01 1.16427069e-01 1.86752431e-02 2.32110296e+02] [-1.16401395e-01 9.93199207e-01 -2.45965151e-03 -3.29043735e+01] [-1.88346067e-02 2.68667771e-04 9.99822577e-01 -7.36208713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.60420382200002 meters Centerline goodness [0,1] 0.9999787505312367 Centerline is valid? [True, True] Translation: X:232.14, Y:-32.92, Z:-7.37 [[ 9.93550120e-01 1.11770534e-01 1.91182427e-02 2.32139465e+02] [-1.11742703e-01 9.93733974e-01 -2.52121851e-03 -3.29210454e+01] [-1.92802452e-02 3.68632845e-04 9.99814051e-01 -7.36519703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.63420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.17, Y:-32.92, Z:-7.36 [[ 9.93699792e-01 1.10555153e-01 1.83924121e-02 2.32172002e+02] [-1.10529138e-01 9.93869918e-01 -2.42810889e-03 -3.29238273e+01] [-1.85481051e-02 3.79913830e-04 9.99827897e-01 -7.36384549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.66420382200002 meters Centerline goodness [0,1] 0.9998470981411502 Centerline is valid? [True, True] Translation: X:232.20, Y:-32.93, Z:-7.37 [[ 9.93719472e-01 1.10679662e-01 1.64809886e-02 2.32202207e+02] [-1.10658734e-01 9.93856074e-01 -2.17923553e-03 -3.29313747e+01] [-1.66209277e-02 3.41783454e-04 9.99861804e-01 -7.37190881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.69420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.23, Y:-32.94, Z:-7.37 [[ 9.93574534e-01 1.11925734e-01 1.68010688e-02 2.32233490e+02] [-1.11904154e-01 9.93716520e-01 -2.22213032e-03 -3.29371298e+01] [-1.69442132e-02 3.27742711e-04 9.99856383e-01 -7.37075447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.72420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.27, Y:-32.94, Z:-7.37 [[ 9.93344260e-01 1.13876406e-01 1.73015906e-02 2.32265970e+02] [-1.13853760e-01 9.93494877e-01 -2.29155798e-03 -3.29396319e+01] [-1.74499960e-02 3.06454824e-04 9.99847690e-01 -7.37026637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.75420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.30, Y:-32.94, Z:-7.37 [[ 9.92710288e-01 1.19236969e-01 1.75735302e-02 2.32298456e+02] [-1.19214361e-01 9.92865800e-01 -2.33224770e-03 -3.29374684e+01] [-1.77262473e-02 2.20229101e-04 9.99842853e-01 -7.36946848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.78420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.33, Y:-32.94, Z:-7.37 [[ 9.92687339e-01 1.19427849e-01 1.75737105e-02 2.32330656e+02] [-1.19405295e-01 9.92842859e-01 -2.33089155e-03 -3.29419307e+01] [-1.77263063e-02 2.15452444e-04 9.99842853e-01 -7.37046332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.81420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.36, Y:-32.94, Z:-7.37 [[ 9.91930010e-01 1.25670957e-01 1.67829103e-02 2.32362533e+02] [-1.25651189e-01 9.92071973e-01 -2.23133785e-03 -3.29372136e+01] [-1.69302693e-02 1.04538332e-04 9.99856667e-01 -7.37216042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.84420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.39, Y:-32.94, Z:-7.37 [[ 9.91577328e-01 1.28430556e-01 1.67330640e-02 2.32393463e+02] [-1.28411292e-01 9.91718503e-01 -2.22512363e-03 -3.29380912e+01] [-1.68802631e-02 5.76677746e-05 9.99857517e-01 -7.37418591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.87420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.42, Y:-32.94, Z:-7.37 [[ 9.91248990e-01 1.30840581e-01 1.74980871e-02 2.32424158e+02] [-1.30819876e-01 9.91403420e-01 -2.32763822e-03 -3.29390110e+01] [-1.76522130e-02 1.81714386e-05 9.99844187e-01 -7.37415935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.904203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.45, Y:-32.93, Z:-7.37 [[ 9.90688612e-01 1.34805362e-01 1.90679741e-02 2.32454135e+02] [-1.34781501e-01 9.90872096e-01 -2.53688685e-03 -3.29342035e+01] [-1.92359094e-02 -5.67452666e-05 9.99814971e-01 -7.37282508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.934203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.48, Y:-32.93, Z:-7.37 [[ 9.90457186e-01 1.36460540e-01 1.93153954e-02 2.32484592e+02] [-1.36436387e-01 9.90645503e-01 -2.56892853e-03 -3.29337393e+01] [-1.94852670e-02 -9.09090458e-05 9.99810140e-01 -7.37349837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.964203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.51, Y:-32.93, Z:-7.38 [[ 9.90277458e-01 1.38019585e-01 1.73536892e-02 2.32514026e+02] [-1.38000335e-01 9.90429494e-01 -2.30768705e-03 -3.29348457e+01] [-1.75061116e-02 -1.09564443e-04 9.99846750e-01 -7.37727147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.994203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.54, Y:-32.94, Z:-7.38 [[ 9.90334293e-01 1.37682928e-01 1.67749348e-02 2.32542444e+02] [-1.37664896e-01 9.90476351e-01 -2.23049954e-03 -3.29385907e+01] [-1.69222779e-02 -1.00379467e-04 9.99856803e-01 -7.38121166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.024203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.57, Y:-32.94, Z:-7.38 [[ 9.90542566e-01 1.36093972e-01 1.74314669e-02 2.32571310e+02] [-1.36074270e-01 9.90695930e-01 -2.31693895e-03 -3.29445156e+01] [-1.75846047e-02 -7.69474786e-05 9.99845376e-01 -7.38125808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.054203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.60, Y:-32.95, Z:-7.38 [[ 9.90720074e-01 1.34711305e-01 1.80720808e-02 2.32600458e+02] [-1.34689907e-01 9.90884888e-01 -2.40163189e-03 -3.29499725e+01] [-1.82308788e-02 -5.47819560e-05 9.99833802e-01 -7.38081781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.084203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.63, Y:-32.96, Z:-7.38 [[ 9.90916532e-01 1.33221871e-01 1.83401337e-02 2.32629155e+02] [-1.33199589e-01 9.91086239e-01 -2.43664447e-03 -3.29550365e+01] [-1.85012685e-02 -2.83869872e-05 9.99828836e-01 -7.38153616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.114203822 meters Centerline goodness [0,1] 0.9998928211613899 Centerline is valid? [True, True] Translation: X:232.66, Y:-32.96, Z:-7.39 [[ 9.91436321e-01 1.29296489e-01 1.83422606e-02 2.32657256e+02] [-1.29273534e-01 9.91605978e-01 -2.43670122e-03 -3.29639984e+01] [-1.85033522e-02 4.46652382e-05 9.99828797e-01 -7.38711070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.144203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.69, Y:-32.97, Z:-7.39 [[ 9.91751368e-01 1.26921849e-01 1.78904702e-02 2.32686544e+02] [-1.26899634e-01 9.91912716e-01 -2.37617604e-03 -3.29726101e+01] [-1.80473735e-02 8.62817277e-05 9.99837129e-01 -7.38631419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.174203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.72, Y:-32.99, Z:-7.39 [[ 9.92309569e-01 1.22486860e-01 1.78518718e-02 2.32716365e+02] [-1.22464049e-01 9.92470121e-01 -2.36953445e-03 -3.29869022e+01] [-1.80076862e-02 1.65099214e-04 9.99837835e-01 -7.38830980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.204203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.75, Y:-32.99, Z:-7.39 [[ 9.92544904e-01 1.20576298e-01 1.77755597e-02 2.32747958e+02] [-1.20553334e-01 9.92704042e-01 -2.36178347e-03 -3.29925577e+01] [-1.79306450e-02 2.01273169e-04 9.99839213e-01 -7.38585249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.234203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.78, Y:-33.00, Z:-7.39 [[ 9.92722162e-01 1.19138940e-01 1.75676364e-02 2.32779093e+02] [-1.19116229e-01 9.92877566e-01 -2.33728497e-03 -3.29989840e+01] [-1.77209738e-02 2.27683984e-04 9.99842945e-01 -7.38697634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.264203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.81, Y:-33.00, Z:-7.39 [[ 9.92943167e-01 1.17397936e-01 1.67807132e-02 2.32810825e+02] [-1.17376927e-01 9.93084922e-01 -2.23485811e-03 -3.30044137e+01] [-1.69270410e-02 2.49418539e-04 9.99856696e-01 -7.38865033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.29420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.84, Y:-33.01, Z:-7.39 [[ 9.92961472e-01 1.17287262e-01 1.64685544e-02 2.32841263e+02] [-1.17266963e-01 9.93097999e-01 -2.19625827e-03 -3.30115096e+01] [-1.66124815e-02 2.49582486e-04 9.99861972e-01 -7.39164988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.32420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.87, Y:-33.02, Z:-7.39 [[ 9.92888779e-01 1.17886332e-01 1.65736487e-02 2.32873200e+02] [-1.17865814e-01 9.93027066e-01 -2.21278268e-03 -3.30171911e+01] [-1.67189386e-02 2.43580483e-04 9.99860199e-01 -7.39115911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.35420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.90, Y:-33.02, Z:-7.39 [[ 9.92800729e-01 1.18589196e-01 1.68319959e-02 2.32904358e+02] [-1.18568083e-01 9.92943375e-01 -2.25031279e-03 -3.30228374e+01] [-1.69800816e-02 2.38374693e-04 9.99855800e-01 -7.39281246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.38420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.94, Y:-33.03, Z:-7.39 [[ 9.92702457e-01 1.19380853e-01 1.70306490e-02 2.32936502e+02] [-1.19359303e-01 9.92848507e-01 -2.27991442e-03 -3.30273618e+01] [-1.71810326e-02 2.30510254e-04 9.99852369e-01 -7.39311178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.41420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.97, Y:-33.03, Z:-7.39 [[ 9.92421018e-01 1.21510606e-01 1.83220042e-02 2.32969315e+02] [-1.21485961e-01 9.92590111e-01 -2.45632877e-03 -3.30276051e+01] [-1.84847102e-02 2.11846006e-04 9.99829121e-01 -7.39040046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.44420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.00, Y:-33.03, Z:-7.39 [[ 9.92205876e-01 1.23173295e-01 1.88636728e-02 2.33000908e+02] [-1.23147403e-01 9.92385159e-01 -2.53253751e-03 -3.30286251e+01] [-1.90319699e-02 1.89786287e-04 9.99818858e-01 -7.39226385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.47420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.03, Y:-33.03, Z:-7.39 [[ 9.92195869e-01 1.23340768e-01 1.82869322e-02 2.33032321e+02] [-1.23316414e-01 9.92364359e-01 -2.45778346e-03 -3.30338672e+01] [-1.84504446e-02 1.83523695e-04 9.99829759e-01 -7.39383286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.50420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.06, Y:-33.04, Z:-7.40 [[ 9.92296870e-01 1.22614833e-01 1.76783524e-02 2.33062729e+02] [-1.22591905e-01 9.92454314e-01 -2.37898095e-03 -3.30419062e+01] [-1.78366554e-02 1.93432460e-04 9.99840895e-01 -7.39592709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.53420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.09, Y:-33.05, Z:-7.40 [[ 9.92415500e-01 1.21630003e-01 1.78218407e-02 2.33094483e+02] [-1.21606494e-01 9.92575486e-01 -2.40097510e-03 -3.30503946e+01] [-1.79815528e-02 2.15513337e-04 9.99838296e-01 -7.39739406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.56420382200002 meters Centerline goodness [0,1] 0.9999785204914512 Centerline is valid? [True, True] Translation: X:233.12, Y:-33.06, Z:-7.40 [[ 9.92765590e-01 1.18738900e-01 1.78201143e-02 2.33124736e+02] [-1.18714872e-01 9.92925476e-01 -2.40391273e-03 -3.30634744e+01] [-1.79794834e-02 2.71009253e-04 9.99838319e-01 -7.39887470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.59420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.16, Y:-33.07, Z:-7.40 [[ 9.93255764e-01 1.14559970e-01 1.78605657e-02 2.33156089e+02] [-1.14535084e-01 9.93416272e-01 -2.41348279e-03 -3.30742830e+01] [-1.80194651e-02 3.51544306e-04 9.99837574e-01 -7.39796320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.62420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.19, Y:-33.08, Z:-7.40 [[ 9.93506466e-01 1.12384242e-01 1.77393447e-02 2.33186425e+02] [-1.12359355e-01 9.93664748e-01 -2.39658390e-03 -3.30838438e+01] [-1.78962997e-02 3.87840282e-04 9.99839773e-01 -7.39969484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.654203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.22, Y:-33.09, Z:-7.40 [[ 9.93753875e-01 1.10246561e-01 1.72896396e-02 2.33217503e+02] [-1.10222524e-01 9.93904180e-01 -2.33996863e-03 -3.30935810e+01] [-1.74422186e-02 4.19645169e-04 9.99847785e-01 -7.40148086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.684203822 meters Centerline goodness [0,1] 0.9998705976233097 Centerline is valid? [True, True] Translation: X:233.24, Y:-33.11, Z:-7.41 [[ 9.94125001e-01 1.07044358e-01 1.60308664e-02 2.33244717e+02] [-1.07023255e-01 9.94254147e-01 -2.17100510e-03 -3.31117299e+01] [-1.61711493e-02 4.42574931e-04 9.99869140e-01 -7.40958458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.714203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.28, Y:-33.12, Z:-7.41 [[ 9.94166231e-01 1.06639455e-01 1.61719381e-02 2.33276019e+02] [-1.06617948e-01 9.94297653e-01 -2.18878445e-03 -3.31175529e+01] [-1.63131309e-02 4.51796732e-04 9.99866830e-01 -7.40614044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.744203822 meters Centerline goodness [0,1] 0.9999351771823682 Centerline is valid? [True, True] Translation: X:233.31, Y:-33.13, Z:-7.41 [[ 9.94070798e-01 1.07579789e-01 1.58062258e-02 2.33307324e+02] [-1.07559358e-01 9.94196362e-01 -2.13954978e-03 -3.31254482e+01] [-1.59446645e-02 4.26756452e-04 9.99872785e-01 -7.40650879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.774203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.34, Y:-33.13, Z:-7.41 [[ 9.93891263e-01 1.09106575e-01 1.66105948e-02 2.33338974e+02] [-1.09084171e-01 9.94029966e-01 -2.25158256e-03 -3.31305280e+01] [-1.67570915e-02 4.25875257e-04 9.99859499e-01 -7.40602804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.804203822 meters Centerline goodness [0,1] 0.9999786073376832 Centerline is valid? [True, True] Translation: X:233.37, Y:-33.14, Z:-7.41 [[ 9.93640989e-01 1.11272161e-01 1.72073148e-02 2.33369009e+02] [-1.11248351e-01 9.93789887e-01 -2.33774224e-03 -3.31359667e+01] [-1.73605811e-02 4.08591108e-04 9.99849210e-01 -7.40719094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.834203822 meters Centerline goodness [0,1] 0.9999145317407747 Centerline is valid? [True, True] Translation: X:233.40, Y:-33.14, Z:-7.41 [[ 9.93061733e-01 1.16556684e-01 1.55863706e-02 2.33399546e+02] [-1.16537797e-01 9.93184000e-01 -2.11768421e-03 -3.31364067e+01] [-1.57269642e-02 2.86589855e-04 9.99876283e-01 -7.41491864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.864203822 meters Centerline goodness [0,1] 0.9999786794021704 Centerline is valid? [True, True] Translation: X:233.43, Y:-33.14, Z:-7.41 [[ 9.92684304e-01 1.19787709e-01 1.51254153e-02 2.33430493e+02] [-1.19770328e-01 9.92799503e-01 -2.05307297e-03 -3.31385193e+01] [-1.52624377e-02 2.26477359e-04 9.99883497e-01 -7.41464128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.894203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.46, Y:-33.14, Z:-7.42 [[ 9.91984436e-01 1.25434956e-01 1.52627025e-02 2.33461945e+02] [-1.25417858e-01 9.92101835e-01 -2.07606107e-03 -3.31372392e+01] [-1.54025658e-02 1.45204810e-04 9.99881363e-01 -7.41601799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.924203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.49, Y:-33.14, Z:-7.42 [[ 9.91615275e-01 1.28294901e-01 1.54778868e-02 2.33494257e+02] [-1.28277694e-01 9.91736058e-01 -2.10358057e-03 -3.31383310e+01] [-1.56198571e-02 1.00474998e-04 9.99877998e-01 -7.41594168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.954203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.53, Y:-33.14, Z:-7.42 [[ 9.91305397e-01 1.30660383e-01 1.55394674e-02 2.33527079e+02] [-1.30643270e-01 9.91427183e-01 -2.11574224e-03 -3.31391946e+01] [-1.56826941e-02 6.72198644e-05 9.99877017e-01 -7.41682999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.984203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.56, Y:-33.14, Z:-7.42 [[ 9.90755715e-01 1.34871950e-01 1.45832503e-02 2.33559404e+02] [-1.34857336e-01 9.90863037e-01 -1.98540460e-03 -3.31377922e+01] [-1.47177791e-02 3.92666575e-07 9.99891688e-01 -7.41893652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.014203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.59, Y:-33.14, Z:-7.42 [[ 9.90500383e-01 1.36789349e-01 1.40593476e-02 2.33590528e+02] [-1.36775925e-01 9.90600158e-01 -1.91647483e-03 -3.31404254e+01] [-1.41893453e-02 -2.47112207e-05 9.99899326e-01 -7.42178511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.04420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.62, Y:-33.14, Z:-7.42 [[ 9.90156368e-01 1.39344829e-01 1.31675752e-02 2.33622730e+02] [-1.39333261e-01 9.90243917e-01 -1.79636621e-03 -3.31433335e+01] [-1.32894256e-02 -5.59977519e-05 9.99911690e-01 -7.42305024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.07420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.65, Y:-33.15, Z:-7.42 [[ 9.90054664e-01 1.40078014e-01 1.30350326e-02 2.33653694e+02] [-1.40066678e-01 9.90140468e-01 -1.78309280e-03 -3.31466463e+01] [-1.31562854e-02 -6.04143694e-05 9.99913451e-01 -7.42425031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.10420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.68, Y:-33.15, Z:-7.42 [[ 9.89969994e-01 1.40616490e-01 1.36533625e-02 2.33684358e+02] [-1.40604108e-01 9.90064138e-01 -1.86738498e-03 -3.31487036e+01] [-1.37802897e-02 -7.10637598e-05 9.99905045e-01 -7.42467117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.13420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.72, Y:-33.15, Z:-7.43 [[ 9.90001713e-01 1.40420005e-01 1.33727560e-02 2.33715423e+02] [-1.40408088e-01 9.90092025e-01 -1.83051883e-03 -3.31533954e+01] [-1.34973006e-02 -6.54263317e-05 9.99908905e-01 -7.42583077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.16420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.75, Y:-33.16, Z:-7.43 [[ 9.90100217e-01 1.39686537e-01 1.37561784e-02 2.33745167e+02] [-1.39673861e-01 9.90195773e-01 -1.88270514e-03 -3.31584157e+01] [-1.38842983e-02 -5.73117832e-05 9.99903607e-01 -7.42721718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.19420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.78, Y:-33.17, Z:-7.43 [[ 9.90376814e-01 1.37575650e-01 1.50567678e-02 2.33775641e+02] [-1.37560224e-01 9.90491262e-01 -2.06043791e-03 -3.31654271e+01] [-1.51970630e-02 -3.06024126e-05 9.99884518e-01 -7.42616664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.22420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.81, Y:-33.17, Z:-7.43 [[ 9.90515733e-01 1.36541373e-01 1.53309088e-02 2.33807108e+02] [-1.36525219e-01 9.90634369e-01 -2.10029732e-03 -3.31713858e+01] [-1.54741027e-02 -1.26781560e-05 9.99880269e-01 -7.42668768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.25420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.84, Y:-33.18, Z:-7.43 [[ 9.90851741e-01 1.34143931e-01 1.47727331e-02 2.33838065e+02] [-1.34128627e-01 9.90961859e-01 -2.02636604e-03 -3.31776734e+01] [-1.49110397e-02 2.63819125e-05 9.99888824e-01 -7.42899064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.28420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.87, Y:-33.18, Z:-7.43 [[ 9.90979596e-01 1.33218816e-01 1.45666657e-02 2.33870745e+02] [-1.33203814e-01 9.91086649e-01 -1.99964880e-03 -3.31836616e+01] [-1.47032187e-02 4.12757395e-05 9.99891901e-01 -7.42910428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.31420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.90, Y:-33.19, Z:-7.43 [[ 9.91180852e-01 1.31602174e-01 1.55365945e-02 2.33901744e+02] [-1.31584849e-01 9.91302609e-01 -2.13665358e-03 -3.31915288e+01] [-1.56826550e-02 7.34296734e-05 9.99877017e-01 -7.42917469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.34420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.93, Y:-33.20, Z:-7.43 [[ 9.91264969e-01 1.30916508e-01 1.59571019e-02 2.33933895e+02] [-1.30898101e-01 9.91393393e-01 -2.19705351e-03 -3.31970369e+01] [-1.61073960e-02 8.91078454e-05 9.99870264e-01 -7.42837652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.37420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.97, Y:-33.20, Z:-7.43 [[ 9.91451157e-01 1.29253628e-01 1.78354168e-02 2.33965566e+02] [-1.29230282e-01 9.91611558e-01 -2.46023458e-03 -3.32016444e+01] [-1.80037997e-02 1.34326489e-04 9.99837909e-01 -7.42568358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.404203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.00, Y:-33.21, Z:-7.43 [[ 9.91528349e-01 1.28627022e-01 1.80726694e-02 2.33996779e+02] [-1.28602890e-01 9.91693030e-01 -2.49605116e-03 -3.32087018e+01] [-1.82435999e-02 1.50707977e-04 9.99833560e-01 -7.42874615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.434203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.03, Y:-33.21, Z:-7.43 [[ 9.91561316e-01 1.28401739e-01 1.78647679e-02 2.34029063e+02] [-1.28378064e-01 9.91722224e-01 -2.47054760e-03 -3.32135506e+01] [-1.80341099e-02 1.56255108e-04 9.99837360e-01 -7.42878889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.464203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.06, Y:-33.22, Z:-7.43 [[ 9.91467703e-01 1.29192597e-01 1.73512915e-02 2.34061576e+02] [-1.29170331e-01 9.91619510e-01 -2.40265223e-03 -3.32160537e+01] [-1.75162841e-02 1.40880020e-04 9.99846568e-01 -7.43094522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.494203822 meters Centerline goodness [0,1] 0.9999570990368734 Centerline is valid? [True, True] Translation: X:234.09, Y:-33.22, Z:-7.43 [[ 9.91341908e-01 1.30263544e-01 1.65115397e-02 2.34094275e+02] [-1.30243482e-01 9.91479397e-01 -2.28916778e-03 -3.32178050e+01] [-1.66690465e-02 1.18827527e-04 9.99861055e-01 -7.43486383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.524203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.13, Y:-33.22, Z:-7.44 [[ 9.91026598e-01 1.32665034e-01 1.63178152e-02 2.34126017e+02] [-1.32645705e-01 9.91160926e-01 -2.26600727e-03 -3.32184128e+01] [-1.64742008e-02 8.11853721e-05 9.99864288e-01 -7.43615847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.554203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.16, Y:-33.22, Z:-7.44 [[ 9.90842899e-01 1.34053369e-01 1.61259002e-02 2.34157867e+02] [-1.34034637e-01 9.90974112e-01 -2.24175121e-03 -3.32196814e+01] [-1.62808639e-02 5.97940889e-05 9.99867456e-01 -7.43642230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.584203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.19, Y:-33.22, Z:-7.44 [[ 9.90634802e-01 1.35460688e-01 1.71199323e-02 2.34189035e+02] [-1.35439713e-01 9.90782721e-01 -2.38409782e-03 -3.32205542e+01] [-1.72850847e-02 4.30515472e-05 9.99850601e-01 -7.43744040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.614203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.22, Y:-33.22, Z:-7.43 [[ 9.90257798e-01 1.38135080e-01 1.75554331e-02 2.34220958e+02] [-1.38113397e-01 9.90413398e-01 -2.44743734e-03 -3.32166226e+01] [-1.77252131e-02 -1.04658965e-06 9.99842896e-01 -7.43456422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.644203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.25, Y:-33.22, Z:-7.44 [[ 9.90052291e-01 1.39622498e-01 1.73786951e-02 2.34253225e+02] [-1.39601505e-01 9.90204806e-01 -2.42128480e-03 -3.32171182e+01] [-1.75465333e-02 -2.88934288e-05 9.99846047e-01 -7.43549821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.674203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.28, Y:-33.21, Z:-7.44 [[ 9.89762502e-01 1.41871224e-01 1.55803048e-02 2.34284587e+02] [-1.41854555e-01 9.89885121e-01 -2.17547065e-03 -3.32141851e+01] [-1.57313486e-02 -5.69379383e-05 9.99876253e-01 -7.43957928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.704203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.31, Y:-33.22, Z:-7.44 [[ 9.89762502e-01 1.41871224e-01 1.55803048e-02 2.34314288e+02] [-1.41854555e-01 9.89885121e-01 -2.17547065e-03 -3.32183323e+01] [-1.57313486e-02 -5.69379384e-05 9.99876253e-01 -7.44049706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.734203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.34, Y:-33.22, Z:-7.44 [[ 9.89680670e-01 1.42503839e-01 1.49942202e-02 2.34344992e+02] [-1.42488473e-01 9.89794247e-01 -2.09363592e-03 -3.32200842e+01] [-1.51395440e-02 -6.44725304e-05 9.99885388e-01 -7.44249336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.764203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.38, Y:-33.22, Z:-7.44 [[ 9.89690572e-01 1.42308636e-01 1.61500434e-02 2.34375741e+02] [-1.42290783e-01 9.89822331e-01 -2.25502297e-03 -3.32203021e+01] [-1.63065829e-02 -6.62273496e-05 9.99867037e-01 -7.44178001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.79420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.41, Y:-33.22, Z:-7.44 [[ 9.89759789e-01 1.41786493e-01 1.64969598e-02 2.34405079e+02] [-1.41767796e-01 9.89897261e-01 -2.30327983e-03 -3.32227576e+01] [-1.66568693e-02 -5.90438781e-05 9.99861263e-01 -7.44233632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.82420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.43, Y:-33.23, Z:-7.45 [[ 9.90206230e-01 1.38681388e-01 1.60964217e-02 2.34433568e+02] [-1.38663169e-01 9.90337050e-01 -2.24792282e-03 -3.32280061e+01] [-1.62526278e-02 -6.07364722e-06 9.99867917e-01 -7.44563638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.85420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.46, Y:-33.23, Z:-7.45 [[ 9.90479912e-01 1.36728996e-01 1.59601417e-02 2.34463512e+02] [-1.36710836e-01 9.90608490e-01 -2.22852354e-03 -3.32335806e+01] [-1.61149557e-02 2.53834877e-05 9.99870145e-01 -7.44617619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.88420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.49, Y:-33.24, Z:-7.45 [[ 9.90800484e-01 1.34371568e-01 1.60836202e-02 2.34492345e+02] [-1.34352813e-01 9.90931015e-01 -2.24593563e-03 -3.32388819e+01] [-1.62395480e-02 6.43944971e-05 9.99868128e-01 -7.44791117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.91420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.52, Y:-33.25, Z:-7.45 [[ 9.91346606e-01 1.30241376e-01 1.64039696e-02 2.34523028e+02] [-1.30221311e-01 9.91482308e-01 -2.28996412e-03 -3.32454348e+01] [-1.65624937e-02 1.34001724e-04 9.99862824e-01 -7.44850664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.94420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.55, Y:-33.25, Z:-7.45 [[ 9.91549623e-01 1.28588953e-01 1.71530445e-02 2.34554780e+02] [-1.28566794e-01 9.91697965e-01 -2.39301763e-03 -3.32507809e+01] [-1.73183550e-02 1.67483789e-04 9.99850012e-01 -7.44707369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.97420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.59, Y:-33.26, Z:-7.44 [[ 9.91893911e-01 1.25629914e-01 1.90681581e-02 2.34586077e+02] [-1.25601908e-01 9.92077146e-01 -2.66407684e-03 -3.32574938e+01] [-1.92517716e-02 2.47484562e-04 9.99814637e-01 -7.44414079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.00420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.62, Y:-33.26, Z:-7.45 [[ 9.91984546e-01 1.24900252e-01 1.91464585e-02 2.34616325e+02] [-1.24871812e-01 9.92169268e-01 -2.67852759e-03 -3.32642588e+01] [-1.93310765e-02 2.66205020e-04 9.99813102e-01 -7.44515724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.03420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.65, Y:-33.27, Z:-7.45 [[ 9.92052606e-01 1.24425260e-01 1.87077900e-02 2.34646935e+02] [-1.24397967e-01 9.92228946e-01 -2.62012226e-03 -3.32681673e+01] [-1.88884201e-02 2.72088067e-04 9.99821561e-01 -7.44719949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.06420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.68, Y:-33.27, Z:-7.45 [[ 9.91999266e-01 1.24938478e-01 1.81061769e-02 2.34679773e+02] [-1.24912952e-01 9.92164458e-01 -2.53839507e-03 -3.32687764e+01] [-1.82814484e-02 2.56390034e-04 9.99832847e-01 -7.44861695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.09420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.71, Y:-33.27, Z:-7.45 [[ 9.91911780e-01 1.25781885e-01 1.70275945e-02 2.34712031e+02] [-1.25759393e-01 9.92057894e-01 -2.38959482e-03 -3.32670359e+01] [-1.71929273e-02 2.28887299e-04 9.99852165e-01 -7.44981389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.12420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.74, Y:-33.27, Z:-7.46 [[ 9.91527735e-01 1.27123762e-01 2.66889311e-02 2.34741618e+02] [-1.27558812e-01 9.91713321e-01 1.52787068e-02 -3.32749157e+01] [-2.45254818e-02 -1.85536699e-02 9.99527019e-01 -7.45759824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.154203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.78, Y:-33.25, Z:-7.46 [[ 9.91633799e-01 1.28517779e-01 1.20660277e-02 2.34775928e+02] [-1.28250911e-01 9.91524317e-01 -2.07661449e-02 -3.32545150e+01] [-1.46325787e-02 1.90449321e-02 9.99711547e-01 -7.45722800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.184203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.80, Y:-33.27, Z:-7.46 [[ 9.91700577e-01 1.27704003e-01 1.48880174e-02 2.34803696e+02] [-1.27686914e-01 9.91812309e-01 -2.09670221e-03 -3.32655860e+01] [-1.50338761e-02 1.78295789e-04 9.99886969e-01 -7.45862159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.214203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.83, Y:-33.27, Z:-7.46 [[ 9.91742571e-01 1.27382502e-01 1.48449278e-02 2.34832994e+02] [-1.27365496e-01 9.91853651e-01 -2.08933064e-03 -3.32679844e+01] [-1.49901400e-02 1.81346559e-04 9.99887625e-01 -7.46071683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.244203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.86, Y:-33.27, Z:-7.46 [[ 9.91916603e-01 1.26103856e-01 1.41163394e-02 2.34863799e+02] [-1.26088343e-01 9.92017027e-01 -1.98715075e-03 -3.32684146e+01] [-1.42542364e-02 1.91181985e-04 9.99898385e-01 -7.46267520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.274203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.89, Y:-33.27, Z:-7.46 [[ 9.92048810e-01 1.25094576e-01 1.38024086e-02 2.34892492e+02] [-1.25079642e-01 9.92144801e-01 -1.94335151e-03 -3.32721803e+01] [-1.39370907e-02 2.01499227e-04 9.99902854e-01 -7.46491308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.304203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.92, Y:-33.28, Z:-7.47 [[ 9.92535161e-01 1.21266488e-01 1.29766584e-02 2.34922342e+02] [-1.21252969e-01 9.92619958e-01 -1.82640938e-03 -3.32801872e+01] [-1.31023724e-02 2.39317170e-04 9.99914132e-01 -7.46674589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.334203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.95, Y:-33.29, Z:-7.47 [[ 9.92796271e-01 1.19099264e-01 1.30740390e-02 2.34951389e+02] [-1.19085351e-01 9.92882315e-01 -1.84031912e-03 -3.32875117e+01] [-1.32001627e-02 2.70135437e-04 9.99912838e-01 -7.46781701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.364203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.98, Y:-33.29, Z:-7.47 [[ 9.93062537e-01 1.16867147e-01 1.29948907e-02 2.34981036e+02] [-1.16853216e-01 9.93147512e-01 -1.82880133e-03 -3.32917337e+01] [-1.31195702e-02 2.97619313e-04 9.99913890e-01 -7.46678468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.394203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.01, Y:-33.30, Z:-7.47 [[ 9.93498927e-01 1.13088409e-01 1.30726682e-02 2.35009177e+02] [-1.13073997e-01 9.93584868e-01 -1.83875447e-03 -3.33036813e+01] [-1.31967471e-02 3.48621755e-04 9.99912858e-01 -7.47095253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.424203822 meters Centerline goodness [0,1] 0.9999357601713063 Centerline is valid? [True, True] Translation: X:235.04, Y:-33.31, Z:-7.47 [[ 9.93703442e-01 1.11253226e-01 1.32736211e-02 2.35040158e+02] [-1.11238185e-01 9.93792018e-01 -1.86844838e-03 -3.33085098e+01] [-1.33990896e-02 3.80150066e-04 9.99910156e-01 -7.47007314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.454203822 meters Centerline goodness [0,1] 0.9999571917808219 Centerline is valid? [True, True] Translation: X:235.07, Y:-33.32, Z:-7.47 [[ 9.93887872e-01 1.09462724e-01 1.43111710e-02 2.35070578e+02] [-1.09445048e-01 9.93990806e-01 -2.01489942e-03 -3.33155341e+01] [-1.44457287e-02 4.36297312e-04 9.99895560e-01 -7.46915018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.484203822 meters Centerline goodness [0,1] 0.9999784886097188 Centerline is valid? [True, True] Translation: X:235.10, Y:-33.32, Z:-7.47 [[ 9.93863775e-01 1.09782203e-01 1.35153869e-02 2.35103186e+02] [-1.09766498e-01 9.93955584e-01 -1.90063601e-03 -3.33169403e+01] [-1.36423503e-02 4.05436592e-04 9.99906857e-01 -7.46963493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.514203822 meters Centerline goodness [0,1] 0.9997201532699014 Centerline is valid? [True, True] Translation: X:235.13, Y:-33.32, Z:-7.48 [[ 9.93821816e-01 1.10372237e-01 1.16690458e-02 2.35133981e+02] [-1.10360523e-01 9.93890260e-01 -1.64506571e-03 -3.33222376e+01] [-1.17793205e-02 3.47100193e-04 9.99930561e-01 -7.47530724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.54420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.16, Y:-33.32, Z:-7.47 [[ 9.93460109e-01 1.13681010e-01 1.06602206e-02 2.35164450e+02] [-1.13671417e-01 9.93517261e-01 -1.50352463e-03 -3.33235844e+01] [-1.07620353e-02 2.81929369e-04 9.99942048e-01 -7.47465186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.57420382200002 meters Centerline goodness [0,1] 0.9999785775492717 Centerline is valid? [True, True] Translation: X:235.19, Y:-33.32, Z:-7.48 [[ 9.92882529e-01 1.18603504e-01 1.08394326e-02 2.35193906e+02] [-1.18593873e-01 9.92941667e-01 -1.52929559e-03 -3.33220053e+01] [-1.09443041e-02 2.32920581e-04 9.99940082e-01 -7.47774505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.60420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.22, Y:-33.32, Z:-7.48 [[ 9.92568894e-01 1.21239866e-01 1.03867768e-02 2.35222226e+02] [-1.21231167e-01 9.92623220e-01 -1.46542393e-03 -3.33235219e+01] [-1.04878236e-02 1.95333141e-04 9.99944982e-01 -7.48159323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.63420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.25, Y:-33.32, Z:-7.48 [[ 9.92302507e-01 1.23455089e-01 9.72497640e-03 2.35252191e+02] [-1.23447577e-01 9.92350148e-01 -1.37126469e-03 -3.33230556e+01] [-9.81987137e-03 1.60184611e-04 9.99951771e-01 -7.48185221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.66420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.28, Y:-33.32, Z:-7.48 [[ 9.91914391e-01 1.26572481e-01 9.23294609e-03 2.35280640e+02] [-1.26565836e-01 9.91957354e-01 -1.30282345e-03 -3.33223058e+01] [-9.32359037e-03 1.23713790e-04 9.99956527e-01 -7.48498184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.69420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.31, Y:-33.32, Z:-7.49 [[ 9.91782196e-01 1.27640436e-01 8.71755401e-03 2.35309241e+02] [-1.27634559e-01 9.91820502e-01 -1.22938384e-03 -3.33237859e+01] [-8.80316788e-03 1.06619836e-04 9.99961246e-01 -7.48715141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.72420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.34, Y:-33.33, Z:-7.49 [[ 9.91670925e-01 1.28603579e-01 7.06369344e-03 2.35337908e+02] [-1.28599745e-01 9.91696079e-01 -9.96127850e-04 -3.33255893e+01] [-7.13314270e-03 7.94418489e-05 9.99974556e-01 -7.48813783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.75420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.37, Y:-33.33, Z:-7.49 [[ 9.91649116e-01 1.28721420e-01 7.92635398e-03 2.35365544e+02] [-1.28716599e-01 9.91680790e-01 -1.11747576e-03 -3.33297606e+01] [-8.00425604e-03 8.78905253e-05 9.99967962e-01 -7.48921751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.78420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.39, Y:-33.33, Z:-7.49 [[ 9.91666624e-01 1.28532234e-01 8.76189197e-03 2.35392913e+02] [-1.28526343e-01 9.91705327e-01 -1.23450922e-03 -3.33345103e+01] [-8.84788917e-03 9.80876578e-05 9.99960852e-01 -7.49071934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.81420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.42, Y:-33.34, Z:-7.49 [[ 9.91798737e-01 1.27504835e-01 8.81940548e-03 2.35421672e+02] [-1.27498833e-01 9.91837943e-01 -1.24181953e-03 -3.33380281e+01] [-8.90575898e-03 1.07171136e-04 9.99960337e-01 -7.48894883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.84420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.45, Y:-33.34, Z:-7.49 [[ 9.91951686e-01 1.26314647e-01 8.74430690e-03 2.35450158e+02] [-1.26308704e-01 9.91990220e-01 -1.23082013e-03 -3.33437261e+01] [-8.82973754e-03 1.16432032e-04 9.99961010e-01 -7.48937801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.87420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.48, Y:-33.35, Z:-7.49 [[ 9.92240467e-01 1.23935591e-01 9.94103495e-03 2.35477863e+02] [-1.23927797e-01 9.92290252e-01 -1.39856442e-03 -3.33530884e+01] [-1.00377240e-02 1.55741645e-04 9.99949609e-01 -7.48865226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.904203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.51, Y:-33.36, Z:-7.49 [[ 9.92358542e-01 1.22942168e-01 1.04760639e-02 2.35505800e+02] [-1.22933466e-01 9.92413822e-01 -1.47298824e-03 -3.33590565e+01] [-1.05776829e-02 1.73873618e-04 9.99944040e-01 -7.48868129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.934203822 meters Centerline goodness [0,1] 0.9999574694311536 Centerline is valid? [True, True] Translation: X:235.53, Y:-33.36, Z:-7.49 [[ 9.92391952e-01 1.22673842e-01 1.04566746e-02 2.35533937e+02] [-1.22665162e-01 9.92447025e-01 -1.46986721e-03 -3.33640527e+01] [-1.05580099e-02 1.76014702e-04 9.99944247e-01 -7.49036715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.964203822 meters Centerline goodness [0,1] 0.9999787034670755 Centerline is valid? [True, True] Translation: X:235.56, Y:-33.37, Z:-7.49 [[ 9.92314238e-01 1.23276294e-01 1.07428246e-02 2.35562282e+02] [-1.23267169e-01 9.92372372e-01 -1.50990943e-03 -3.33676678e+01] [-1.08470183e-02 1.74067047e-04 9.99941154e-01 -7.49109636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.994203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.59, Y:-33.37, Z:-7.49 [[ 9.92108872e-01 1.24858200e-01 1.14199475e-02 2.35591311e+02] [-1.24848006e-01 9.92174583e-01 -1.60396473e-03 -3.33725703e+01] [-1.15308498e-02 1.65549964e-04 9.99933504e-01 -7.49168951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.024203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.62, Y:-33.37, Z:-7.49 [[ 9.91952542e-01 1.26156731e-01 1.07067213e-02 2.35620521e+02] [-1.26147849e-01 9.92010312e-01 -1.50359019e-03 -3.33749405e+01] [-1.08108660e-02 1.40860248e-04 9.99941551e-01 -7.49193891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.054203822 meters Centerline goodness [0,1] 0.999978650270074 Centerline is valid? [True, True] Translation: X:235.65, Y:-33.38, Z:-7.50 [[ 9.91629872e-01 1.28721651e-01 1.00465469e-02 2.35647998e+02] [-1.28713956e-01 9.91680758e-01 -1.41143557e-03 -3.33776832e+01] [-1.01446496e-02 1.06490868e-04 9.99948536e-01 -7.49692931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.084203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.68, Y:-33.38, Z:-7.50 [[ 9.91509994e-01 1.29595958e-01 1.06216074e-02 2.35676414e+02] [-1.29587425e-01 9.91566880e-01 -1.49064174e-03 -3.33811031e+01] [-1.07252152e-02 1.01559441e-04 9.99942478e-01 -7.49782748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.114203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.70, Y:-33.38, Z:-7.50 [[ 9.91413209e-01 1.30294699e-01 1.10968233e-02 2.35703948e+02] [-1.30285424e-01 9.91475306e-01 -1.55777422e-03 -3.33837737e+01] [-1.12051960e-02 9.86436052e-05 9.99937215e-01 -7.49821682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.144203822 meters Centerline goodness [0,1] 0.9999356195544873 Centerline is valid? [True, True] Translation: X:235.73, Y:-33.39, Z:-7.50 [[ 9.91311426e-01 1.31228850e-01 8.98026931e-03 2.35732018e+02] [-1.31222814e-01 9.91352099e-01 -1.26066030e-03 -3.33867831e+01] [-9.06804382e-03 7.12907479e-05 9.99958882e-01 -7.50419257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.174203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.76, Y:-33.39, Z:-7.50 [[ 9.91288242e-01 1.31434323e-01 8.52293166e-03 2.35760078e+02] [-1.31428902e-01 9.91324878e-01 -1.19552761e-03 -3.33919539e+01] [-8.60612756e-03 6.49529180e-05 9.99962964e-01 -7.50411737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.204203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.79, Y:-33.40, Z:-7.50 [[ 9.91224196e-01 1.31852508e-01 9.46090169e-03 2.35788548e+02] [-1.31845852e-01 9.91269344e-01 -1.32652991e-03 -3.33963755e+01] [-9.55320811e-03 6.75078952e-05 9.99954365e-01 -7.50178605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.234203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.82, Y:-33.40, Z:-7.50 [[ 9.91207041e-01 1.31926109e-01 1.02030926e-02 2.35816014e+02] [-1.31918376e-01 9.91259551e-01 -1.43020970e-03 -3.34019667e+01] [-1.03025950e-02 7.16585135e-05 9.99946924e-01 -7.50456184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.264203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.84, Y:-33.41, Z:-7.50 [[ 9.91165931e-01 1.32198885e-01 1.06560436e-02 2.35844862e+02] [-1.32190476e-01 9.91223209e-01 -1.49269948e-03 -3.34054112e+01] [-1.07598510e-02 7.08853931e-05 9.99942109e-01 -7.50212025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.29420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.87, Y:-33.41, Z:-7.50 [[ 9.91068372e-01 1.32926737e-01 1.06754507e-02 2.35874095e+02] [-1.32918345e-01 9.91125864e-01 -1.49488661e-03 -3.34070230e+01] [-1.07794257e-02 6.25715960e-05 9.99941898e-01 -7.50285652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.32420382200002 meters Centerline goodness [0,1] 0.9999787735348432 Centerline is valid? [True, True] Translation: X:235.90, Y:-33.41, Z:-7.51 [[ 9.90828804e-01 1.34743149e-01 1.01274099e-02 2.35901634e+02] [-1.34735694e-01 9.90880559e-01 -1.41796306e-03 -3.34079206e+01] [-1.02261144e-02 4.04350386e-05 9.99947711e-01 -7.50795227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.35420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.93, Y:-33.41, Z:-7.51 [[ 9.90766357e-01 1.35237786e-01 9.63161511e-03 2.35930020e+02] [-1.35231073e-01 9.90813171e-01 -1.34781373e-03 -3.34119460e+01] [-9.72540646e-03 3.28748538e-05 9.99952707e-01 -7.50741552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.38420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.96, Y:-33.42, Z:-7.51 [[ 9.90694620e-01 1.35776150e-01 9.43430957e-03 2.35957779e+02] [-1.35769736e-01 9.90739540e-01 -1.32001620e-03 -3.34163713e+01] [-9.52617024e-03 2.68392352e-05 9.99954625e-01 -7.51151343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.41420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.99, Y:-33.42, Z:-7.51 [[ 9.90634003e-01 1.36245178e-01 9.02903128e-03 2.35985880e+02] [-1.36239327e-01 9.90675149e-01 -1.26290576e-03 -3.34195892e+01] [-9.11690173e-03 2.09682440e-05 9.99958440e-01 -7.51378759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.44420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.01, Y:-33.42, Z:-7.51 [[ 9.90651832e-01 1.36153468e-01 8.43683402e-03 2.36014242e+02] [-1.36148362e-01 9.90687757e-01 -1.17931243e-03 -3.34232357e+01] [-8.51883566e-03 1.96268875e-05 9.99963714e-01 -7.51307595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.47420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.04, Y:-33.43, Z:-7.52 [[ 9.90616942e-01 1.36476460e-01 7.22836263e-03 2.36041417e+02] [-1.36472719e-01 9.90643314e-01 -1.01052514e-03 -3.34256643e+01] [-7.29864201e-03 1.45690168e-05 9.99973364e-01 -7.52124184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.50420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.07, Y:-33.43, Z:-7.52 [[ 9.90583596e-01 1.36704982e-01 7.47579376e-03 2.36069931e+02] [-1.36700994e-01 9.90611805e-01 -1.04426668e-03 -3.34282732e+01] [-7.54836601e-03 1.24850095e-05 9.99971511e-01 -7.51954023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.53420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.10, Y:-33.43, Z:-7.52 [[ 9.90600779e-01 1.36544982e-01 8.09722876e-03 2.36098947e+02] [-1.36540302e-01 9.90633872e-01 -1.13060856e-03 -3.34320720e+01] [-8.17576800e-03 1.43836638e-05 9.99966578e-01 -7.51793862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.56420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.13, Y:-33.44, Z:-7.52 [[ 9.90665620e-01 1.36074276e-01 8.08829302e-03 2.36127630e+02] [-1.36069594e-01 9.90698638e-01 -1.12896492e-03 -3.34375595e+01] [-8.16668396e-03 1.78559871e-05 9.99966652e-01 -7.51876360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.59420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.16, Y:-33.44, Z:-7.52 [[ 9.90672267e-01 1.36025874e-01 8.08834832e-03 2.36155693e+02] [-1.36021193e-01 9.90705285e-01 -1.12856836e-03 -3.34413821e+01] [-8.16668393e-03 1.78545919e-05 9.99966652e-01 -7.51963058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.62420382200003 meters Centerline goodness [0,1] 0.999978438052525 Centerline is valid? [True, True] Translation: X:236.18, Y:-33.45, Z:-7.52 [[ 9.90755677e-01 1.35431094e-01 7.84909866e-03 2.36184262e+02] [-1.35426670e-01 9.90786767e-01 -1.09484654e-03 -3.34478909e+01] [-7.92505936e-03 2.17481269e-05 9.99968596e-01 -7.52100314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.654203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.21, Y:-33.46, Z:-7.52 [[ 9.91070391e-01 1.33094473e-01 8.08335244e-03 2.36210402e+02] [-1.33089705e-01 9.91103355e-01 -1.12734123e-03 -3.34581484e+01] [-8.16148061e-03 4.14635146e-05 9.99966694e-01 -7.52480576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.684203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.24, Y:-33.46, Z:-7.52 [[ 9.91214657e-01 1.32043641e-01 7.61455550e-03 2.36238641e+02] [-1.32039384e-01 9.91243903e-01 -1.06131271e-03 -3.34618016e+01] [-7.68802131e-03 4.65675010e-05 9.99970446e-01 -7.52318420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.714203822 meters Centerline goodness [0,1] 0.9998711478578332 Centerline is valid? [True, True] Translation: X:236.27, Y:-33.47, Z:-7.53 [[ 9.91352559e-01 1.31086757e-01 6.03046917e-03 2.36268001e+02] [-1.31084073e-01 9.91370900e-01 -8.39935809e-04 -3.34663839e+01] [-6.08853610e-03 4.21740557e-05 9.99981464e-01 -7.52848115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.744203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.30, Y:-33.47, Z:-7.53 [[ 9.91379150e-01 1.30844821e-01 6.85662325e-03 2.36296537e+02] [-1.30841343e-01 9.91402860e-01 -9.55316819e-04 -3.34726222e+01] [-6.92267416e-03 4.99513815e-05 9.99976037e-01 -7.52620494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.774203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.32, Y:-33.48, Z:-7.53 [[ 9.91358154e-01 1.30912983e-01 8.41432283e-03 2.36324668e+02] [-1.30907754e-01 9.91393861e-01 -1.17157305e-03 -3.34788691e+01] [-8.49528212e-03 5.99483906e-05 9.99963913e-01 -7.52559242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.804203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.35, Y:-33.48, Z:-7.53 [[ 9.91272728e-01 1.31568506e-01 8.25272642e-03 2.36351542e+02] [-1.31563499e-01 9.91307079e-01 -1.14906911e-03 -3.34844337e+01] [-8.33216743e-03 5.32833123e-05 9.99965285e-01 -7.52707477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.834203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.38, Y:-33.49, Z:-7.53 [[ 9.91098720e-01 1.32918656e-01 7.48054882e-03 2.36380747e+02] [-1.32914586e-01 9.91126949e-01 -1.04085350e-03 -3.34866900e+01] [-7.55252238e-03 3.73145234e-05 9.99971479e-01 -7.52962891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.864203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.41, Y:-33.49, Z:-7.53 [[ 9.90954584e-01 1.33974941e-01 7.72843315e-03 2.36408167e+02] [-1.33970629e-01 9.90984720e-01 -1.07526038e-03 -3.34884668e+01] [-7.80281711e-03 3.01511459e-05 9.99969557e-01 -7.53264807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.894203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.44, Y:-33.49, Z:-7.53 [[ 9.90805540e-01 1.35082345e-01 7.55928499e-03 2.36436817e+02] [-1.35078259e-01 9.90834375e-01 -1.05092766e-03 -3.34892731e+01] [-7.63196119e-03 2.01698953e-05 9.99970876e-01 -7.53254014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.924203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.46, Y:-33.49, Z:-7.54 [[ 9.90617972e-01 1.36512718e-01 6.34914970e-03 2.36463897e+02] [-1.36509861e-01 9.90638318e-01 -8.83203260e-04 -3.34905857e+01] [-6.41027946e-03 8.19547869e-06 9.99979454e-01 -7.54343848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.954203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.49, Y:-33.49, Z:-7.54 [[ 9.90592919e-01 1.36704680e-01 6.12361692e-03 2.36492637e+02] [-1.36702032e-01 9.90611847e-01 -8.50878819e-04 -3.34948887e+01] [-6.18244658e-03 5.76365624e-06 9.99980888e-01 -7.53741532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.984203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.52, Y:-33.50, Z:-7.54 [[ 9.90621058e-01 1.36493810e-01 6.27364013e-03 2.36520080e+02] [-1.36491027e-01 9.90640924e-01 -8.71769367e-04 -3.34994828e+01] [-6.33391577e-03 7.29751084e-06 9.99979941e-01 -7.53876039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.014203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.55, Y:-33.50, Z:-7.54 [[ 9.90659032e-01 1.36231510e-01 5.97134812e-03 2.36547642e+02] [-1.36228986e-01 9.90677029e-01 -8.29331710e-04 -3.35026727e+01] [-6.02865853e-03 8.11424806e-06 9.99981827e-01 -7.54237124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.04420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.58, Y:-33.50, Z:-7.55 [[ 9.90727076e-01 1.35780139e-01 4.85950131e-03 2.36576737e+02] [-1.35778463e-01 9.90738994e-01 -6.74628499e-04 -3.35046864e+01] [-4.90609859e-03 8.55709960e-06 9.99987965e-01 -7.54502099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.07420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.61, Y:-33.51, Z:-7.54 [[ 9.90764401e-01 1.35477309e-01 5.63921410e-03 2.36605409e+02] [-1.35475050e-01 9.90780449e-01 -7.82390643e-04 -3.35067921e+01] [-5.69321925e-03 1.11919850e-05 9.99983793e-01 -7.54334843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.10420382200002 meters Centerline goodness [0,1] 0.9999784802771741 Centerline is valid? [True, True] Translation: X:236.63, Y:-33.51, Z:-7.54 [[ 9.90801924e-01 1.35164208e-01 6.49499851e-03 2.36634541e+02] [-1.35161208e-01 9.90823212e-01 -9.00567524e-04 -3.35096635e+01] [-6.55711978e-03 1.44121881e-05 9.99978502e-01 -7.54361531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.13420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.66, Y:-33.52, Z:-7.54 [[ 9.91058189e-01 1.33277348e-01 6.38855407e-03 2.36663050e+02] [-1.33274409e-01 9.91078780e-01 -8.85519216e-04 -3.35164295e+01] [-6.44958003e-03 2.61703051e-05 9.99979201e-01 -7.54397368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.16420382200002 meters Centerline goodness [0,1] 0.9999131774869223 Centerline is valid? [True, True] Translation: X:236.69, Y:-33.53, Z:-7.55 [[ 9.91475753e-01 1.30130906e-01 6.46358718e-03 2.36690385e+02] [-1.30127832e-01 9.91496821e-01 -8.95583295e-04 -3.35268905e+01] [-6.52516921e-03 4.68565338e-05 9.99978710e-01 -7.54603011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.19420382200002 meters Centerline goodness [0,1] 0.9999784031272272 Centerline is valid? [True, True] Translation: X:236.72, Y:-33.53, Z:-7.55 [[ 9.91737820e-01 1.28121022e-01 6.41098526e-03 2.36718546e+02] [-1.28117960e-01 9.91758539e-01 -8.87679749e-04 -3.35344912e+01] [-6.47187982e-03 5.89832250e-05 9.99979055e-01 -7.54626326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.22420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.75, Y:-33.54, Z:-7.55 [[ 9.91958966e-01 1.26406223e-01 6.23506420e-03 2.36746746e+02] [-1.26403295e-01 9.91978559e-01 -8.63103535e-04 -3.35416896e+01] [-6.29415166e-03 6.80306322e-05 9.99980189e-01 -7.54983891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.25420382200002 meters Centerline goodness [0,1] 0.9999135919813359 Centerline is valid? [True, True] Translation: X:236.78, Y:-33.55, Z:-7.55 [[ 9.92188572e-01 1.24569781e-01 6.64892076e-03 2.36775166e+02] [-1.24566409e-01 9.92210846e-01 -9.20373705e-04 -3.35473887e+01] [-6.71178204e-03 8.49520863e-05 9.99977472e-01 -7.54962255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.28420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.80, Y:-33.55, Z:-7.54 [[ 9.92204156e-01 1.24423530e-01 7.04967052e-03 2.36804550e+02] [-1.24419744e-01 9.92229196e-01 -9.74867567e-04 -3.35499535e+01] [-7.11618537e-03 9.01494506e-05 9.99974676e-01 -7.54403630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.31420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.83, Y:-33.55, Z:-7.55 [[ 9.92086016e-01 1.25295780e-01 8.14279854e-03 2.36833260e+02] [-1.25290761e-01 9.92119427e-01 -1.12569377e-03 -3.35546540e+01] [-8.21967331e-03 9.65676224e-05 9.99966213e-01 -7.54779116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.34420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.86, Y:-33.56, Z:-7.55 [[ 9.92009112e-01 1.25972999e-01 6.98032509e-03 2.36863059e+02] [-1.25969330e-01 9.92033667e-01 -9.64608430e-04 -3.35579219e+01] [-7.04623211e-03 7.75934782e-05 9.99975172e-01 -7.54864303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.37420382200003 meters Centerline goodness [0,1] 0.9997421794431076 Centerline is valid? [True, True] Translation: X:236.89, Y:-33.56, Z:-7.56 [[ 9.91779475e-01 1.27847335e-01 5.34144845e-03 2.36891744e+02] [-1.27845210e-01 9.91793858e-01 -7.38777635e-04 -3.35605100e+01] [-5.39206652e-03 4.98258945e-05 9.99985461e-01 -7.55751425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.404203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.92, Y:-33.56, Z:-7.55 [[ 9.91664159e-01 1.28740975e-01 5.28746141e-03 2.36921018e+02] [-1.28738905e-01 9.91678254e-01 -7.31438998e-04 -3.35622266e+01] [-5.33762667e-03 4.46398445e-05 9.99985754e-01 -7.55376405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.434203822 meters Centerline goodness [0,1] 0.999956619816068 Centerline is valid? [True, True] Translation: X:236.95, Y:-33.56, Z:-7.56 [[ 9.91491153e-01 1.30058978e-01 5.47316718e-03 2.36948683e+02] [-1.30056780e-01 9.91506259e-01 -7.57104276e-04 -3.35633268e+01] [-5.52514772e-03 3.88396916e-05 9.99984736e-01 -7.55801701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.464203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.98, Y:-33.56, Z:-7.56 [[ 9.91184883e-01 1.32402443e-01 4.70334521e-03 2.36978323e+02] [-1.32400848e-01 9.91196041e-01 -6.50277857e-04 -3.35618341e+01] [-4.74803553e-03 2.18186883e-05 9.99988728e-01 -7.55573982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.494203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:237.01, Y:-33.56, Z:-7.56 [[ 9.90970199e-01 1.34007205e-01 4.48710015e-03 2.37006091e+02] [-1.34005769e-01 9.90980357e-01 -6.20543973e-04 -3.35630361e+01] [-4.52978547e-03 1.36432796e-05 9.99989740e-01 -7.56058016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.524203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:237.03, Y:-33.57, Z:-7.56 [[ 9.90967245e-01 1.34031691e-01 4.40743657e-03 2.37034317e+02] [-1.34030308e-01 9.90977046e-01 -6.08975803e-04 -3.35671382e+01] [-4.44929053e-03 1.27449904e-05 9.99990102e-01 -7.55804113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.554203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:237.06, Y:-33.57, Z:-7.56 [[ 9.91006805e-01 1.33749396e-01 4.07582993e-03 2.37062401e+02] [-1.33748208e-01 9.91015186e-01 -5.63712212e-04 -3.35710194e+01] [-4.11460553e-03 1.35076862e-05 9.99991535e-01 -7.55706070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.584203822 meters Centerline goodness [0,1] 0.9999567249437424 Centerline is valid? [True, True] Translation: X:237.09, Y:-33.58, Z:-7.56 [[ 9.91246850e-01 1.31923009e-01 5.09915264e-03 2.37089525e+02] [-1.31921133e-01 9.91259965e-01 -7.04089538e-04 -3.35765591e+01] [-5.14747148e-03 2.52405448e-05 9.99986751e-01 -7.56136789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.614203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:237.12, Y:-33.58, Z:-7.56 [[ 9.91462183e-01 1.30211429e-01 6.90823787e-03 2.37118470e+02] [-1.30207956e-01 9.91486249e-01 -9.51972514e-04 -3.35823025e+01] [-6.97338055e-03 4.43372115e-05 9.99975685e-01 -7.55922674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.644203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:237.15, Y:-33.59, Z:-7.56 [[ 9.91929135e-01 1.26537601e-01 8.05148000e-03 2.37146024e+02] [-1.26532764e-01 9.91961808e-01 -1.10935120e-03 -3.35913148e+01] [-8.12713530e-03 8.16217559e-05 9.99966971e-01 -7.55529247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.674203822 meters Centerline goodness [0,1] 0.9999785403120238 Centerline is valid? [True, True] Translation: X:237.17, Y:-33.60, Z:-7.56 [[ 9.92211256e-01 1.24367296e-01 7.04267536e-03 2.37173550e+02] [-1.24363556e-01 9.92236246e-01 -9.68238934e-04 -3.36028579e+01] [-7.10841502e-03 8.48454160e-05 9.99974731e-01 -7.56389931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.704203822 meters Centerline goodness [0,1] 0.9998925101040502 Centerline is valid? [True, True] Translation: X:237.20, Y:-33.61, Z:-7.56 [[ 9.92733219e-01 1.20142742e-01 6.81743073e-03 2.37201849e+02] [-1.20139127e-01 9.92756621e-01 -9.38837207e-04 -3.36143856e+01] [-6.88084397e-03 1.12974708e-04 9.99976320e-01 -7.56232549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.734203822 meters Centerline goodness [0,1] 0.9998061305818237 Centerline is valid? [True, True] Translation: X:237.23, Y:-33.62, Z:-7.56 [[ 9.92925934e-01 1.18502456e-01 7.43357964e-03 2.37231523e+02] [-1.18498118e-01 9.92953750e-01 -1.02289453e-03 -3.36212442e+01] [-7.50241629e-03 1.34793309e-04 9.99971847e-01 -7.56420973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.764203822 meters Centerline goodness [0,1] 0.9997212274569511 Centerline is valid? [True, True] Translation: X:237.26, Y:-33.63, Z:-7.57 [[ 9.93125562e-01 1.16815684e-01 7.46420357e-03 2.37260123e+02] [-1.16811260e-01 9.93153600e-01 -1.02738519e-03 -3.36311642e+01] [-7.53311536e-03 1.48419472e-04 9.99971615e-01 -7.56660449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.79420382200001 meters Centerline goodness [0,1] 0.999761305442236 Centerline is valid? [True, True] Translation: X:237.29, Y:-33.64, Z:-7.56 [[ 9.93358933e-01 1.14684566e-01 9.24556539e-03 2.37290202e+02] [-1.14677695e-01 9.93401937e-01 -1.27159667e-03 -3.36415900e+01] [-9.33039508e-03 2.02891786e-04 9.99956450e-01 -7.56114056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.82420382200002 meters Centerline goodness [0,1] 0.9999570225201995 Centerline is valid? [True, True] Translation: X:237.32, Y:-33.65, Z:-7.56 [[ 9.93415738e-01 1.14245773e-01 8.54843083e-03 2.37319514e+02] [-1.14239883e-01 9.93452498e-01 -1.17587150e-03 -3.36535173e+01] [-8.62679832e-03 1.91557518e-04 9.99962770e-01 -7.55992146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.85420382200002 meters Centerline goodness [0,1] 0.9999784895351589 Centerline is valid? [True, True] Translation: X:237.35, Y:-33.66, Z:-7.56 [[ 9.93311921e-01 1.15268604e-01 6.67659879e-03 2.37351144e+02] [-1.15265058e-01 9.93334349e-01 -9.14884051e-04 -3.36592863e+01] [-6.73755232e-03 1.39186690e-04 9.99977293e-01 -7.56313007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.88420382200002 meters Centerline goodness [0,1] 0.999891777234259 Centerline is valid? [True, True] Translation: X:237.38, Y:-33.66, Z:-7.57 [[ 9.93143398e-01 1.16765682e-01 5.65390036e-03 2.37381959e+02] [-1.16763141e-01 9.93159485e-01 -7.78577472e-04 -3.36626146e+01] [-5.70613590e-03 1.13071909e-04 9.99983713e-01 -7.56702447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.91420382200002 meters Centerline goodness [0,1] 0.9995870732184383 Centerline is valid? [True, True] Translation: X:237.41, Y:-33.66, Z:-7.57 [[ 9.92530136e-01 1.21845000e-01 6.14204936e-03 2.37411822e+02] [-1.21842092e-01 9.92549136e-01 -8.46925781e-04 -3.36619834e+01] [-6.19947946e-03 9.22392195e-05 9.99980779e-01 -7.56887763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.94420382200002 meters Centerline goodness [0,1] 0.999847849240333 Centerline is valid? [True, True] Translation: X:237.44, Y:-33.66, Z:-7.57 [[ 9.92142724e-01 1.24984974e-01 5.61883399e-03 2.37441876e+02] [-1.24982589e-01 9.92158632e-01 -7.75051539e-04 -3.36626282e+01] [-5.67164444e-03 6.67053266e-05 9.99983914e-01 -7.56851001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.97420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:237.47, Y:-33.66, Z:-7.57 [[ 9.91333242e-01 1.31249206e-01 5.66123265e-03 2.37471054e+02] [-1.31246889e-01 9.91349406e-01 -7.80532078e-04 -3.36632314e+01] [-5.71470384e-03 3.07482245e-05 9.99983670e-01 -7.56847875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.00420382200002 meters Centerline goodness [0,1] 0.9999782769257506 Centerline is valid? [True, True] Translation: X:237.50, Y:-33.66, Z:-7.57 [[ 9.90929653e-01 1.34266154e-01 5.56976331e-03 2.37500229e+02] [-1.34263955e-01 9.90945306e-01 -7.68666145e-04 -3.36647736e+01] [-5.62253666e-03 1.38756259e-05 9.99984193e-01 -7.56992011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.03420382200002 meters Centerline goodness [0,1] 0.9999133092043953 Centerline is valid? [True, True] Translation: X:237.53, Y:-33.67, Z:-7.57 [[ 9.90594372e-01 1.36729117e-01 5.28573373e-03 2.37529580e+02] [-1.36727172e-01 9.90608474e-01 -7.29301117e-04 -3.36653683e+01] [-5.33580932e-03 -2.61840219e-07 9.99985764e-01 -7.57036162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.06420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:237.56, Y:-33.66, Z:-7.57 [[ 9.90125614e-01 1.40092662e-01 5.03125456e-03 2.37558020e+02] [-1.40090942e-01 9.90138397e-01 -6.94505704e-04 -3.36633857e+01] [-5.07893348e-03 -1.71853028e-05 9.99987102e-01 -7.57293525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.09420382200003 meters Centerline goodness [0,1] 0.9998256738794099 Centerline is valid? [True, True] Translation: X:237.59, Y:-33.67, Z:-7.58 [[ 9.89851857e-01 1.41997772e-01 5.47119033e-03 2.37586739e+02] [-1.41995773e-01 9.89866977e-01 -7.54171813e-04 -3.36665462e+01] [-5.52284135e-03 -3.03675297e-05 9.99984749e-01 -7.57683614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.12420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:237.61, Y:-33.67, Z:-7.58 [[ 9.89854770e-01 1.41977332e-01 5.47458312e-03 2.37614656e+02] [-1.41975330e-01 9.89869909e-01 -7.54667863e-04 -3.36701669e+01] [-5.52627083e-03 -3.02441592e-05 9.99984730e-01 -7.57705510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.154203822 meters Centerline goodness [0,1] 0.9999785761724189 Centerline is valid? [True, True] Translation: X:237.64, Y:-33.67, Z:-7.58 [[ 9.89821207e-01 1.42193989e-01 5.90322058e-03 2.37643430e+02] [-1.42191669e-01 9.89838809e-01 -8.12912297e-04 -3.36743472e+01] [-5.95882808e-03 -3.47509585e-05 9.99982245e-01 -7.57591570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.184203822 meters Centerline goodness [0,1] 0.9998920436143798 Centerline is valid? [True, True] Translation: X:237.67, Y:-33.68, Z:-7.58 [[ 9.89696720e-01 1.43104991e-01 4.62213036e-03 2.37671453e+02] [-1.43103579e-01 9.89707513e-01 -6.36628059e-04 -3.36785278e+01] [-4.66566179e-03 -3.13746932e-05 9.99989115e-01 -7.58053158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.214203822 meters Centerline goodness [0,1] 0.9999784950861271 Centerline is valid? [True, True] Translation: X:237.70, Y:-33.68, Z:-7.59 [[ 9.89718483e-01 1.42978666e-01 3.79798432e-03 2.37699273e+02] [-1.42977709e-01 9.89725770e-01 -5.23733511e-04 -3.36807509e+01] [-3.83384568e-03 -2.46783618e-05 9.99992650e-01 -7.58671004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.244203822 meters Centerline goodness [0,1] 0.9999137168618822 Centerline is valid? [True, True] Translation: X:237.73, Y:-33.69, Z:-7.58 [[ 9.89750089e-01 1.42735959e-01 4.60522059e-03 2.37727651e+02] [-1.42734556e-01 9.89760802e-01 -6.33742853e-04 -3.36879252e+01] [-4.64852472e-03 -3.00770689e-05 9.99989195e-01 -7.58000228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.274203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:237.76, Y:-33.69, Z:-7.58 [[ 9.89794092e-01 1.42412294e-01 5.13751735e-03 2.37756085e+02] [-1.42410545e-01 9.89807424e-01 -7.06573800e-04 -3.36942526e+01] [-5.18577761e-03 -3.22740726e-05 9.99986553e-01 -7.57947507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.304203822 meters Centerline goodness [0,1] 0.9999132471588444 Centerline is valid? [True, True] Translation: X:237.78, Y:-33.70, Z:-7.58 [[ 9.89902044e-01 1.41657660e-01 5.20109586e-03 2.37784042e+02] [-1.41655858e-01 9.89915707e-01 -7.15059296e-04 -3.37001446e+01] [-5.24994011e-03 -2.89270400e-05 9.99986219e-01 -7.58154629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.334203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:237.81, Y:-33.70, Z:-7.58 [[ 9.89995055e-01 1.41023975e-01 4.69352763e-03 2.37812779e+02] [-1.41022502e-01 9.90006181e-01 -6.44855339e-04 -3.37037346e+01] [-4.73756143e-03 -2.34894148e-05 9.99988777e-01 -7.58440115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.364203822 meters Centerline goodness [0,1] 0.999848198989439 Centerline is valid? [True, True] Translation: X:237.84, Y:-33.71, Z:-7.58 [[ 9.90017710e-01 1.40849838e-01 5.12408459e-03 2.37841709e+02] [-1.40848083e-01 9.90030970e-01 -7.03712743e-04 -3.37088842e+01] [-5.17212026e-03 -2.50294111e-05 9.99986624e-01 -7.58465248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.394203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:237.87, Y:-33.72, Z:-7.58 [[ 9.90209054e-01 1.39520365e-01 4.48290344e-03 2.37869451e+02] [-1.39519008e-01 9.90219202e-01 -6.15627211e-04 -3.37156136e+01] [-4.52494960e-03 -1.58506007e-05 9.99989762e-01 -7.58410609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.424203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:237.90, Y:-33.72, Z:-7.59 [[ 9.90462936e-01 1.37677063e-01 5.31016687e-03 2.37896985e+02] [-1.37675135e-01 9.90477171e-01 -7.28799082e-04 -3.37230909e+01] [-5.35993798e-03 -9.22946023e-06 9.99985635e-01 -7.58630256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.454203822 meters Centerline goodness [0,1] 0.9998489817052123 Centerline is valid? [True, True] Translation: X:237.93, Y:-33.73, Z:-7.59 [[ 9.90646802e-01 1.36334421e-01 5.64267632e-03 2.37926333e+02] [-1.36332225e-01 9.90662872e-01 -7.73832373e-04 -3.37296919e+01] [-5.69548991e-03 -2.68405087e-06 9.99983781e-01 -7.58581567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.484203822 meters Centerline goodness [0,1] 0.9998912972585169 Centerline is valid? [True, True] Translation: X:237.96, Y:-33.74, Z:-7.59 [[ 9.90803943e-01 1.35184576e-01 5.71644224e-03 2.37955623e+02] [-1.35182304e-01 9.90820433e-01 -7.83824609e-04 -3.37359773e+01] [-5.76992878e-03 3.85467981e-06 9.99983354e-01 -7.58624571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.514203822 meters Centerline goodness [0,1] 0.9998912972585169 Centerline is valid? [True, True] Translation: X:237.98, Y:-33.74, Z:-7.59 [[ 9.90807282e-01 1.35160099e-01 5.71646141e-03 2.37984520e+02] [-1.35157827e-01 9.90823772e-01 -7.83684745e-04 -3.37398905e+01] [-5.76992877e-03 3.85605005e-06 9.99983354e-01 -7.58713830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.54420382200001 meters Centerline goodness [0,1] 0.9998472482869987 Centerline is valid? [True, True] Translation: X:238.01, Y:-33.75, Z:-7.59 [[ 9.91256435e-01 1.31836019e-01 5.47213256e-03 2.38013953e+02] [-1.31833890e-01 9.91271539e-01 -7.49458996e-04 -3.37489713e+01] [-5.52317495e-03 2.14935272e-05 9.99984747e-01 -7.58591215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.57420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:238.04, Y:-33.76, Z:-7.59 [[ 9.91437221e-01 1.30476738e-01 5.29696673e-03 2.38042892e+02] [-1.30474722e-01 9.91451371e-01 -7.25788876e-04 -3.37554178e+01] [-5.34638349e-03 2.84538444e-05 9.99985708e-01 -7.58916291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.60420382200002 meters Centerline goodness [0,1] 0.9999142936727304 Centerline is valid? [True, True] Translation: X:238.07, Y:-33.76, Z:-7.59 [[ 9.91723539e-01 1.28309301e-01 4.59850519e-03 2.38073067e+02] [-1.28307760e-01 9.91734199e-01 -6.29748744e-04 -3.37626117e+01] [-4.64129748e-03 3.45127531e-05 9.99989229e-01 -7.58861845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.63420382200002 meters Centerline goodness [0,1] 0.9999572284003422 Centerline is valid? [True, True] Translation: X:238.10, Y:-33.77, Z:-7.59 [[ 9.91830292e-01 1.27503223e-01 3.94969845e-03 2.38101358e+02] [-1.27502077e-01 9.91838156e-01 -5.41549598e-04 -3.37694054e+01] [-3.98651095e-03 3.35305383e-05 9.99992053e-01 -7.59290015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.66420382200002 meters Centerline goodness [0,1] 0.9998913303340505 Centerline is valid? [True, True] Translation: X:238.13, Y:-33.77, Z:-7.59 [[ 9.91866371e-01 1.27186262e-01 4.97557479e-03 2.38131655e+02] [-1.27184445e-01 9.91878850e-01 -6.81263852e-04 -3.37730000e+01] [-5.02181481e-03 4.29069877e-05 9.99987390e-01 -7.58668817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.69420382200002 meters Centerline goodness [0,1] 0.999741841103199 Centerline is valid? [True, True] Translation: X:238.16, Y:-33.78, Z:-7.59 [[ 9.91818987e-01 1.27476917e-01 6.68823249e-03 2.38161841e+02] [-1.27473642e-01 9.91841536e-01 -9.15457321e-04 -3.37779080e+01] [-6.75036646e-03 5.53946002e-05 9.99977214e-01 -7.58824885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.72420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:238.19, Y:-33.78, Z:-7.59 [[ 9.91812200e-01 1.27573191e-01 5.80007856e-03 2.38193016e+02] [-1.27570731e-01 9.91829158e-01 -7.93620521e-04 -3.37840250e+01] [-5.85393174e-03 4.72022500e-05 9.99982864e-01 -7.58893007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.75420382200002 meters Centerline goodness [0,1] 0.9997848907244881 Centerline is valid? [True, True] Translation: X:238.22, Y:-33.79, Z:-7.60 [[ 9.91767521e-01 1.27960199e-01 4.83441952e-03 2.38223014e+02] [-1.27958493e-01 9.91779303e-01 -6.61803603e-04 -3.37878122e+01] [-4.87936174e-03 3.77502816e-05 9.99988095e-01 -7.59607579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.78420382200002 meters Centerline goodness [0,1] 0.9999786036758885 Centerline is valid? [True, True] Translation: X:238.25, Y:-33.79, Z:-7.60 [[ 9.91772305e-01 1.27960676e-01 3.70943114e-03 2.38253162e+02] [-1.27959671e-01 9.91779242e-01 -5.08088085e-04 -3.37909054e+01] [-3.74395210e-03 2.92501051e-05 9.99992991e-01 -7.59551051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.81420382200002 meters Centerline goodness [0,1] 0.9999131114779738 Centerline is valid? [True, True] Translation: X:238.28, Y:-33.80, Z:-7.60 [[ 9.91715702e-01 1.28409461e-01 3.31305747e-03 2.38281918e+02] [-1.28408660e-01 9.91721236e-01 -4.54466236e-04 -3.37955055e+01] [-3.34398722e-03 2.52760325e-05 9.99994409e-01 -7.59959073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.84420382200003 meters Centerline goodness [0,1] 0.9998276790522348 Centerline is valid? [True, True] Translation: X:238.31, Y:-33.81, Z:-7.60 [[ 9.91838746e-01 1.27442777e-01 3.77373177e-03 2.38310081e+02] [-1.27441734e-01 9.91845924e-01 -5.16407197e-04 -3.38052755e+01] [-3.80877285e-03 3.12617444e-05 9.99992746e-01 -7.59923690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.87420382200003 meters Centerline goodness [0,1] 0.9998485471342954 Centerline is valid? [True, True] Translation: X:238.34, Y:-33.81, Z:-7.60 [[ 9.91805736e-01 1.27678935e-01 4.41266296e-03 2.38340585e+02] [-1.27677512e-01 9.91815551e-01 -6.04045917e-04 -3.38110414e+01] [-4.45367169e-03 3.56983782e-05 9.99990082e-01 -7.59947570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.904203822 meters Centerline goodness [0,1] 0.9999349339579673 Centerline is valid? [True, True] Translation: X:238.37, Y:-33.82, Z:-7.60 [[ 9.91846502e-01 1.27398911e-01 3.16761155e-03 2.38370495e+02] [-1.27398176e-01 9.91851560e-01 -4.33547045e-04 -3.38183517e+01] [-3.19703387e-03 2.64641884e-05 9.99994889e-01 -7.60068228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.934203822 meters Centerline goodness [0,1] 0.9998703599671579 Centerline is valid? [True, True] Translation: X:238.40, Y:-33.82, Z:-7.61 [[ 9.91686789e-01 1.28664585e-01 1.65421761e-03 2.38400690e+02] [-1.28664386e-01 9.91688169e-01 -2.26605897e-04 -3.38214884e+01] [-1.66962419e-03 1.18831820e-05 9.99998606e-01 -7.60682099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.964203822 meters Centerline goodness [0,1] 0.9998688753879104 Centerline is valid? [True, True] Translation: X:238.43, Y:-33.82, Z:-7.60 [[ 9.91459798e-01 1.30409818e-01 8.64827529e-04 2.38430415e+02] [-1.30409764e-01 9.91460175e-01 -1.19234793e-04 -3.38226310e+01] [-8.72991441e-04 5.43454967e-06 9.99999619e-01 -7.60412321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.994203822 meters Centerline goodness [0,1] 0.9997839099336604 Centerline is valid? [True, True] Translation: X:238.46, Y:-33.83, Z:-7.61 [[ 9.91325980e-01 1.31419220e-01 1.33767202e-03 2.38458965e+02] [-1.31419091e-01 9.91326883e-01 -1.83914066e-04 -3.38269854e+01] [-1.35024007e-03 6.52315098e-06 9.99999088e-01 -7.60757408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.024203822 meters Centerline goodness [0,1] 0.9998482483524107 Centerline is valid? [True, True] Translation: X:238.49, Y:-33.83, Z:-7.61 [[ 9.90966291e-01 1.34081591e-01 2.81744170e-03 2.38487974e+02] [-1.34081034e-01 9.90970296e-01 -3.86494781e-04 -3.38309139e+01] [-2.84382287e-03 5.23780191e-06 9.99995956e-01 -7.60803872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.054203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:238.52, Y:-33.83, Z:-7.60 [[ 9.90727736e-01 1.35834829e-01 2.72988686e-03 2.38517295e+02] [-1.35834313e-01 9.90731497e-01 -3.74460618e-04 -3.38335507e+01] [-2.75544969e-03 1.76212909e-07 9.99996204e-01 -7.60073110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.084203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:238.55, Y:-33.83, Z:-7.60 [[ 9.90397210e-01 1.38222347e-01 2.81957600e-03 2.38546136e+02] [-1.38221806e-01 9.90401223e-01 -3.87012417e-04 -3.38346600e+01] [-2.84600529e-03 -6.43086834e-06 9.99995950e-01 -7.60331078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.114203822 meters Centerline goodness [0,1] 0.9999567950573546 Centerline is valid? [True, True] Translation: X:238.58, Y:-33.83, Z:-7.60 [[ 9.89761436e-01 1.42707152e-01 2.63991278e-03 2.38576022e+02] [-1.42706693e-01 9.89764956e-01 -3.62310839e-04 -3.38312267e+01] [-2.66459750e-03 -1.81319259e-05 9.99996450e-01 -7.60294959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.144203822 meters Centerline goodness [0,1] 0.9998933082963469 Centerline is valid? [True, True] Translation: X:238.60, Y:-33.83, Z:-7.61 [[ 9.89564018e-01 1.44045523e-01 3.73381284e-03 2.38604977e+02] [-1.44044617e-01 9.89571062e-01 -5.11816652e-04 -3.38315320e+01] [-3.76859803e-03 -3.13602970e-05 9.99992898e-01 -7.60684933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.174203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:238.63, Y:-33.84, Z:-7.60 [[ 9.89403058e-01 1.45117707e-01 4.73703297e-03 2.38634890e+02] [-1.45116265e-01 9.89414397e-01 -6.48530996e-04 -3.38357937e+01] [-4.78100195e-03 -4.57619824e-05 9.99988570e-01 -7.60076709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.204203822 meters Centerline goodness [0,1] 0.9999786593824025 Centerline is valid? [True, True] Translation: X:238.66, Y:-33.84, Z:-7.60 [[ 9.89433665e-01 1.44910229e-01 4.69557935e-03 2.38662822e+02] [-1.44908809e-01 9.89444806e-01 -6.43060807e-04 -3.38396560e+01] [-4.73920269e-03 -4.41648003e-05 9.99988769e-01 -7.60259432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.234203822 meters Centerline goodness [0,1] 0.9999787170646576 Centerline is valid? [True, True] Translation: X:238.69, Y:-33.85, Z:-7.61 [[ 9.89683616e-01 1.43231314e-01 3.33618058e-03 2.38690380e+02] [-1.43230587e-01 9.89689239e-01 -4.57076445e-04 -3.38462409e+01] [-3.36724968e-03 -2.54820346e-05 9.99994330e-01 -7.60781730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.264203822 meters Centerline goodness [0,1] 0.9999784969358133 Centerline is valid? [True, True] Translation: X:238.72, Y:-33.85, Z:-7.61 [[ 9.89857631e-01 1.42038691e-01 2.62304721e-03 2.38719641e+02] [-1.42038238e-01 9.89861106e-01 -3.59210080e-04 -3.38536886e+01] [-2.64747414e-03 -1.70061647e-05 9.99996495e-01 -7.60614056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.29420382200001 meters Centerline goodness [0,1] 0.9998496272904986 Centerline is valid? [True, True] Translation: X:238.75, Y:-33.86, Z:-7.61 [[ 9.90021019e-01 1.40895141e-01 2.63452179e-03 2.38747416e+02] [-1.40894680e-01 9.90024524e-01 -3.61060448e-04 -3.38588619e+01] [-2.65911285e-03 -1.37326717e-05 9.99996464e-01 -7.60964961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.32420382200002 meters Centerline goodness [0,1] 0.999766091819593 Centerline is valid? [True, True] Translation: X:238.78, Y:-33.87, Z:-7.61 [[ 9.90329961e-01 1.38684657e-01 3.62409999e-03 2.38775155e+02] [-1.38683771e-01 9.90336592e-01 -4.96078624e-04 -3.38652902e+01] [-3.65787733e-03 -1.13223274e-05 9.99993310e-01 -7.61269890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.35420382200002 meters Centerline goodness [0,1] 0.9999361321638423 Centerline is valid? [True, True] Translation: X:238.81, Y:-33.87, Z:-7.61 [[ 9.90466783e-01 1.37704708e-01 3.60082675e-03 2.38805352e+02] [-1.37703830e-01 9.90473328e-01 -4.91774574e-04 -3.38719230e+01] [-3.63424252e-03 -8.76125389e-06 9.99993396e-01 -7.61031994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.38420382200002 meters Centerline goodness [0,1] 0.9998063808273993 Centerline is valid? [True, True] Translation: X:238.83, Y:-33.88, Z:-7.61 [[ 9.90726046e-01 1.35840426e-01 3.04635291e-03 2.38834120e+02] [-1.35839788e-01 9.90730730e-01 -4.16384929e-04 -3.38808773e+01] [-3.07467735e-03 -1.29254050e-06 9.99995273e-01 -7.61278068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.41420382200002 meters Centerline goodness [0,1] 0.9996311084107282 Centerline is valid? [True, True] Translation: X:238.86, Y:-33.89, Z:-7.62 [[ 9.90825575e-01 1.35119957e-01 2.69770959e-03 2.38864482e+02] [-1.35119455e-01 9.90829247e-01 -3.68400151e-04 -3.38864247e+01] [-2.72274778e-03 5.07240951e-07 9.99996293e-01 -7.61561367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.44420382200002 meters Centerline goodness [0,1] 0.999808359772587 Centerline is valid? [True, True] Translation: X:238.89, Y:-33.89, Z:-7.62 [[ 9.90873744e-01 1.34787224e-01 1.27588129e-03 2.38893358e+02] [-1.34787111e-01 9.90874565e-01 -1.74601190e-04 -3.38924458e+01] [-1.28777233e-03 1.03538210e-06 9.99999171e-01 -7.61894563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.47420382200002 meters Centerline goodness [0,1] 0.9998475310927665 Centerline is valid? [True, True] Translation: X:238.92, Y:-33.90, Z:-7.61 [[ 9.90778209e-01 1.35486389e-01 1.40682601e-03 2.38922607e+02] [-1.35486252e-01 9.90779208e-01 -1.92846236e-04 -3.38958576e+01] [-1.41998200e-03 4.62265761e-07 9.99998992e-01 -7.61428504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.50420382200002 meters Centerline goodness [0,1] 0.9997833152762731 Centerline is valid? [True, True] Translation: X:238.95, Y:-33.90, Z:-7.62 [[ 9.90448537e-01 1.37858823e-01 2.57673456e-03 2.38951810e+02] [-1.37858372e-01 9.90451889e-01 -3.52852882e-04 -3.38951104e+01] [-2.60077549e-03 -5.74180930e-06 9.99996618e-01 -7.61701714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.53420382200002 meters Centerline goodness [0,1] 0.9997633187021259 Centerline is valid? [True, True] Translation: X:238.98, Y:-33.90, Z:-7.62 [[ 9.90231387e-01 1.39398845e-01 3.12442543e-03 2.38982012e+02] [-1.39398192e-01 9.90236316e-01 -4.27100934e-04 -3.38961689e+01] [-3.15345690e-03 -1.26105040e-05 9.99995028e-01 -7.61658100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.56420382200002 meters Centerline goodness [0,1] 0.9996313963573287 Centerline is valid? [True, True] Translation: X:239.01, Y:-33.90, Z:-7.61 [[ 9.89795807e-01 1.42439945e-01 3.88886576e-03 2.39011741e+02] [-1.42438954e-01 9.89803446e-01 -5.31986966e-04 -3.38953499e+01] [-3.92498892e-03 -2.73675018e-05 9.99992297e-01 -7.61399161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.59420382200003 meters Centerline goodness [0,1] 0.9997018040852841 Centerline is valid? [True, True] Translation: X:239.04, Y:-33.89, Z:-7.62 [[ 9.89497505e-01 1.44488501e-01 4.21440977e-03 2.39040323e+02] [-1.44487359e-01 9.89506479e-01 -5.75847753e-04 -3.38942274e+01] [-4.25338915e-03 -3.91290240e-05 9.99990954e-01 -7.61620239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.62420382200003 meters Centerline goodness [0,1] 0.9991514997242374 Centerline is valid? [True, True] Translation: X:239.07, Y:-33.89, Z:-7.62 [[ 9.89202440e-01 1.46505496e-01 3.83035453e-03 2.39068461e+02] [-1.46504566e-01 9.89209855e-01 -5.23934269e-04 -3.38921649e+01] [-3.86578370e-03 -4.28873688e-05 9.99992527e-01 -7.61804757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.654203822 meters Centerline goodness [0,1] 0.9991344052281924 Centerline is valid? [True, True] Translation: X:239.10, Y:-33.89, Z:-7.62 [[ 9.88756222e-01 1.49497570e-01 3.40744279e-03 2.39099074e+02] [-1.49496855e-01 9.88762092e-01 -4.65157923e-04 -3.38896129e+01] [-3.43869024e-03 -4.94741910e-05 9.99994086e-01 -7.61518580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.684203822 meters Centerline goodness [0,1] 0.9990803909407815 Centerline is valid? [True, True] Translation: X:239.13, Y:-33.88, Z:-7.62 [[ 9.88584228e-01 1.50581838e-01 5.13161639e-03 2.39128339e+02] [-1.50580228e-01 9.88597544e-01 -7.00954657e-04 -3.38835633e+01] [-5.17865440e-03 -7.97672482e-05 9.99986587e-01 -7.61668343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.714203822 meters Centerline goodness [0,1] 0.9990594472114748 Centerline is valid? [True, True] Translation: X:239.16, Y:-33.89, Z:-7.61 [[ 9.88616771e-01 1.50347479e-01 5.70224193e-03 2.39157244e+02] [-1.50345492e-01 9.88633212e-01 -7.78004683e-04 -3.38855801e+01] [-5.75439680e-03 -8.81578905e-05 9.99983439e-01 -7.61432501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.744203822 meters Centerline goodness [0,1] 0.9994202898550725 Centerline is valid? [True, True] Translation: X:239.19, Y:-33.89, Z:-7.61 [[ 9.88771323e-01 1.49317113e-01 5.97239585e-03 2.39185513e+02] [-1.49314917e-01 9.88789357e-01 -8.14498452e-04 -3.38883409e+01] [-6.02706000e-03 -8.64150765e-05 9.99981833e-01 -7.61479846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.774203822 meters Centerline goodness [0,1] 0.999528261428939 Centerline is valid? [True, True] Translation: X:239.21, Y:-33.90, Z:-7.62 [[ 9.89397772e-01 1.45106641e-01 6.00933911e-03 2.39212263e+02] [-1.45104339e-01 9.89416019e-01 -8.19528230e-04 -3.38958028e+01] [-6.06465537e-03 -6.11417758e-05 9.99981608e-01 -7.61645556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.804203822 meters Centerline goodness [0,1] 0.9995293916317276 Centerline is valid? [True, True] Translation: X:239.24, Y:-33.90, Z:-7.62 [[ 9.89797923e-01 1.42366228e-01 5.65049946e-03 2.39240663e+02] [-1.42364153e-01 9.89814051e-01 -7.69724467e-04 -3.39017917e+01] [-5.70252653e-03 -4.25568932e-05 9.99983740e-01 -7.62071038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.834203822 meters Centerline goodness [0,1] 0.9995514928879586 Centerline is valid? [True, True] Translation: X:239.27, Y:-33.91, Z:-7.62 [[ 9.90642703e-01 1.36300881e-01 7.00750302e-03 2.39268177e+02] [-1.36297543e-01 9.90667487e-01 -9.54026566e-04 -3.39124732e+01] [-7.07214007e-03 -1.00059854e-05 9.99974992e-01 -7.62424016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.864203822 meters Centerline goodness [0,1] 0.999828935551469 Centerline is valid? [True, True] Translation: X:239.30, Y:-33.92, Z:-7.62 [[ 9.90998217e-01 1.33740701e-01 5.99659556e-03 2.39297378e+02] [-1.33738212e-01 9.91016359e-01 -8.16044617e-04 -3.39203710e+01] [-6.05186268e-03 6.72479173e-06 9.99981687e-01 -7.62157567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.894203822 meters Centerline goodness [0,1] 0.9998731447418495 Centerline is valid? [True, True] Translation: X:239.33, Y:-33.93, Z:-7.63 [[ 9.91715143e-01 1.28365420e-01 4.83675043e-03 2.39325175e+02] [-1.28363743e-01 9.91726937e-01 -6.56825302e-04 -3.39307198e+01] [-4.88104935e-03 3.05202075e-05 9.99988087e-01 -7.62530992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.924203822 meters Centerline goodness [0,1] 0.999805430646835 Centerline is valid? [True, True] Translation: X:239.35, Y:-33.94, Z:-7.62 [[ 9.92064949e-01 1.25614804e-01 5.29699548e-03 2.39354998e+02] [-1.25612748e-01 9.92079089e-01 -7.20374034e-04 -3.39358577e+01] [-5.34552809e-03 4.92876730e-05 9.99985711e-01 -7.62290646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.954203822 meters Centerline goodness [0,1] 0.9998273815945625 Centerline is valid? [True, True] Translation: X:239.38, Y:-33.95, Z:-7.62 [[ 9.92606714e-01 1.21262995e-01 5.21515849e-03 2.39384756e+02] [-1.21260945e-01 9.92620411e-01 -7.08611641e-04 -3.39480201e+01] [-5.26260113e-03 7.09776241e-05 9.99986150e-01 -7.61998472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.984203822 meters Centerline goodness [0,1] 0.9997173298543162 Centerline is valid? [True, True] Translation: X:239.42, Y:-33.96, Z:-7.62 [[ 9.93135332e-01 1.16822506e-01 5.89192545e-03 2.39415273e+02] [-1.16819814e-01 9.93152803e-01 -8.00180128e-04 -3.39605149e+01] [-5.94506132e-03 1.06393522e-04 9.99982322e-01 -7.62358029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.014203822 meters Centerline goodness [0,1] 0.9997844409475976 Centerline is valid? [True, True] Translation: X:239.45, Y:-33.97, Z:-7.62 [[ 9.93295886e-01 1.15444838e-01 5.98097863e-03 2.39445526e+02] [-1.15442053e-01 9.93313886e-01 -8.09842217e-04 -3.39686419e+01] [-6.03448123e-03 1.13956489e-04 9.99981786e-01 -7.62454174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.04420382200001 meters Centerline goodness [0,1] 0.9999143872265742 Centerline is valid? [True, True] Translation: X:239.48, Y:-33.98, Z:-7.62 [[ 9.93380452e-01 1.14764076e-01 4.94825239e-03 2.39475831e+02] [-1.14762153e-01 9.93392771e-01 -6.71802148e-04 -3.39767231e+01] [-4.99265690e-03 9.94830224e-05 9.99987532e-01 -7.62373519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.07420382200002 meters Centerline goodness [0,1] 0.9998922088561204 Centerline is valid? [True, True] Translation: X:239.51, Y:-33.99, Z:-7.62 [[ 9.93489803e-01 1.13790627e-01 5.45016144e-03 2.39505808e+02] [-1.13788285e-01 9.93504746e-01 -7.39032591e-04 -3.39867101e+01] [-5.49885624e-03 1.14056822e-04 9.99984875e-01 -7.62349818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.10420382200002 meters Centerline goodness [0,1] 0.9998265281783291 Centerline is valid? [True, True] Translation: X:239.54, Y:-33.99, Z:-7.62 [[ 9.93461919e-01 1.14016630e-01 5.79854579e-03 2.39537230e+02] [-1.14013977e-01 9.93478834e-01 -7.87117067e-04 -3.39925790e+01] [-5.85047694e-03 1.20855566e-04 9.99982879e-01 -7.62165825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.13420382200002 meters Centerline goodness [0,1] 0.9998069208160814 Centerline is valid? [True, True] Translation: X:239.57, Y:-34.00, Z:-7.62 [[ 9.93274833e-01 1.15659654e-01 5.28681477e-03 2.39567874e+02] [-1.15657468e-01 9.93288898e-01 -7.18447269e-04 -3.40013214e+01] [-5.33442978e-03 1.02155983e-04 9.99985767e-01 -7.62353868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.16420382200002 meters Centerline goodness [0,1] 0.9998924777428928 Centerline is valid? [True, True] Translation: X:239.60, Y:-34.01, Z:-7.63 [[ 9.92869673e-01 1.19130649e-01 4.20721204e-03 2.39598351e+02] [-1.19129297e-01 9.92878585e-01 -5.71484236e-04 -3.40053479e+01] [-4.24533202e-03 6.62071563e-05 9.99990986e-01 -7.62678710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.19420382200002 meters Centerline goodness [0,1] 0.9999352485376961 Centerline is valid? [True, True] Translation: X:239.63, Y:-34.01, Z:-7.63 [[ 9.92644322e-01 1.20991857e-01 4.26847654e-03 2.39630399e+02] [-1.20990481e-01 9.92653498e-01 -5.80193324e-04 -3.40097223e+01] [-4.30731683e-03 5.94805799e-05 9.99990722e-01 -7.62731388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.22420382200002 meters Centerline goodness [0,1] 0.9998505933578076 Centerline is valid? [True, True] Translation: X:239.66, Y:-34.02, Z:-7.63 [[ 9.92409996e-01 1.22871161e-01 5.00785699e-03 2.39661430e+02] [-1.22869281e-01 9.92422629e-01 -6.82496181e-04 -3.40163096e+01] [-5.05376970e-03 6.20042443e-05 9.99987228e-01 -7.62986833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.25420382200002 meters Centerline goodness [0,1] 0.9996792678754705 Centerline is valid? [True, True] Translation: X:239.69, Y:-34.02, Z:-7.63 [[ 9.92039167e-01 1.25682354e-01 7.88908575e-03 2.39692232e+02] [-1.25677716e-01 9.92070531e-01 -1.08293458e-03 -3.40222962e+01] [-7.96263526e-03 8.28312369e-05 9.99968294e-01 -7.62769880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.28420382200002 meters Centerline goodness [0,1] 0.9998936283374109 Centerline is valid? [True, True] Translation: X:239.72, Y:-34.03, Z:-7.63 [[ 9.91808032e-01 1.27523892e-01 7.38133097e-03 2.39723541e+02] [-1.27519909e-01 9.91835497e-01 -1.00969740e-03 -3.40300811e+01] [-7.44982662e-03 6.01593398e-05 9.99972248e-01 -7.62743889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.31420382200002 meters Centerline goodness [0,1] 0.9998505965466459 Centerline is valid? [True, True] Translation: X:239.76, Y:-34.03, Z:-7.63 [[ 9.91423830e-01 1.30522148e-01 6.53892948e-03 2.39756010e+02] [-1.30519086e-01 9.91445393e-01 -8.94697621e-04 -3.40349190e+01] [-6.59976936e-03 3.35694468e-05 9.99978221e-01 -7.62811371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.34420382200003 meters Centerline goodness [0,1] 0.9997237803841578 Centerline is valid? [True, True] Translation: X:239.79, Y:-34.04, Z:-7.63 [[ 9.91142518e-01 1.32690224e-01 5.46008568e-03 2.39786818e+02] [-1.32688107e-01 9.91157558e-01 -7.49780692e-04 -3.40391977e+01] [-5.51129375e-03 1.86510894e-05 9.99984813e-01 -7.63276972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.37420382200003 meters Centerline goodness [0,1] 0.9997417410954482 Centerline is valid? [True, True] Translation: X:239.82, Y:-34.04, Z:-7.63 [[ 9.90523998e-01 1.37232486e-01 5.42710630e-03 2.39819359e+02] [-1.37230472e-01 9.90538866e-01 -7.43664084e-04 -3.40428753e+01] [-5.47781459e-03 -8.14723487e-06 9.99984997e-01 -7.62978674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.404203822 meters Centerline goodness [0,1] 0.9997417410954482 Centerline is valid? [True, True] Translation: X:239.85, Y:-34.05, Z:-7.63 [[ 9.90496578e-01 1.37430257e-01 5.42706116e-03 2.39851526e+02] [-1.37428243e-01 9.90511446e-01 -7.43994754e-04 -3.40475060e+01] [-5.47781359e-03 -8.90722331e-06 9.99984997e-01 -7.63078190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.434203822 meters Centerline goodness [0,1] 0.9995685470822997 Centerline is valid? [True, True] Translation: X:239.88, Y:-34.05, Z:-7.63 [[ 9.90198267e-01 1.39524578e-01 6.34705531e-03 2.39883121e+02] [-1.39521848e-01 9.90218608e-01 -8.73044779e-04 -3.40513928e+01] [-6.40678347e-03 -2.10654583e-05 9.99979476e-01 -7.63458838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.464203822 meters Centerline goodness [0,1] 0.9992924831696754 Centerline is valid? [True, True] Translation: X:239.91, Y:-34.05, Z:-7.64 [[ 9.89472929e-01 1.44567694e-01 6.59583455e-03 2.39914551e+02] [-1.44564846e-01 9.89494911e-01 -9.08991731e-04 -3.40514745e+01] [-6.65795556e-03 -5.41030971e-05 9.99977834e-01 -7.63562600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.494203822 meters Centerline goodness [0,1] 0.999398586678695 Centerline is valid? [True, True] Translation: X:239.95, Y:-34.05, Z:-7.63 [[ 9.89090839e-01 1.47156109e-01 6.66271282e-03 2.39946652e+02] [-1.47153256e-01 9.89113277e-01 -9.19122172e-04 -3.40539479e+01] [-6.72543215e-03 -7.13445647e-05 9.99977381e-01 -7.63272357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.524203822 meters Centerline goodness [0,1] 0.999250583474295 Centerline is valid? [True, True] Translation: X:239.98, Y:-34.05, Z:-7.64 [[ 9.88653892e-01 1.50032384e-01 7.33247249e-03 2.39977538e+02] [-1.50028966e-01 9.88681078e-01 -1.01705128e-03 -3.40546157e+01] [-7.40206743e-03 -9.45715576e-05 9.99972600e-01 -7.63569633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.554203822 meters Centerline goodness [0,1] 0.9990555102391276 Centerline is valid? [True, True] Translation: X:240.01, Y:-34.06, Z:-7.64 [[ 9.88594420e-01 1.50451637e-01 6.73622672e-03 2.40008234e+02] [-1.50448764e-01 9.88617366e-01 -9.34129139e-04 -3.40594670e+01] [-6.80009197e-03 -8.99821307e-05 9.99976875e-01 -7.64025144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.584203822 meters Centerline goodness [0,1] 0.999116455477976 Centerline is valid? [True, True] Translation: X:240.04, Y:-34.07, Z:-7.64 [[ 9.88506063e-01 1.51122792e-01 4.20296976e-03 2.40039519e+02] [-1.51121683e-01 9.88514996e-01 -5.81992211e-04 -3.40663279e+01] [-4.24265093e-03 -5.98570337e-05 9.99990998e-01 -7.64008701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.614203822 meters Centerline goodness [0,1] 0.9991405058123295 Centerline is valid? [True, True] Translation: X:240.07, Y:-34.08, Z:-7.64 [[ 9.88591210e-01 1.50604076e-01 2.41471140e-03 2.40069910e+02] [-1.50603708e-01 9.88594159e-01 -3.34537615e-04 -3.40755269e+01] [-2.43755232e-03 -3.29435460e-05 9.99997029e-01 -7.64380215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.644203822 meters Centerline goodness [0,1] 0.9992301112061591 Centerline is valid? [True, True] Translation: X:240.10, Y:-34.08, Z:-7.65 [[ 9.88894365e-01 1.48560252e-01 4.21752117e-03 2.40099798e+02] [-1.48559108e-01 9.88903357e-01 -5.84973462e-04 -3.40833109e+01] [-4.25762465e-03 -4.80742219e-05 9.99990935e-01 -7.64559918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.674203822 meters Centerline goodness [0,1] 0.9992536199432751 Centerline is valid? [True, True] Translation: X:240.13, Y:-34.09, Z:-7.64 [[ 9.89101485e-01 1.47152847e-01 4.92873007e-03 2.40130669e+02] [-1.47151265e-01 9.89113764e-01 -6.83887135e-04 -3.40908639e+01] [-4.97571069e-03 -4.88350857e-05 9.99987620e-01 -7.64464459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.704203822 meters Centerline goodness [0,1] 0.9995300450729498 Centerline is valid? [True, True] Translation: X:240.16, Y:-34.10, Z:-7.65 [[ 9.89327366e-01 1.45626233e-01 4.93588478e-03 2.40161021e+02] [-1.45624645e-01 9.89339678e-01 -6.81648006e-04 -3.40972000e+01] [-4.98253249e-03 -4.44134398e-05 9.99987586e-01 -7.64767832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.734203822 meters Centerline goodness [0,1] 0.9995919682164716 Centerline is valid? [True, True] Translation: X:240.19, Y:-34.11, Z:-7.65 [[ 9.89870726e-01 1.41884757e-01 4.96613786e-03 2.40192081e+02] [-1.41883099e-01 9.89883183e-01 -6.86265372e-04 -3.41096639e+01] [-5.01326694e-03 -2.52970294e-05 9.99987433e-01 -7.64634200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.764203822 meters Centerline goodness [0,1] 0.9995736607618683 Centerline is valid? [True, True] Translation: X:240.22, Y:-34.12, Z:-7.64 [[ 9.90207896e-01 1.39434130e-01 6.81516378e-03 2.40221968e+02] [-1.39430927e-01 9.90231348e-01 -9.45168747e-04 -3.41219535e+01] [-6.88037760e-03 -1.43310462e-05 9.99976330e-01 -7.64425879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.79420382200001 meters Centerline goodness [0,1] 0.9995318650920311 Centerline is valid? [True, True] Translation: X:240.25, Y:-34.13, Z:-7.64 [[ 9.90267240e-01 1.38983700e-01 7.37056191e-03 2.40253627e+02] [-1.38979932e-01 9.90294669e-01 -1.02345353e-03 -3.41293011e+01] [-7.44127152e-03 -1.08676904e-05 9.99972313e-01 -7.64311187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.82420382200002 meters Centerline goodness [0,1] 0.9998497563907193 Centerline is valid? [True, True] Translation: X:240.29, Y:-34.14, Z:-7.64 [[ 9.90234829e-01 1.39244552e-01 6.77776044e-03 2.40285010e+02] [-1.39241367e-01 9.90258024e-01 -9.41846136e-04 -3.41353702e+01] [-6.84287860e-03 -1.10957830e-05 9.99976587e-01 -7.64388128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.85420382200002 meters Centerline goodness [0,1] 0.999720766388865 Centerline is valid? [True, True] Translation: X:240.32, Y:-34.14, Z:-7.65 [[ 9.89966470e-01 1.41185738e-01 5.74243497e-03 2.40317089e+02] [-1.41183483e-01 9.89983125e-01 -7.98151777e-04 -3.41379813e+01] [-5.79760136e-03 -2.05934749e-05 9.99983194e-01 -7.64553889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.88420382200002 meters Centerline goodness [0,1] 0.9992949621843353 Centerline is valid? [True, True] Translation: X:240.35, Y:-34.14, Z:-7.65 [[ 9.89747904e-01 1.42656063e-01 6.95227601e-03 2.40348297e+02] [-1.42652776e-01 9.89772321e-01 -9.68937711e-04 -3.41378305e+01] [-7.01939520e-03 -3.27574029e-05 9.99975363e-01 -7.64911997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.91420382200002 meters Centerline goodness [0,1] 0.9992133517593281 Centerline is valid? [True, True] Translation: X:240.38, Y:-34.13, Z:-7.65 [[ 9.89093947e-01 1.47070840e-01 7.95810222e-03 2.40381836e+02] [-1.47066663e-01 9.89125959e-01 -1.11063824e-03 -3.41320417e+01] [-8.03490799e-03 -7.18459836e-05 9.99967717e-01 -7.64554605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.94420382200002 meters Centerline goodness [0,1] 0.9992519449431478 Centerline is valid? [True, True] Translation: X:240.41, Y:-34.13, Z:-7.65 [[ 9.88797173e-01 1.49083316e-01 7.36985188e-03 2.40414114e+02] [-1.49079781e-01 9.88824635e-01 -1.02974149e-03 -3.41321016e+01] [-7.44100837e-03 -8.04904329e-05 9.99972312e-01 -7.64717519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.97420382200002 meters Centerline goodness [0,1] 0.9990109441183427 Centerline is valid? [True, True] Translation: X:240.45, Y:-34.13, Z:-7.65 [[ 9.88511987e-01 1.51057017e-01 5.08218927e-03 2.40446399e+02] [-1.51055364e-01 9.88525049e-01 -7.09623324e-04 -3.41306763e+01] [-5.13106498e-03 -6.62207886e-05 9.99986834e-01 -7.65082896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.00420382200002 meters Centerline goodness [0,1] 0.9990374949201121 Centerline is valid? [True, True] Translation: X:240.48, Y:-34.13, Z:-7.65 [[ 9.88533493e-01 1.50917527e-01 5.04305548e-03 2.40477140e+02] [-1.50915876e-01 9.88546355e-01 -7.08628063e-04 -3.41323176e+01] [-5.09223851e-03 -6.05745582e-05 9.99987033e-01 -7.65424524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.03420382200002 meters Centerline goodness [0,1] 0.9991226380775075 Centerline is valid? [True, True] Translation: X:240.51, Y:-34.14, Z:-7.65 [[ 9.88846917e-01 1.48852298e-01 4.97667732e-03 2.40508411e+02] [-1.48850665e-01 9.88859439e-01 -6.99052914e-04 -3.41371307e+01] [-5.02528998e-03 -4.95254071e-05 9.99987372e-01 -7.65447111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.06420382200002 meters Centerline goodness [0,1] 0.9990016277807922 Centerline is valid? [True, True] Translation: X:240.54, Y:-34.14, Z:-7.66 [[ 9.89089094e-01 1.47236976e-01 4.90273171e-03 2.40538264e+02] [-1.47235369e-01 9.89101244e-01 -6.89079989e-04 -3.41413954e+01] [-4.95075609e-03 -4.02940080e-05 9.99987744e-01 -7.65544112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.09420382200003 meters Centerline goodness [0,1] 0.9992894974809456 Centerline is valid? [True, True] Translation: X:240.57, Y:-34.14, Z:-7.65 [[ 9.89526403e-01 1.44196360e-01 6.70124728e-03 2.40569855e+02] [-1.44193289e-01 9.89549094e-01 -9.41761062e-04 -3.41443116e+01] [-6.76701168e-03 -3.43774476e-05 9.99977103e-01 -7.65056877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.12420382200003 meters Centerline goodness [0,1] 0.9994408000860308 Centerline is valid? [True, True] Translation: X:240.60, Y:-34.15, Z:-7.65 [[ 9.89692504e-01 1.43066434e-01 6.38306241e-03 2.40600477e+02] [-1.43063634e-01 9.89713087e-01 -8.95430766e-04 -3.41471941e+01] [-6.44550649e-03 -2.69829877e-05 9.99979227e-01 -7.65374044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.154203822 meters Centerline goodness [0,1] 0.9992035474427415 Centerline is valid? [True, True] Translation: X:240.63, Y:-34.15, Z:-7.66 [[ 9.89974708e-01 1.41129632e-01 5.70134369e-03 2.40631059e+02] [-1.41127374e-01 9.89991125e-01 -7.98540080e-04 -3.41504217e+01] [-5.75697732e-03 -1.40811789e-05 9.99983428e-01 -7.65908930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.184203822 meters Centerline goodness [0,1] 0.9995484550712795 Centerline is valid? [True, True] Translation: X:240.66, Y:-34.16, Z:-7.66 [[ 9.90013846e-01 1.40860615e-01 5.55632701e-03 2.40663041e+02] [-1.40858463e-01 9.90029437e-01 -7.78639517e-04 -3.41551618e+01] [-5.61060695e-03 -1.17917817e-05 9.99984260e-01 -7.65579747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.214203822 meters Centerline goodness [0,1] 0.9995723480231787 Centerline is valid? [True, True] Translation: X:240.69, Y:-34.16, Z:-7.66 [[ 9.90238542e-01 1.39259770e-01 5.86054958e-03 2.40694353e+02] [-1.39257330e-01 9.90255884e-01 -8.24421946e-04 -3.41580034e+01] [-5.91825252e-03 2.49897777e-07 9.99982487e-01 -7.65764638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.244203822 meters Centerline goodness [0,1] 0.9996996288270505 Centerline is valid? [True, True] Translation: X:240.73, Y:-34.16, Z:-7.66 [[ 9.90362205e-01 1.38388040e-01 5.60837003e-03 2.40726450e+02] [-1.38385800e-01 9.90378085e-01 -7.87482235e-04 -3.41622063e+01] [-5.66338489e-03 3.77387071e-06 9.99983963e-01 -7.65688782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.274203822 meters Centerline goodness [0,1] 0.999784936986537 Centerline is valid? [True, True] Translation: X:240.76, Y:-34.17, Z:-7.66 [[ 9.90599514e-01 1.36697650e-01 5.13376358e-03 2.40757148e+02] [-1.36695746e-01 9.90612817e-01 -7.21622440e-04 -3.41652140e+01] [-5.18421609e-03 1.30751985e-05 9.99986562e-01 -7.65914338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.304203822 meters Centerline goodness [0,1] 0.9999360695563227 Centerline is valid? [True, True] Translation: X:240.79, Y:-34.17, Z:-7.66 [[ 9.90686050e-01 1.36067755e-01 5.16874772e-03 2.40787175e+02] [-1.36065792e-01 9.90699534e-01 -7.31148209e-04 -3.41683840e+01] [-5.22016165e-03 2.10485800e-05 9.99986375e-01 -7.66090541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.334203822 meters Centerline goodness [0,1] 0.9999360641063894 Centerline is valid? [True, True] Translation: X:240.82, Y:-34.17, Z:-7.66 [[ 9.90715052e-01 1.35869728e-01 4.80657928e-03 2.40817320e+02] [-1.35868028e-01 9.90726711e-01 -6.79951588e-04 -3.41709519e+01] [-4.85439132e-03 2.05778221e-05 9.99988217e-01 -7.66395772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.364203822 meters Centerline goodness [0,1] 0.9997229975922098 Centerline is valid? [True, True] Translation: X:240.85, Y:-34.17, Z:-7.67 [[ 9.90728500e-01 1.35762807e-01 5.04979551e-03 2.40848179e+02] [-1.35760929e-01 9.90741369e-01 -7.14439896e-04 -3.41735077e+01] [-5.10003568e-03 2.22510381e-05 9.99986994e-01 -7.66702401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.394203822 meters Centerline goodness [0,1] 0.9999133899185865 Centerline is valid? [True, True] Translation: X:240.88, Y:-34.18, Z:-7.66 [[ 9.90648401e-01 1.36316246e-01 5.79880103e-03 2.40878555e+02] [-1.36313777e-01 9.90665373e-01 -8.20824022e-04 -3.41750971e+01] [-5.85656303e-03 2.26915370e-05 9.99982850e-01 -7.66408827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.424203822 meters Centerline goodness [0,1] 0.9998933014660378 Centerline is valid? [True, True] Translation: X:240.91, Y:-34.18, Z:-7.66 [[ 9.90674099e-01 1.36099095e-01 6.47039170e-03 2.40908308e+02] [-1.36096018e-01 9.90695228e-01 -9.15601593e-04 -3.41788562e+01] [-6.53479874e-03 2.64682398e-05 9.99978648e-01 -7.66459017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.454203822 meters Centerline goodness [0,1] 0.9999787554970151 Centerline is valid? [True, True] Translation: X:240.94, Y:-34.18, Z:-7.67 [[ 9.90861466e-01 1.34722068e-01 6.59689559e-03 2.40938654e+02] [-1.34718838e-01 9.90883426e-01 -9.33591812e-04 -3.41829367e+01] [-6.66252992e-03 3.63340446e-05 9.99977804e-01 -7.66567835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.484203822 meters Centerline goodness [0,1] 0.9999574422810937 Centerline is valid? [True, True] Translation: X:240.97, Y:-34.19, Z:-7.67 [[ 9.90973040e-01 1.33926255e-01 6.01605447e-03 2.40969673e+02] [-1.33923556e-01 9.90991300e-01 -8.51145540e-04 -3.41876127e+01] [-6.07584838e-03 3.77708777e-05 9.99981541e-01 -7.66818967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.514203822 meters Centerline goodness [0,1] 0.9999358357394931 Centerline is valid? [True, True] Translation: X:241.00, Y:-34.20, Z:-7.67 [[ 9.91289029e-01 1.31578633e-01 5.75543903e-03 2.41000003e+02] [-1.31576123e-01 9.91305735e-01 -8.14379907e-04 -3.41957098e+01] [-5.81255472e-03 5.00075157e-05 9.99983106e-01 -7.67047571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.54420382200001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.03, Y:-34.20, Z:-7.67 [[ 9.91379464e-01 1.30892347e-01 5.82689521e-03 2.41031473e+02] [-1.30889782e-01 9.91396586e-01 -8.20945384e-04 -3.42015707e+01] [-5.88421949e-03 5.11873493e-05 9.99982687e-01 -7.66807403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.57420382200002 meters Centerline goodness [0,1] 0.9997854675734237 Centerline is valid? [True, True] Translation: X:241.06, Y:-34.21, Z:-7.68 [[ 9.91493606e-01 1.30049299e-01 5.25438020e-03 2.41061684e+02] [-1.30047198e-01 9.91507528e-01 -7.41016202e-04 -3.42094743e+01] [-5.30612615e-03 5.13954026e-05 9.99985921e-01 -7.67671195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.60420382200002 meters Centerline goodness [0,1] 0.999957128464556 Centerline is valid? [True, True] Translation: X:241.09, Y:-34.21, Z:-7.67 [[ 9.91429880e-01 1.30547702e-01 4.90820838e-03 2.41094382e+02] [-1.30545874e-01 9.91442028e-01 -6.92356905e-04 -3.42107667e+01] [-4.95658968e-03 4.56769689e-05 9.99987715e-01 -7.67098365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.63420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.12, Y:-34.21, Z:-7.68 [[ 9.91192990e-01 1.32332558e-01 4.95489342e-03 2.41124571e+02] [-1.32330700e-01 9.91205373e-01 -7.02577941e-04 -3.42103397e+01] [-5.00429092e-03 4.07058171e-05 9.99987478e-01 -7.67669049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.66420382200002 meters Centerline goodness [0,1] 0.9998932467920661 Centerline is valid? [True, True] Translation: X:241.16, Y:-34.21, Z:-7.67 [[ 9.90970467e-01 1.33967725e-01 5.49380899e-03 2.41155682e+02] [-1.33965453e-01 9.90985695e-01 -7.81204253e-04 -3.42085418e+01] [-5.54894227e-03 3.81697332e-05 9.99984604e-01 -7.67132040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.69420382200002 meters Centerline goodness [0,1] 0.9998052201012856 Centerline is valid? [True, True] Translation: X:241.19, Y:-34.21, Z:-7.68 [[ 9.90551355e-01 1.36968633e-01 6.89981630e-03 2.41185292e+02] [-1.36965120e-01 9.90575385e-01 -9.81426504e-04 -3.42069111e+01] [-6.96921283e-03 2.71191883e-05 9.99975714e-01 -7.67625883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.72420382200002 meters Centerline goodness [0,1] 0.9997046911913601 Centerline is valid? [True, True] Translation: X:241.21, Y:-34.21, Z:-7.68 [[ 9.90358208e-01 1.38330237e-01 7.44078771e-03 2.41214590e+02] [-1.38326189e-01 9.90386160e-01 -1.05842926e-03 -3.42072920e+01] [-7.51566593e-03 1.89682930e-05 9.99971757e-01 -7.67689710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.75420382200002 meters Centerline goodness [0,1] 0.9997866666666667 Centerline is valid? [True, True] Translation: X:241.25, Y:-34.20, Z:-7.67 [[ 9.90067142e-01 1.40358625e-01 8.15544401e-03 2.41245981e+02] [-1.40353836e-01 9.90100730e-01 -1.15941417e-03 -3.42039521e+01] [-8.23744485e-03 3.25002178e-06 9.99966072e-01 -7.67060319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.78420382200002 meters Centerline goodness [0,1] 0.9996376348211621 Centerline is valid? [True, True] Translation: X:241.28, Y:-34.20, Z:-7.68 [[ 9.89959347e-01 1.41130654e-01 7.91390317e-03 2.41275173e+02] [-1.41126167e-01 9.89990979e-01 -1.12535211e-03 -3.42049585e+01] [-7.99351442e-03 -2.80598316e-06 9.99968051e-01 -7.67698944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.81420382200002 meters Centerline goodness [0,1] 0.9996783393734051 Centerline is valid? [True, True] Translation: X:241.30, Y:-34.20, Z:-7.68 [[ 9.89817967e-01 1.42190622e-01 6.49768447e-03 2.41304203e+02] [-1.42187617e-01 9.89839294e-01 -9.24474152e-04 -3.42013618e+01] [-6.56311496e-03 -8.82914498e-06 9.99978462e-01 -7.68157815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.84420382200003 meters Centerline goodness [0,1] 0.9995929211123966 Centerline is valid? [True, True] Translation: X:241.33, Y:-34.20, Z:-7.68 [[ 9.89639284e-01 1.43480521e-01 5.23704791e-03 2.41333882e+02] [-1.43478585e-01 9.89653141e-01 -7.45471713e-04 -3.41968613e+01] [-5.28982158e-03 -1.36561329e-05 9.99986009e-01 -7.68212326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.87420382200003 meters Centerline goodness [0,1] 0.9994916977295832 Centerline is valid? [True, True] Translation: X:241.36, Y:-34.20, Z:-7.69 [[ 9.89548899e-01 1.44107826e-01 5.09036510e-03 2.41362189e+02] [-1.44106004e-01 9.89561991e-01 -7.24822193e-04 -3.41956808e+01] [-5.14168438e-03 -1.63051731e-05 9.99986781e-01 -7.68927169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.904203822 meters Centerline goodness [0,1] 0.9995723937398443 Centerline is valid? [True, True] Translation: X:241.39, Y:-34.20, Z:-7.68 [[ 9.89503599e-01 1.44416459e-01 5.14915353e-03 2.41391371e+02] [-1.44414603e-01 9.89516996e-01 -7.32405172e-04 -3.41969202e+01] [-5.20094630e-03 -1.88954111e-05 9.99986475e-01 -7.68408597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.934203822 meters Centerline goodness [0,1] 0.9995326110048863 Centerline is valid? [True, True] Translation: X:241.42, Y:-34.20, Z:-7.69 [[ 9.89668377e-01 1.43275213e-01 5.35884029e-03 2.41418910e+02] [-1.43273186e-01 9.89682885e-01 -7.62288719e-04 -3.41977440e+01] [-5.41276959e-03 -1.33650797e-05 9.99985351e-01 -7.68598943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.964203822 meters Centerline goodness [0,1] 0.9996184904940548 Centerline is valid? [True, True] Translation: X:241.45, Y:-34.20, Z:-7.69 [[ 9.89814457e-01 1.42275565e-01 5.00039203e-03 2.41447591e+02] [-1.42273790e-01 9.89827088e-01 -7.10740265e-04 -3.42022745e+01] [-5.05064445e-03 -7.92373299e-06 9.99987245e-01 -7.68534355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.994203822 meters Centerline goodness [0,1] 0.999677016493691 Centerline is valid? [True, True] Translation: X:241.48, Y:-34.21, Z:-7.68 [[ 9.90247895e-01 1.39236657e-01 4.71797950e-03 2.41475773e+02] [-1.39235041e-01 9.90259134e-01 -6.70810911e-04 -3.42058182e+01] [-4.76542377e-03 7.36102280e-06 9.99988645e-01 -7.68366451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.024203822 meters Centerline goodness [0,1] 0.9998710814120882 Centerline is valid? [True, True] Translation: X:241.50, Y:-34.21, Z:-7.68 [[ 9.90741220e-01 1.35646667e-01 5.64069155e-03 2.41504241e+02] [-1.35644305e-01 9.90757276e-01 -8.01002906e-04 -3.42084200e+01] [-5.69720957e-03 2.84589110e-05 9.99983770e-01 -7.68266424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.054203822 meters Centerline goodness [0,1] 0.9998278866633679 Centerline is valid? [True, True] Translation: X:241.53, Y:-34.21, Z:-7.68 [[ 9.90968953e-01 1.33961588e-01 5.90138311e-03 2.41533006e+02] [-1.33958975e-01 9.90986524e-01 -8.37658028e-04 -3.42121015e+01] [-5.96040514e-03 3.95498674e-05 9.99982236e-01 -7.68271003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.084203822 meters Centerline goodness [0,1] 0.9999358357394931 Centerline is valid? [True, True] Translation: X:241.56, Y:-34.22, Z:-7.69 [[ 9.91173734e-01 1.32426923e-01 6.14317437e-03 2.41560205e+02] [-1.32424063e-01 9.91192770e-01 -8.71898681e-04 -3.42170047e+01] [-6.20453288e-03 5.06989642e-05 9.99980750e-01 -7.68578158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.114203822 meters Centerline goodness [0,1] 0.9998936079666355 Centerline is valid? [True, True] Translation: X:241.59, Y:-34.22, Z:-7.69 [[ 9.91489663e-01 1.30026714e-01 6.42666925e-03 2.41587876e+02] [-1.30023540e-01 9.91510489e-01 -9.11022386e-04 -3.42229570e+01] [-6.49056722e-03 6.76509931e-05 9.99978934e-01 -7.68689282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.144203822 meters Centerline goodness [0,1] 0.9999145536496272 Centerline is valid? [True, True] Translation: X:241.62, Y:-34.23, Z:-7.69 [[ 9.91575629e-01 1.29379658e-01 6.21905685e-03 2.41617391e+02] [-1.29376676e-01 9.91595129e-01 -8.81109247e-04 -3.42274219e+01] [-6.28078409e-03 6.90855525e-05 9.99980273e-01 -7.68812692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.174203822 meters Centerline goodness [0,1] 0.9998093058733791 Centerline is valid? [True, True] Translation: X:241.65, Y:-34.23, Z:-7.69 [[ 9.91554218e-01 1.29529289e-01 6.51119095e-03 2.41646908e+02] [-1.29526021e-01 9.91575594e-01 -9.22880040e-04 -3.42267998e+01] [-6.57587803e-03 7.17169379e-05 9.99978376e-01 -7.68716436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.204203822 meters Centerline goodness [0,1] 0.9995539222975126 Centerline is valid? [True, True] Translation: X:241.67, Y:-34.23, Z:-7.69 [[ 9.91498998e-01 1.29949839e-01 6.54037216e-03 2.41674694e+02] [-1.29946550e-01 9.91520567e-01 -9.27063581e-04 -3.42279349e+01] [-6.60538527e-03 6.92838127e-05 9.99978182e-01 -7.68848528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.234203822 meters Centerline goodness [0,1] 0.9998715450983751 Centerline is valid? [True, True] Translation: X:241.70, Y:-34.23, Z:-7.69 [[ 9.91383227e-01 1.30892408e-01 5.14526786e-03 2.41704032e+02] [-1.30890387e-01 9.91396578e-01 -7.29025009e-04 -3.42270244e+01] [-5.19642479e-03 4.92770640e-05 9.99986497e-01 -7.69027914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.264203822 meters Centerline goodness [0,1] 0.9995882990249187 Centerline is valid? [True, True] Translation: X:241.73, Y:-34.23, Z:-7.69 [[ 9.91409865e-01 1.30730085e-01 4.01549248e-03 2.41731595e+02] [-1.30728851e-01 9.91417996e-01 -5.69380118e-04 -3.42309043e+01] [-4.05546662e-03 3.95483468e-05 9.99991776e-01 -7.69432742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.29420382200001 meters Centerline goodness [0,1] 0.9996579734929457 Centerline is valid? [True, True] Translation: X:241.76, Y:-34.23, Z:-7.70 [[ 9.91531401e-01 1.29774247e-01 4.91186885e-03 2.41760458e+02] [-1.29772394e-01 9.91543565e-01 -6.95475137e-04 -3.42329552e+01] [-4.96058671e-03 5.21604565e-05 9.99987695e-01 -7.69526348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.32420382200002 meters Centerline goodness [0,1] 0.9996579734929457 Centerline is valid? [True, True] Translation: X:241.79, Y:-34.24, Z:-7.70 [[ 9.91537465e-01 1.29727905e-01 4.91190149e-03 2.41788518e+02] [-1.29726052e-01 9.91549630e-01 -6.95244300e-04 -3.42368285e+01] [-4.96058669e-03 5.21591797e-05 9.99987695e-01 -7.69613057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.35420382200002 meters Centerline goodness [0,1] 0.9998941955689105 Centerline is valid? [True, True] Translation: X:241.82, Y:-34.24, Z:-7.69 [[ 9.91622831e-01 1.29008743e-01 6.39578008e-03 2.41817669e+02] [-1.29005592e-01 9.91643454e-01 -9.04549745e-04 -3.42400154e+01] [-6.45902828e-03 7.18807824e-05 9.99979138e-01 -7.69337597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.38420382200002 meters Centerline goodness [0,1] 0.9998712004121587 Centerline is valid? [True, True] Translation: X:241.85, Y:-34.24, Z:-7.69 [[ 9.91829073e-01 1.27410717e-01 6.44967157e-03 2.41846176e+02] [-1.27407480e-01 9.91850040e-01 -9.11877847e-04 -3.42425030e+01] [-6.51329001e-03 8.26905566e-05 9.99978785e-01 -7.69163972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.41420382200002 meters Centerline goodness [0,1] 0.9996802932776333 Centerline is valid? [True, True] Translation: X:241.87, Y:-34.25, Z:-7.70 [[ 9.91934242e-01 1.26577372e-01 6.68049478e-03 2.41873522e+02] [-1.26573881e-01 9.91956733e-01 -9.44543130e-04 -3.42479220e+01] [-6.74631957e-03 9.13485218e-05 9.99977239e-01 -7.69542083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.44420382200002 meters Centerline goodness [0,1] 0.9998277421299686 Centerline is valid? [True, True] Translation: X:241.90, Y:-34.25, Z:-7.69 [[ 9.92162332e-01 1.24796979e-01 6.29454690e-03 2.41902324e+02] [-1.24793851e-01 9.92182294e-01 -8.88948377e-04 -3.42526876e+01] [-6.35627605e-03 9.64603496e-05 9.99979794e-01 -7.69421948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.47420382200002 meters Centerline goodness [0,1] 0.999806101344364 Centerline is valid? [True, True] Translation: X:241.93, Y:-34.26, Z:-7.70 [[ 9.92287330e-01 1.23842153e-01 5.38284940e-03 2.41931745e+02] [-1.23839853e-01 9.92301927e-01 -7.59847392e-04 -3.42585864e+01] [-5.43551297e-03 8.73756622e-05 9.99985224e-01 -7.69668383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.50420382200002 meters Centerline goodness [0,1] 0.9998486682808717 Centerline is valid? [True, True] Translation: X:241.96, Y:-34.26, Z:-7.70 [[ 9.92506396e-01 1.22105924e-01 4.60406818e-03 2.41960658e+02] [-1.22104221e-01 9.92517071e-01 -6.50238365e-04 -3.42628298e+01] [-4.64901422e-03 8.31895746e-05 9.99989190e-01 -7.69852228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.53420382200002 meters Centerline goodness [0,1] 0.9993800371977681 Centerline is valid? [True, True] Translation: X:241.99, Y:-34.27, Z:-7.71 [[ 9.92573465e-01 1.21538048e-01 5.13993949e-03 2.41987764e+02] [-1.21535917e-01 9.92586769e-01 -7.26216607e-04 -3.42713445e+01] [-5.19009888e-03 9.61360768e-05 9.99986527e-01 -7.70571182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.56420382200002 meters Centerline goodness [0,1] 0.9998493035671998 Centerline is valid? [True, True] Translation: X:242.02, Y:-34.27, Z:-7.70 [[ 9.92763151e-01 1.19893139e-01 6.85283101e-03 2.42016352e+02] [-1.19889320e-01 9.92786793e-01 -9.66872221e-04 -3.42735544e+01] [-6.91932147e-03 1.38293860e-04 9.99976052e-01 -7.69803699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.59420382200003 meters Centerline goodness [0,1] 0.9996570865213571 Centerline is valid? [True, True] Translation: X:242.04, Y:-34.28, Z:-7.70 [[ 9.92829850e-01 1.19280948e-01 7.80666256e-03 2.42044506e+02] [-1.19275980e-01 9.92860529e-01 -1.10057871e-03 -3.42798004e+01] [-7.88220519e-03 1.61540071e-04 9.99968922e-01 -7.69829928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.62420382200003 meters Centerline goodness [0,1] 0.9999567127675693 Centerline is valid? [True, True] Translation: X:242.07, Y:-34.29, Z:-7.69 [[ 9.92971542e-01 1.17998038e-01 9.16405585e-03 2.42073116e+02] [-1.17991145e-01 9.93013808e-01 -1.29116241e-03 -3.42868840e+01] [-9.25238862e-03 2.00810086e-04 9.99957176e-01 -7.69445708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.654203822 meters Centerline goodness [0,1] 0.9998068710971868 Centerline is valid? [True, True] Translation: X:242.10, Y:-34.30, Z:-7.70 [[ 9.93049645e-01 1.17373280e-01 8.71291238e-03 2.42101957e+02] [-1.17367042e-01 9.93087849e-01 -1.22554869e-03 -3.42952256e+01] [-8.79653408e-03 1.94421934e-04 9.99961291e-01 -7.69771375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.684203822 meters Centerline goodness [0,1] 0.9997854997854998 Centerline is valid? [True, True] Translation: X:242.13, Y:-34.30, Z:-7.70 [[ 9.93133316e-01 1.16793209e-01 6.75010609e-03 2.42131363e+02] [-1.16789440e-01 9.93156242e-01 -9.51197396e-04 -3.43013958e+01] [-6.81500340e-03 1.56324712e-04 9.99976765e-01 -7.70117670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.714203822 meters Centerline goodness [0,1] 0.9996998220373507 Centerline is valid? [True, True] Translation: X:242.16, Y:-34.31, Z:-7.70 [[ 9.93188689e-01 1.16332652e-01 6.55308071e-03 2.42160370e+02] [-1.16329089e-01 9.93210295e-01 -9.23673231e-04 -3.43059381e+01] [-6.61604058e-03 1.55067899e-04 9.99978102e-01 -7.70074348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.744203822 meters Centerline goodness [0,1] 0.9997205803331543 Centerline is valid? [True, True] Translation: X:242.19, Y:-34.31, Z:-7.70 [[ 9.93212237e-01 1.16106046e-01 6.98842070e-03 2.42188953e+02] [-1.16101992e-01 9.93236809e-01 -9.84517690e-04 -3.43133391e+01] [-7.05546513e-03 1.66465456e-04 9.99975096e-01 -7.70214466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.774203822 meters Centerline goodness [0,1] 0.9996176964084702 Centerline is valid? [True, True] Translation: X:242.22, Y:-34.32, Z:-7.70 [[ 9.93162327e-01 1.16454049e-01 8.18816340e-03 2.42217399e+02] [-1.16448496e-01 9.93196062e-01 -1.15336697e-03 -3.43239571e+01] [-8.26676589e-03 1.91981317e-04 9.99965811e-01 -7.70428691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.804203822 meters Centerline goodness [0,1] 0.9995976707252514 Centerline is valid? [True, True] Translation: X:242.25, Y:-34.33, Z:-7.70 [[ 9.92927436e-01 1.18354159e-01 9.34876142e-03 2.42247718e+02] [-1.18347011e-01 9.92971426e-01 -1.31617144e-03 -3.43303865e+01] [-9.43882733e-03 2.00464762e-04 9.99955433e-01 -7.70281349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.834203822 meters Centerline goodness [0,1] 0.9997443544951001 Centerline is valid? [True, True] Translation: X:242.28, Y:-34.33, Z:-7.70 [[ 9.92732050e-01 1.19942037e-01 9.84811008e-03 2.42279407e+02] [-1.19934184e-01 9.92780877e-01 -1.38634290e-03 -3.43323223e+01] [-9.94329615e-03 1.95141982e-04 9.99950545e-01 -7.69980790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.864203822 meters Centerline goodness [0,1] 0.9998273107973924 Centerline is valid? [True, True] Translation: X:242.31, Y:-34.34, Z:-7.70 [[ 9.92376058e-01 1.22788541e-01 1.06175778e-02 2.42310356e+02] [-1.22779568e-01 9.92432840e-01 -1.49529475e-03 -3.43356808e+01] [-1.07208380e-02 1.80273094e-04 9.99942514e-01 -7.69867399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.894203822 meters Centerline goodness [0,1] 0.9999145755472504 Centerline is valid? [True, True] Translation: X:242.34, Y:-34.34, Z:-7.70 [[ 9.92232927e-01 1.23988332e-01 1.00355451e-02 2.42341486e+02] [-1.23980382e-01 9.92283663e-01 -1.41283090e-03 -3.43422097e+01] [-1.01332820e-02 1.57646624e-04 9.99948645e-01 -7.70188523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.924203822 meters Centerline goodness [0,1] 0.9998918708505439 Centerline is valid? [True, True] Translation: X:242.37, Y:-34.35, Z:-7.70 [[ 9.92167917e-01 1.24580689e-01 9.08165022e-03 2.42371793e+02] [-1.24574199e-01 9.92209470e-01 -1.27903014e-03 -3.43494817e+01] [-9.17024181e-03 1.37673367e-04 9.99957943e-01 -7.70406380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.954203822 meters Centerline goodness [0,1] 0.9997648668291224 Centerline is valid? [True, True] Translation: X:242.40, Y:-34.36, Z:-7.71 [[ 9.91914093e-01 1.26587733e-01 9.05416183e-03 2.42401544e+02] [-1.26581361e-01 9.91955408e-01 -1.27564572e-03 -3.43568723e+01] [-9.14280589e-03 1.19242843e-04 9.99958197e-01 -7.70832894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.984203822 meters Centerline goodness [0,1] 0.9996418564476373 Centerline is valid? [True, True] Translation: X:242.43, Y:-34.36, Z:-7.71 [[ 9.91619479e-01 1.28818911e-01 9.82325328e-03 2.42430366e+02] [-1.28811521e-01 9.91668128e-01 -1.38392022e-03 -3.43633060e+01] [-9.91968229e-03 1.06974050e-04 9.99950793e-01 -7.70880716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.014203822 meters Centerline goodness [0,1] 0.9999158426257101 Centerline is valid? [True, True] Translation: X:242.46, Y:-34.37, Z:-7.71 [[ 9.91505737e-01 1.29625101e-01 1.06633750e-02 2.42459756e+02] [-1.29616431e-01 9.91563070e-01 -1.50306615e-03 -3.43700704e+01] [-1.07682439e-02 1.08150099e-04 9.99942015e-01 -7.70968755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.04420382200001 meters Centerline goodness [0,1] 0.9998921670117322 Centerline is valid? [True, True] Translation: X:242.49, Y:-34.38, Z:-7.71 [[ 9.91257418e-01 1.31497688e-01 1.08207973e-02 2.42489954e+02] [-1.31488872e-01 9.91316473e-01 -1.52525575e-03 -3.43754007e+01] [-1.09274022e-02 8.91066591e-05 9.99940290e-01 -7.70788327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.07420382200002 meters Centerline goodness [0,1] 0.9999367462258582 Centerline is valid? [True, True] Translation: X:242.52, Y:-34.38, Z:-7.71 [[ 9.91093111e-01 1.32781563e-01 1.01736298e-02 2.42519676e+02] [-1.32773849e-01 9.91145323e-01 -1.43293571e-03 -3.43820026e+01] [-1.02738130e-02 6.93807217e-05 9.99947221e-01 -7.71248734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.10420382200002 meters Centerline goodness [0,1] 0.9997442945726523 Centerline is valid? [True, True] Translation: X:242.55, Y:-34.39, Z:-7.71 [[ 9.90780584e-01 1.35131246e-01 9.66335579e-03 2.42549191e+02] [-1.35124382e-01 9.90827707e-01 -1.36263491e-03 -3.43890399e+01] [-9.75885521e-03 4.43172335e-05 9.99952380e-01 -7.71174169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.13420382200002 meters Centerline goodness [0,1] 0.9997230271007329 Centerline is valid? [True, True] Translation: X:242.58, Y:-34.39, Z:-7.71 [[ 9.90570995e-01 1.36649973e-01 9.79222913e-03 2.42579833e+02] [-1.36643000e-01 9.90619394e-01 -1.38080741e-03 -3.43924671e+01] [-9.88905939e-03 2.97482087e-05 9.99951102e-01 -7.71157422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.16420382200002 meters Centerline goodness [0,1] 0.9996619408819117 Centerline is valid? [True, True] Translation: X:242.61, Y:-34.39, Z:-7.72 [[ 9.90012029e-01 1.40647366e-01 9.72114188e-03 2.42609859e+02] [-1.40640684e-01 9.90059755e-01 -1.37103331e-03 -3.43915932e+01] [-9.81734357e-03 -9.84857410e-06 9.99951809e-01 -7.71500824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.19420382200002 meters Centerline goodness [0,1] 0.9997664890568281 Centerline is valid? [True, True] Translation: X:242.64, Y:-34.39, Z:-7.72 [[ 9.89744982e-01 1.42549059e-01 9.19975776e-03 2.42638981e+02] [-1.42543155e-01 9.89787737e-01 -1.29765425e-03 -3.43945897e+01] [-9.29078681e-03 -2.70157077e-05 9.99956839e-01 -7.71607876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.22420382200002 meters Centerline goodness [0,1] 0.9996791924203863 Centerline is valid? [True, True] Translation: X:242.67, Y:-34.40, Z:-7.72 [[ 9.89142382e-01 1.46664945e-01 9.31356358e-03 2.42668827e+02] [-1.46659079e-01 9.89186226e-01 -1.31347346e-03 -3.43971747e+01] [-9.40548932e-03 -6.67063910e-05 9.99955765e-01 -7.71668978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.25420382200002 meters Centerline goodness [0,1] 0.999342119224974 Centerline is valid? [True, True] Translation: X:242.70, Y:-34.40, Z:-7.71 [[ 9.88839517e-01 1.48630847e-01 1.02606131e-02 2.42698243e+02] [-1.48623836e-01 9.88892746e-01 -1.44673307e-03 -3.44003517e+01] [-1.03616750e-02 -9.43848434e-05 9.99946312e-01 -7.71412534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.28420382200002 meters Centerline goodness [0,1] 0.9991163661610317 Centerline is valid? [True, True] Translation: X:242.73, Y:-34.40, Z:-7.71 [[ 9.88275177e-01 1.52300219e-01 1.08082136e-02 2.42726892e+02] [-1.52292657e-01 9.88334267e-01 -1.52410987e-03 -3.43987556e+01] [-1.09142502e-02 -1.39771616e-04 9.99940428e-01 -7.71490520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.31420382200002 meters Centerline goodness [0,1] 0.9993679686512451 Centerline is valid? [True, True] Translation: X:242.76, Y:-34.40, Z:-7.72 [[ 9.88121153e-01 1.53341940e-01 1.01408311e-02 2.42756852e+02] [-1.53335347e-01 9.88173178e-01 -1.42909432e-03 -3.44015686e+01] [-1.02400374e-02 -1.42829537e-04 9.99947559e-01 -7.71602363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.34420382200003 meters Centerline goodness [0,1] 0.9992916022668727 Centerline is valid? [True, True] Translation: X:242.79, Y:-34.41, Z:-7.72 [[ 9.88100257e-01 1.53510430e-01 9.61409323e-03 2.42785690e+02] [-1.53504512e-01 9.88147018e-01 -1.35493206e-03 -3.44056769e+01] [-9.70813376e-03 -1.36997977e-04 9.99952866e-01 -7.71659310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.37420382200003 meters Centerline goodness [0,1] 0.9994484748207543 Centerline is valid? [True, True] Translation: X:242.81, Y:-34.41, Z:-7.72 [[ 9.88215407e-01 1.52800661e-01 9.07013947e-03 2.42813616e+02] [-1.52795368e-01 9.88257023e-01 -1.27776982e-03 -3.44091283e+01] [-9.15887310e-03 -1.23163472e-04 9.99958049e-01 -7.71927691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.404203822 meters Centerline goodness [0,1] 0.9992975435310145 Centerline is valid? [True, True] Translation: X:242.84, Y:-34.42, Z:-7.72 [[ 9.88638110e-01 1.50098417e-01 8.07169933e-03 2.42842002e+02] [-1.50094137e-01 9.88671056e-01 -1.13696202e-03 -3.44161891e+01] [-8.15091170e-03 -8.74707625e-05 9.99966777e-01 -7.72349770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.434203822 meters Centerline goodness [0,1] 0.9995900224408769 Centerline is valid? [True, True] Translation: X:242.87, Y:-34.42, Z:-7.72 [[ 9.88937922e-01 1.48069337e-01 8.78960181e-03 2.42870723e+02] [-1.48064183e-01 9.88976979e-01 -1.23782205e-03 -3.44237073e+01] [-8.87599734e-03 -7.72960498e-05 9.99960605e-01 -7.72232328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.464203822 meters Centerline goodness [0,1] 0.9996549716429819 Centerline is valid? [True, True] Translation: X:242.90, Y:-34.43, Z:-7.72 [[ 9.89244575e-01 1.45948250e-01 9.70970449e-03 2.42898599e+02] [-1.45941860e-01 9.89292224e-01 -1.36733146e-03 -3.44304122e+01] [-9.80529478e-03 -6.44270977e-05 9.99951925e-01 -7.72210162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.494203822 meters Centerline goodness [0,1] 0.9997219964928789 Centerline is valid? [True, True] Translation: X:242.93, Y:-34.44, Z:-7.72 [[ 9.89850220e-01 1.41743829e-01 1.02581499e-02 2.42926961e+02] [-1.41736480e-01 9.89903372e-01 -1.44363400e-03 -3.44408975e+01] [-1.03592034e-02 -2.49726197e-05 9.99946342e-01 -7.72483289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.524203822 meters Centerline goodness [0,1] 0.9997217525309818 Centerline is valid? [True, True] Translation: X:242.96, Y:-34.45, Z:-7.73 [[ 9.90225821e-01 1.39169095e-01 9.20790349e-03 2.42956100e+02] [-1.39163066e-01 9.90268632e-01 -1.29550289e-03 -3.44495952e+01] [-9.29859196e-03 1.44033946e-06 9.99956767e-01 -7.72807787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.554203822 meters Centerline goodness [0,1] 0.9997413514387327 Centerline is valid? [True, True] Translation: X:242.99, Y:-34.46, Z:-7.73 [[ 9.90971929e-01 1.33774086e-01 8.89552898e-03 2.42985164e+02] [-1.33768256e-01 9.91011852e-01 -1.24979424e-03 -3.44629321e+01] [-8.98276474e-03 4.85716098e-05 9.99959653e-01 -7.72979992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.584203822 meters Centerline goodness [0,1] 0.999935256922114 Centerline is valid? [True, True] Translation: X:243.02, Y:-34.47, Z:-7.73 [[ 9.91287633e-01 1.31353038e-01 9.75745996e-03 2.43016884e+02] [-1.31345913e-01 9.91335651e-01 -1.37028544e-03 -3.44713800e+01] [-9.85290908e-03 7.67445259e-05 9.99951456e-01 -7.72972601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.614203822 meters Centerline goodness [0,1] 0.9998926762256375 Centerline is valid? [True, True] Translation: X:243.05, Y:-34.48, Z:-7.73 [[ 9.91865188e-01 1.26917134e-01 9.77185927e-03 2.43047996e+02] [-1.26909756e-01 9.91913316e-01 -1.37390880e-03 -3.44827968e+01] [-9.86720990e-03 1.22588035e-04 9.99951310e-01 -7.73005904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.644203822 meters Centerline goodness [0,1] 0.9996344086021506 Centerline is valid? [True, True] Translation: X:243.08, Y:-34.49, Z:-7.73 [[ 9.92071863e-01 1.25336182e-01 9.17930335e-03 2.43079451e+02] [-1.25329594e-01 9.92114320e-01 -1.29172481e-03 -3.44911338e+01] [-9.26881816e-03 1.31045477e-04 9.99957035e-01 -7.73244255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.674203822 meters Centerline goodness [0,1] 0.9997454607161038 Centerline is valid? [True, True] Translation: X:243.11, Y:-34.50, Z:-7.73 [[ 9.92292283e-01 1.23511038e-01 1.00523180e-02 2.43109396e+02] [-1.23503019e-01 9.92343185e-01 -1.41697011e-03 -3.45031326e+01] [-1.01503607e-02 1.64556884e-04 9.99948470e-01 -7.73131938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.704203822 meters Centerline goodness [0,1] 0.9998723186925434 Centerline is valid? [True, True] Translation: X:243.14, Y:-34.51, Z:-7.73 [[ 9.92279593e-01 1.23668036e-01 9.35016661e-03 2.43140687e+02] [-1.23661097e-01 9.92323633e-01 -1.31889445e-03 -3.45080716e+01] [-9.44149639e-03 1.52460189e-04 9.99955416e-01 -7.73377345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.734203822 meters Centerline goodness [0,1] 0.9998713219524749 Centerline is valid? [True, True] Translation: X:243.17, Y:-34.51, Z:-7.73 [[ 9.92086342e-01 1.25215697e-01 9.25842990e-03 2.43173350e+02] [-1.25208948e-01 9.92129533e-01 -1.30733012e-03 -3.45093423e+01] [-9.34925998e-03 1.37746083e-04 9.99956285e-01 -7.73402407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.764203822 meters Centerline goodness [0,1] 0.9997854169348955 Centerline is valid? [True, True] Translation: X:243.21, Y:-34.51, Z:-7.73 [[ 9.91878773e-01 1.26799008e-01 9.92525156e-03 2.43205962e+02] [-1.26791311e-01 9.91928422e-01 -1.40347291e-03 -3.45113714e+01] [-1.00230981e-02 1.33639329e-04 9.99949759e-01 -7.73263329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.79420382200001 meters Centerline goodness [0,1] 0.999850902042642 Centerline is valid? [True, True] Translation: X:243.24, Y:-34.51, Z:-7.73 [[ 9.91632722e-01 1.28617240e-01 1.10521110e-02 2.43237404e+02] [-1.28607779e-01 9.91694302e-01 -1.56550150e-03 -3.45130981e+01] [-1.11616660e-02 1.31015066e-04 9.99937698e-01 -7.73235145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.82420382200002 meters Centerline goodness [0,1] 0.9998729298149011 Centerline is valid? [True, True] Translation: X:243.27, Y:-34.51, Z:-7.74 [[ 9.91167541e-01 1.32101124e-01 1.16703872e-02 2.43269087e+02] [-1.32090791e-01 9.91236240e-01 -1.65518420e-03 -3.45127745e+01] [-1.17867624e-02 9.90141734e-05 9.99930529e-01 -7.73556065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.85420382200002 meters Centerline goodness [0,1] 0.9997232923947978 Centerline is valid? [True, True] Translation: X:243.30, Y:-34.52, Z:-7.74 [[ 9.90931998e-01 1.34048255e-01 9.21087330e-03 2.43301081e+02] [-1.34041901e-01 9.90974804e-01 -1.30654860e-03 -3.45164950e+01] [-9.30288393e-03 6.00578451e-05 9.99956725e-01 -7.73904360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.88420382200002 meters Centerline goodness [0,1] 0.9998934492605379 Centerline is valid? [True, True] Translation: X:243.33, Y:-34.52, Z:-7.74 [[ 9.90903754e-01 1.34279775e-01 8.87089339e-03 2.43332136e+02] [-1.34273877e-01 9.90943459e-01 -1.25988014e-03 -3.45223925e+01] [-8.95973021e-03 5.72907121e-05 9.99959859e-01 -7.74136793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.91420382200002 meters Centerline goodness [0,1] 0.9998731018146441 Centerline is valid? [True, True] Translation: X:243.36, Y:-34.53, Z:-7.74 [[ 9.90954995e-01 1.33800623e-01 1.02757553e-02 2.43362604e+02] [-1.33792658e-01 9.91008268e-01 -1.46174720e-03 -3.45270768e+01] [-1.03789411e-02 7.37050756e-05 9.99946135e-01 -7.74066065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.94420382200002 meters Centerline goodness [0,1] 0.999850936967632 Centerline is valid? [True, True] Translation: X:243.40, Y:-34.53, Z:-7.74 [[ 9.91012591e-01 1.33380949e-01 1.01767784e-02 2.43395240e+02] [-1.33373106e-01 9.91064840e-01 -1.44850021e-03 -3.45319019e+01] [-1.02790496e-02 7.81734001e-05 9.99947166e-01 -7.74120412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.97420382200002 meters Centerline goodness [0,1] 0.9997447514517261 Centerline is valid? [True, True] Translation: X:243.43, Y:-34.54, Z:-7.74 [[ 9.91043892e-01 1.33173758e-01 9.83636165e-03 2.43427491e+02] [-1.33166400e-01 9.91092702e-01 -1.40217976e-03 -3.45364908e+01] [-9.93547980e-03 7.97488184e-05 9.99950639e-01 -7.74291061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.00420382200002 meters Centerline goodness [0,1] 0.9997873200195666 Centerline is valid? [True, True] Translation: X:243.46, Y:-34.54, Z:-7.74 [[ 9.90918605e-01 1.34108315e-01 9.76103967e-03 2.43459614e+02] [-1.34101100e-01 9.90966677e-01 -1.39299218e-03 -3.45381354e+01] [-9.85967687e-03 7.13757142e-05 9.99951390e-01 -7.74417577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.03420382200002 meters Centerline goodness [0,1] 0.9998310489746784 Centerline is valid? [True, True] Translation: X:243.49, Y:-34.54, Z:-7.75 [[ 9.90746572e-01 1.35388333e-01 9.55140036e-03 2.43490652e+02] [-1.35381455e-01 9.90792610e-01 -1.36599595e-03 -3.45416577e+01] [-9.64839681e-03 6.02733245e-05 9.99953451e-01 -7.74597178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.06420382200002 meters Centerline goodness [0,1] 0.9998940453485908 Centerline is valid? [True, True] Translation: X:243.52, Y:-34.54, Z:-7.75 [[ 9.90381050e-01 1.38038750e-01 9.52256522e-03 2.43522270e+02] [-1.38032014e-01 9.90426828e-01 -1.36412897e-03 -3.45444831e+01] [-9.61970673e-03 3.65886193e-05 9.99953729e-01 -7.74672173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.09420382200003 meters Centerline goodness [0,1] 0.9997892562854312 Centerline is valid? [True, True] Translation: X:243.55, Y:-34.55, Z:-7.75 [[ 9.90219780e-01 1.39183958e-01 9.62358696e-03 2.43552608e+02] [-1.39177129e-01 9.90266542e-01 -1.37906847e-03 -3.45457599e+01] [-9.72186039e-03 2.61976746e-05 9.99952741e-01 -7.74812331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.12420382200003 meters Centerline goodness [0,1] 0.9999153582462229 Centerline is valid? [True, True] Translation: X:243.58, Y:-34.54, Z:-7.75 [[ 9.90120592e-01 1.39914036e-01 9.23450211e-03 2.43583869e+02] [-1.39907776e-01 9.90163654e-01 -1.32364533e-03 -3.45438897e+01] [-9.32886492e-03 1.85898493e-05 9.99956485e-01 -7.74991160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.154203822 meters Centerline goodness [0,1] 0.9997456225887141 Centerline is valid? [True, True] Translation: X:243.61, Y:-34.55, Z:-7.75 [[ 9.90166571e-01 1.39584021e-01 9.29853152e-03 2.43614107e+02] [-1.39577659e-01 9.90210230e-01 -1.33282311e-03 -3.45478370e+01] [-9.39354185e-03 2.18496261e-05 9.99955879e-01 -7.75039095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.184203822 meters Centerline goodness [0,1] 0.9997456225887141 Centerline is valid? [True, True] Translation: X:243.64, Y:-34.55, Z:-7.75 [[ 9.90166571e-01 1.39584021e-01 9.29853152e-03 2.43643796e+02] [-1.39577659e-01 9.90210230e-01 -1.33282311e-03 -3.45520926e+01] [-9.39354185e-03 2.18496260e-05 9.99955879e-01 -7.75130903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.214203822 meters Centerline goodness [0,1] 0.9998502417525994 Centerline is valid? [True, True] Translation: X:243.67, Y:-34.56, Z:-7.75 [[ 9.90539471e-01 1.36906485e-01 9.38987732e-03 2.43673105e+02] [-1.36899880e-01 9.90583975e-01 -1.34567892e-03 -3.45596389e+01] [-9.48569418e-03 4.74750095e-05 9.99955009e-01 -7.75272188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.244203822 meters Centerline goodness [0,1] 0.9997470115742205 Centerline is valid? [True, True] Translation: X:243.70, Y:-34.57, Z:-7.75 [[ 9.90845248e-01 1.34702023e-01 9.00326893e-03 2.43702197e+02] [-1.34695859e-01 9.90886149e-01 -1.29036430e-03 -3.45671924e+01] [-9.09502917e-03 6.58482916e-05 9.99958637e-01 -7.75462066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.274203822 meters Centerline goodness [0,1] 0.9998299825732138 Centerline is valid? [True, True] Translation: X:243.73, Y:-34.58, Z:-7.76 [[ 9.91541211e-01 1.29538003e-01 8.11990090e-03 2.43731493e+02] [-1.29532839e-01 9.91574453e-01 -1.16085670e-03 -3.45810592e+01] [-8.20186135e-03 9.92434356e-05 9.99966359e-01 -7.75863866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.304203822 meters Centerline goodness [0,1] 0.9997446754186259 Centerline is valid? [True, True] Translation: X:243.76, Y:-34.59, Z:-7.76 [[ 9.91862877e-01 1.27038127e-01 8.32751231e-03 2.43762005e+02] [-1.27032596e-01 9.91897827e-01 -1.19187254e-03 -3.45910279e+01] [-8.41145462e-03 1.24308611e-04 9.99964615e-01 -7.75924988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.334203822 meters Centerline goodness [0,1] 0.9997828494495233 Centerline is valid? [True, True] Translation: X:243.79, Y:-34.60, Z:-7.75 [[ 9.92354750e-01 1.23198847e-01 7.35480987e-03 2.43792799e+02] [-1.23194401e-01 9.92381995e-01 -1.05622249e-03 -3.45967031e+01] [-7.42890629e-03 1.42076009e-04 9.99972395e-01 -7.75398735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.364203822 meters Centerline goodness [0,1] 0.9997441746434435 Centerline is valid? [True, True] Translation: X:243.82, Y:-34.60, Z:-7.75 [[ 9.92459974e-01 1.22333513e-01 7.59676279e-03 2.43823530e+02] [-1.22328770e-01 9.92489037e-01 -1.08772622e-03 -3.46033157e+01] [-7.67276916e-03 1.50222094e-04 9.99970553e-01 -7.75416541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.394203822 meters Centerline goodness [0,1] 0.9992325239303302 Centerline is valid? [True, True] Translation: X:243.85, Y:-34.62, Z:-7.76 [[ 9.92560899e-01 1.21498082e-01 7.81522242e-03 2.43853150e+02] [-1.21493025e-01 9.92591653e-01 -1.12041329e-03 -3.46150580e+01] [-7.89345261e-03 1.62583413e-04 9.99968833e-01 -7.76277092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.424203822 meters Centerline goodness [0,1] 0.9997189796800692 Centerline is valid? [True, True] Translation: X:243.89, Y:-34.61, Z:-7.76 [[ 9.92556687e-01 1.21541538e-01 7.67313994e-03 2.43887315e+02] [-1.21536662e-01 9.92586333e-01 -1.10031783e-03 -3.46129153e+01] [-7.74998816e-03 1.59560012e-04 9.99969956e-01 -7.75501966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.454203822 meters Centerline goodness [0,1] 0.9997637304809158 Centerline is valid? [True, True] Translation: X:243.92, Y:-34.62, Z:-7.75 [[ 9.92551444e-01 1.21433487e-01 9.77437609e-03 2.43917908e+02] [-1.21425527e-01 9.92599549e-01 -1.40597260e-03 -3.46211605e+01] [-9.87277346e-03 2.08641368e-04 9.99951241e-01 -7.75255409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.484203822 meters Centerline goodness [0,1] 0.9995095530535654 Centerline is valid? [True, True] Translation: X:243.95, Y:-34.63, Z:-7.76 [[ 9.92539398e-01 1.21466596e-01 1.05551172e-02 2.43947016e+02] [-1.21457279e-01 9.92595494e-01 -1.52158950e-03 -3.46345696e+01] [-1.06617841e-02 2.28241707e-04 9.99943136e-01 -7.75898128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.514203822 meters Centerline goodness [0,1] 0.9997655783820646 Centerline is valid? [True, True] Translation: X:243.98, Y:-34.63, Z:-7.75 [[ 9.92530204e-01 1.21574787e-01 1.01668677e-02 2.43979571e+02] [-1.21566155e-01 9.92582250e-01 -1.46506867e-03 -3.46330994e+01] [-1.02695678e-02 2.18177892e-04 9.99947243e-01 -7.75391123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.54420382200001 meters Centerline goodness [0,1] 0.9998279754865068 Centerline is valid? [True, True] Translation: X:244.01, Y:-34.64, Z:-7.76 [[ 9.92515620e-01 1.21756002e-01 9.39257277e-03 2.44011003e+02] [-1.21748632e-01 9.92560041e-01 -1.35465521e-03 -3.46383159e+01] [-9.48762982e-03 2.00983571e-04 9.99954971e-01 -7.75613114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.57420382200002 meters Centerline goodness [0,1] 0.9998733161606351 Centerline is valid? [True, True] Translation: X:244.04, Y:-34.65, Z:-7.76 [[ 9.92416298e-01 1.22467739e-01 1.05615049e-02 2.44041604e+02] [-1.22458419e-01 9.92472470e-01 -1.52709778e-03 -3.46466677e+01] [-1.06690230e-02 2.22171535e-04 9.99943060e-01 -7.75728902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.60420382200002 meters Centerline goodness [0,1] 0.9998086897372672 Centerline is valid? [True, True] Translation: X:244.07, Y:-34.65, Z:-7.76 [[ 9.92254211e-01 1.23750718e-01 1.08323770e-02 2.44073881e+02] [-1.23740993e-01 9.92313315e-01 -1.56600894e-03 -3.46504874e+01] [-1.09429066e-02 2.13469884e-04 9.99940102e-01 -7.75710388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.63420382200002 meters Centerline goodness [0,1] 0.9997852740976144 Centerline is valid? [True, True] Translation: X:244.11, Y:-34.65, Z:-7.76 [[ 9.91860800e-01 1.26978413e-01 9.41468702e-03 2.44105831e+02] [-1.26971203e-01 9.91905469e-01 -1.36197462e-03 -3.46511702e+01] [-9.51142092e-03 1.55495094e-04 9.99954753e-01 -7.75966135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.66420382200002 meters Centerline goodness [0,1] 0.9998505550811272 Centerline is valid? [True, True] Translation: X:244.14, Y:-34.65, Z:-7.76 [[ 9.91614314e-01 1.28914127e-01 9.06641400e-03 2.44136649e+02] [-1.28907507e-01 9.91655752e-01 -1.31317116e-03 -3.46535408e+01] [-9.16004791e-03 1.33430491e-04 9.99958037e-01 -7.76197008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.69420382200002 meters Centerline goodness [0,1] 0.9997213947407899 Centerline is valid? [True, True] Translation: X:244.17, Y:-34.65, Z:-7.76 [[ 9.91016868e-01 1.33474400e-01 8.37572295e-03 2.44169066e+02] [-1.33468908e-01 9.91052258e-01 -1.21383063e-03 -3.46514180e+01] [-8.46279445e-03 8.50280374e-05 9.99964186e-01 -7.76388566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.72420382200002 meters Centerline goodness [0,1] 0.9998935377408709 Centerline is valid? [True, True] Translation: X:244.20, Y:-34.65, Z:-7.77 [[ 9.90692412e-01 1.35882150e-01 8.03657542e-03 2.44200322e+02] [-1.35877161e-01 9.90725006e-01 -1.16610092e-03 -3.46536831e+01] [-8.12048853e-03 6.32602846e-05 9.99967026e-01 -7.76658920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.75420382200002 meters Centerline goodness [0,1] 0.9998510448142316 Centerline is valid? [True, True] Translation: X:244.23, Y:-34.65, Z:-7.77 [[ 9.90144061e-01 1.39812297e-01 8.20127146e-03 2.44231470e+02] [-1.39807199e-01 9.90178025e-01 -1.19445258e-03 -3.46549737e+01] [-8.28771793e-03 3.60833335e-05 9.99965656e-01 -7.76790505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.78420382200002 meters Centerline goodness [0,1] 0.9998280272576796 Centerline is valid? [True, True] Translation: X:244.26, Y:-34.66, Z:-7.77 [[ 9.89925352e-01 1.41329953e-01 8.58152482e-03 2.44262438e+02] [-1.41324430e-01 9.89962547e-01 -1.24969832e-03 -3.46575154e+01] [-8.67200797e-03 2.43289511e-05 9.99962397e-01 -7.76800814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.81420382200002 meters Centerline goodness [0,1] 0.9999577193835486 Centerline is valid? [True, True] Translation: X:244.29, Y:-34.65, Z:-7.77 [[ 9.89594606e-01 1.43561943e-01 9.61687493e-03 2.44293020e+02] [-1.43555102e-01 9.89641333e-01 -1.40150352e-03 -3.46538748e+01] [-9.71845950e-03 6.36885927e-06 9.99952775e-01 -7.76810221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.84420382200003 meters Centerline goodness [0,1] 0.9998723105407649 Centerline is valid? [True, True] Translation: X:244.32, Y:-34.66, Z:-7.77 [[ 9.89510847e-01 1.44192407e-01 8.76542876e-03 2.44323981e+02] [-1.44186751e-01 9.89549670e-01 -1.27709852e-03 -3.46553491e+01] [-8.85797505e-03 -1.55855473e-07 9.99960767e-01 -7.77084783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.87420382200003 meters Centerline goodness [0,1] 0.9998714873200822 Centerline is valid? [True, True] Translation: X:244.35, Y:-34.66, Z:-7.78 [[ 9.89555958e-01 1.43946404e-01 7.64454395e-03 2.44353215e+02] [-1.43942096e-01 9.89585485e-01 -1.11364735e-03 -3.46607374e+01] [-7.72523527e-03 1.64469124e-06 9.99970160e-01 -7.77519156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.904203822 meters Centerline goodness [0,1] 0.9998306484049196 Centerline is valid? [True, True] Translation: X:244.38, Y:-34.67, Z:-7.78 [[ 9.89639272e-01 1.43362795e-01 7.82437842e-03 2.44381954e+02] [-1.43358260e-01 9.89670202e-01 -1.14029620e-03 -3.46665388e+01] [-7.90703022e-03 6.79262134e-06 9.99968739e-01 -7.77606425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.934203822 meters Centerline goodness [0,1] 0.9997239211688753 Centerline is valid? [True, True] Translation: X:244.41, Y:-34.67, Z:-7.78 [[ 9.89759148e-01 1.42493913e-01 8.50372038e-03 2.44411225e+02] [-1.42488526e-01 9.89795678e-01 -1.23917188e-03 -3.46724672e+01] [-8.59352013e-03 1.47991250e-05 9.99963075e-01 -7.77551332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.964203822 meters Centerline goodness [0,1] 0.9998303719095882 Centerline is valid? [True, True] Translation: X:244.44, Y:-34.68, Z:-7.77 [[ 9.90087792e-01 1.40116122e-01 9.67660275e-03 2.44440262e+02] [-1.40109049e-01 9.90135077e-01 -1.40844841e-03 -3.46821109e+01] [-9.77849013e-03 3.87079752e-05 9.99952189e-01 -7.77448612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.994203822 meters Centerline goodness [0,1] 0.9998930000642 Centerline is valid? [True, True] Translation: X:244.47, Y:-34.69, Z:-7.77 [[ 9.90361654e-01 1.38116886e-01 1.03691690e-02 2.44471014e+02] [-1.38108638e-01 9.90415934e-01 -1.51076617e-03 -3.46896277e+01] [-1.04784526e-02 6.41330680e-05 9.99945097e-01 -7.77359057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.024203822 meters Centerline goodness [0,1] 0.9998497305884121 Centerline is valid? [True, True] Translation: X:244.50, Y:-34.69, Z:-7.77 [[ 9.90430398e-01 1.37615777e-01 1.04654037e-02 2.44503301e+02] [-1.37607376e-01 9.90485686e-01 -1.52211722e-03 -3.46931995e+01] [-1.05752999e-02 6.74344265e-05 9.99944078e-01 -7.77008275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.054203822 meters Centerline goodness [0,1] 0.999832628980292 Centerline is valid? [True, True] Translation: X:244.53, Y:-34.70, Z:-7.78 [[ 9.90519855e-01 1.36940182e-01 1.08537172e-02 2.44534141e+02] [-1.36931073e-01 9.90579315e-01 -1.58157442e-03 -3.47010320e+01] [-1.09680488e-02 8.03697303e-05 9.99939846e-01 -7.77602289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.084203822 meters Centerline goodness [0,1] 0.9999142091152815 Centerline is valid? [True, True] Translation: X:244.57, Y:-34.71, Z:-7.77 [[ 9.90543141e-01 1.36869800e-01 9.53647607e-03 2.44565563e+02] [-1.36862764e-01 9.90589043e-01 -1.38960705e-03 -3.47058450e+01] [-9.63692394e-03 7.12772516e-05 9.99953561e-01 -7.77390613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.114203822 meters Centerline goodness [0,1] 0.9999787640688044 Centerline is valid? [True, True] Translation: X:244.60, Y:-34.71, Z:-7.77 [[ 9.90494283e-01 1.37201637e-01 9.83798196e-03 2.44596218e+02] [-1.37194148e-01 9.90543137e-01 -1.43523456e-03 -3.47094024e+01] [-9.94186204e-03 7.18780697e-05 9.99950576e-01 -7.77413523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.144203822 meters Centerline goodness [0,1] 0.9999361525528337 Centerline is valid? [True, True] Translation: X:244.63, Y:-34.71, Z:-7.77 [[ 9.90455864e-01 1.37471431e-01 9.93920259e-03 2.44627860e+02] [-1.37463788e-01 9.90505730e-01 -1.45135404e-03 -3.47131755e+01] [-1.00443568e-02 7.12216796e-05 9.99949552e-01 -7.77463472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.174203822 meters Centerline goodness [0,1] 0.9998713329902214 Centerline is valid? [True, True] Translation: X:244.66, Y:-34.72, Z:-7.78 [[ 9.90473520e-01 1.37374116e-01 9.51625184e-03 2.44658423e+02] [-1.37367089e-01 9.90519231e-01 -1.39123932e-03 -3.47179102e+01] [-9.61715073e-03 7.07658909e-05 9.99953752e-01 -7.77634322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.204203822 meters Centerline goodness [0,1] 0.9999787206877474 Centerline is valid? [True, True] Translation: X:244.69, Y:-34.72, Z:-7.78 [[ 9.90625587e-01 1.36314415e-01 8.90655824e-03 2.44689478e+02] [-1.36308196e-01 9.90665622e-01 -1.30448443e-03 -3.47244848e+01] [-9.00124109e-03 7.82187695e-05 9.99959485e-01 -7.77608232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.234203822 meters Centerline goodness [0,1] 0.999852662597348 Centerline is valid? [True, True] Translation: X:244.72, Y:-34.74, Z:-7.79 [[ 9.90714222e-01 1.35662803e-01 8.99639660e-03 2.44720132e+02] [-1.35656440e-01 9.90755064e-01 -1.31658910e-03 -3.47360663e+01] [-9.09183765e-03 8.39444124e-05 9.99958665e-01 -7.78612650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.264203822 meters Centerline goodness [0,1] 0.9998716769681545 Centerline is valid? [True, True] Translation: X:244.75, Y:-34.74, Z:-7.78 [[ 9.90793301e-01 1.35084968e-01 8.98257524e-03 2.44753101e+02] [-1.35078590e-01 9.90834014e-01 -1.31585600e-03 -3.47387760e+01] [-9.07799345e-03 9.03877163e-05 9.99958790e-01 -7.77764794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.29420382200001 meters Centerline goodness [0,1] 0.9998715863367862 Centerline is valid? [True, True] Translation: X:244.78, Y:-34.74, Z:-7.78 [[ 9.90843382e-01 1.34563182e-01 1.10518240e-02 2.44784481e+02] [-1.34553448e-01 9.90905008e-01 -1.62306651e-03 -3.47433944e+01] [-1.11697127e-02 1.21143692e-04 9.99937609e-01 -7.77621077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.32420382200002 meters Centerline goodness [0,1] 0.9998927820903204 Centerline is valid? [True, True] Translation: X:244.82, Y:-34.75, Z:-7.78 [[ 9.90875947e-01 1.34343451e-01 1.08025543e-02 2.44816200e+02] [-1.34334118e-01 9.90934822e-01 -1.58822876e-03 -3.47486101e+01] [-1.09179953e-02 1.22586069e-04 9.99940389e-01 -7.77737327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.35420382200002 meters Centerline goodness [0,1] 0.9998932581870971 Centerline is valid? [True, True] Translation: X:244.85, Y:-34.76, Z:-7.78 [[ 9.90918355e-01 1.34196507e-01 8.49185515e-03 2.44846432e+02] [-1.34190729e-01 9.90954736e-01 -1.24914127e-03 -3.47569443e+01] [-8.58267447e-03 9.82687777e-05 9.99963163e-01 -7.78269337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.38420382200002 meters Centerline goodness [0,1] 0.9998495270851246 Centerline is valid? [True, True] Translation: X:244.88, Y:-34.76, Z:-7.79 [[ 9.90942056e-01 1.34061302e-01 7.83638648e-03 2.44877713e+02] [-1.34056373e-01 9.90973036e-01 -1.15333739e-03 -3.47635461e+01] [-7.92026561e-03 9.23729774e-05 9.99968630e-01 -7.78523987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.41420382200002 meters Centerline goodness [0,1] 0.9998921856132482 Centerline is valid? [True, True] Translation: X:244.91, Y:-34.77, Z:-7.79 [[ 9.90975506e-01 1.33822820e-01 7.68104553e-03 2.44909677e+02] [-1.33818067e-01 9.91005269e-01 -1.13169245e-03 -3.47700738e+01] [-7.76340287e-03 9.36168281e-05 9.99969860e-01 -7.78686556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.44420382200002 meters Centerline goodness [0,1] 0.9998709927110881 Centerline is valid? [True, True] Translation: X:244.94, Y:-34.78, Z:-7.79 [[ 9.91107487e-01 1.32816069e-01 8.11423481e-03 2.44941003e+02] [-1.32810720e-01 9.91140696e-01 -1.19692612e-03 -3.47775641e+01] [-8.20131936e-03 1.08625076e-04 9.99966363e-01 -7.78705184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.47420382200002 meters Centerline goodness [0,1] 0.9998929519568382 Centerline is valid? [True, True] Translation: X:244.97, Y:-34.78, Z:-7.79 [[ 9.91065086e-01 1.33095216e-01 8.69818499e-03 2.44971791e+02] [-1.33089046e-01 9.91103249e-01 -1.28689404e-03 -3.47821030e+01] [-8.79207884e-03 1.17762605e-04 9.99961342e-01 -7.78803326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.50420382200002 meters Centerline goodness [0,1] 0.9998923689592079 Centerline is valid? [True, True] Translation: X:245.00, Y:-34.79, Z:-7.79 [[ 9.90994657e-01 1.33641067e-01 8.34596255e-03 2.45004660e+02] [-1.33635407e-01 9.91029794e-01 -1.23468162e-03 -3.47868358e+01] [-8.43610172e-03 1.08246787e-04 9.99964410e-01 -7.78919088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.53420382200002 meters Centerline goodness [0,1] 0.9998935989104528 Centerline is valid? [True, True] Translation: X:245.04, Y:-34.79, Z:-7.79 [[ 9.90954382e-01 1.33941446e-01 8.31276546e-03 2.45037659e+02] [-1.33935843e-01 9.90989242e-01 -1.22956821e-03 -3.47925054e+01] [-8.40255129e-03 1.05068750e-04 9.99964692e-01 -7.79038033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.56420382200002 meters Centerline goodness [0,1] 0.9998927866883952 Centerline is valid? [True, True] Translation: X:245.07, Y:-34.80, Z:-7.79 [[ 9.90921202e-01 1.34166168e-01 8.63780071e-03 2.45068104e+02] [-1.34160104e-01 9.90958842e-01 -1.28033278e-03 -3.47992310e+01] [-8.73148233e-03 1.09860656e-04 9.99961874e-01 -7.79176399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.59420382200003 meters Centerline goodness [0,1] 0.9998930298232853 Centerline is valid? [True, True] Translation: X:245.10, Y:-34.81, Z:-7.79 [[ 9.90813128e-01 1.34964880e-01 8.59225267e-03 2.45098933e+02] [-1.34958900e-01 9.90850377e-01 -1.27463728e-03 -3.48070464e+01] [-8.68566807e-03 1.03326380e-04 9.99962274e-01 -7.79362636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.62420382200003 meters Centerline goodness [0,1] 0.9998714405090956 Centerline is valid? [True, True] Translation: X:245.13, Y:-34.81, Z:-7.80 [[ 9.90666996e-01 1.36048343e-01 8.35170969e-03 2.45131385e+02] [-1.36042726e-01 9.90702195e-01 -1.23968472e-03 -3.48117595e+01] [-8.44271418e-03 9.19253898e-05 9.99964355e-01 -7.79586796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.65420382200003 meters Centerline goodness [0,1] 0.9998280716081752 Centerline is valid? [True, True] Translation: X:245.16, Y:-34.81, Z:-7.80 [[ 9.90531409e-01 1.37028461e-01 8.41004967e-03 2.45163177e+02] [-1.37022783e-01 9.90567107e-01 -1.25045941e-03 -3.48145054e+01] [-8.50206710e-03 8.62509070e-05 9.99963853e-01 -7.79752370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.684203822 meters Centerline goodness [0,1] 0.9999568649441402 Centerline is valid? [True, True] Translation: X:245.20, Y:-34.82, Z:-7.79 [[ 9.90188168e-01 1.39417451e-01 9.49563295e-03 2.45195593e+02] [-1.39410303e-01 9.90233694e-01 -1.41387690e-03 -3.48181441e+01] [-9.60001481e-03 7.62151125e-05 9.99953916e-01 -7.79313195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.714203822 meters Centerline goodness [0,1] 0.9999787229515522 Centerline is valid? [True, True] Translation: X:245.23, Y:-34.82, Z:-7.80 [[ 9.90060945e-01 1.40242174e-01 1.05573162e-02 2.45226189e+02] [-1.40233356e-01 9.90117229e-01 -1.57462764e-03 -3.48246691e+01] [-1.06738099e-02 7.84894500e-05 9.99943030e-01 -7.79665977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.744203822 meters Centerline goodness [0,1] 0.9999146083726491 Centerline is valid? [True, True] Translation: X:245.26, Y:-34.83, Z:-7.80 [[ 9.89769039e-01 1.42306225e-01 1.03047936e-02 2.45257822e+02] [-1.42297919e-01 9.89822679e-01 -1.53849253e-03 -3.48298956e+01] [-1.04188555e-02 5.64015834e-05 9.99945721e-01 -7.79862509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.774203822 meters Centerline goodness [0,1] 0.9998938090687055 Centerline is valid? [True, True] Translation: X:245.29, Y:-34.84, Z:-7.80 [[ 9.89634649e-01 1.43271942e-01 9.81897239e-03 2.45289044e+02] [-1.43264437e-01 9.89683358e-01 -1.46707939e-03 -3.48357909e+01] [-9.92786487e-03 4.51630393e-05 9.99950717e-01 -7.80098341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.804203822 meters Centerline goodness [0,1] 0.999957522725342 Centerline is valid? [True, True] Translation: X:245.32, Y:-34.84, Z:-7.80 [[ 9.89249897e-01 1.45929593e-01 9.44427186e-03 2.45321464e+02] [-1.45922756e-01 9.89294978e-01 -1.41278061e-03 -3.48381284e+01] [-9.54933722e-03 1.94588997e-05 9.99954404e-01 -7.80265613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.834203822 meters Centerline goodness [0,1] 0.9999149406711181 Centerline is valid? [True, True] Translation: X:245.35, Y:-34.84, Z:-7.80 [[ 9.88989165e-01 1.47685319e-01 9.45928640e-03 2.45354987e+02] [-1.47678532e-01 9.89034401e-01 -1.41583720e-03 -3.48406479e+01] [-9.56465803e-03 3.31411330e-06 9.99954258e-01 -7.80033760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.864203822 meters Centerline goodness [0,1] 0.9999154405547099 Centerline is valid? [True, True] Translation: X:245.39, Y:-34.84, Z:-7.81 [[ 9.88728964e-01 1.49432860e-01 9.21174782e-03 2.45386470e+02] [-1.49426482e-01 9.88771875e-01 -1.38070320e-03 -3.48438596e+01] [-9.31463959e-03 -1.13378217e-05 9.99956618e-01 -7.80602077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.894203822 meters Centerline goodness [0,1] 0.9999786775837438 Centerline is valid? [True, True] Translation: X:245.42, Y:-34.85, Z:-7.80 [[ 9.88213463e-01 1.52819885e-01 8.95736003e-03 2.45418237e+02] [-1.52813979e-01 9.88254057e-01 -1.34419000e-03 -3.48469566e+01] [-9.05756635e-03 -4.04631719e-05 9.99958979e-01 -7.80133861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.924203822 meters Centerline goodness [0,1] 0.9999365401700724 Centerline is valid? [True, True] Translation: X:245.45, Y:-34.85, Z:-7.81 [[ 9.87786976e-01 1.55555334e-01 8.91221766e-03 2.45448572e+02] [-1.55549562e-01 9.87827178e-01 -1.34148098e-03 -3.48471774e+01] [-9.01240534e-03 -6.11941112e-05 9.99959386e-01 -7.80514084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.954203822 meters Centerline goodness [0,1] 0.9998721145853315 Centerline is valid? [True, True] Translation: X:245.48, Y:-34.85, Z:-7.80 [[ 9.87590379e-01 1.56811586e-01 8.68159222e-03 2.45480158e+02] [-1.56806148e-01 9.87628534e-01 -1.30783059e-03 -3.48506226e+01] [-8.77927119e-03 -6.97261178e-05 9.99961459e-01 -7.80427388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.984203822 meters Centerline goodness [0,1] 0.999808539153743 Centerline is valid? [True, True] Translation: X:245.51, Y:-34.85, Z:-7.81 [[ 9.87428477e-01 1.57811385e-01 8.97608052e-03 2.45510053e+02] [-1.57805608e-01 9.87469271e-01 -1.35270378e-03 -3.48525514e+01] [-9.07707574e-03 -8.07776134e-05 9.99958799e-01 -7.80634998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.014203822 meters Centerline goodness [0,1] 0.9996618694393372 Centerline is valid? [True, True] Translation: X:245.54, Y:-34.85, Z:-7.81 [[ 9.87112345e-01 1.59739323e-01 9.62122361e-03 2.45541447e+02] [-1.59732774e-01 9.87159226e-01 -1.45032356e-03 -3.48518605e+01] [-9.72935336e-03 -1.05192443e-04 9.99952663e-01 -7.80653899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.04420382200001 meters Centerline goodness [0,1] 0.9996638726077183 Centerline is valid? [True, True] Translation: X:245.57, Y:-34.85, Z:-7.81 [[ 9.86983699e-01 1.60494313e-01 1.02349264e-02 2.45571538e+02] [-1.60486939e-01 9.87036758e-01 -1.54307551e-03 -3.48514429e+01] [-1.03499034e-02 -1.19581635e-04 9.99946431e-01 -7.81157653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.07420382200002 meters Centerline goodness [0,1] 0.9998092897101204 Centerline is valid? [True, True] Translation: X:245.60, Y:-34.86, Z:-7.81 [[ 9.86949828e-01 1.60747045e-01 9.50922489e-03 2.45601248e+02] [-1.60740695e-01 9.86995630e-01 -1.43332608e-03 -3.48578637e+01] [-9.61596635e-03 -1.13898488e-04 9.99953759e-01 -7.80813779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.10420382200002 meters Centerline goodness [0,1] 0.9997276060764798 Centerline is valid? [True, True] Translation: X:245.63, Y:-34.86, Z:-7.81 [[ 9.87058209e-01 1.60103081e-01 9.11572153e-03 2.45629841e+02] [-1.60097216e-01 9.87100295e-01 -1.37426955e-03 -3.48620082e+01] [-9.21815620e-03 -1.02917603e-04 9.99957507e-01 -7.81295987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.13420382200002 meters Centerline goodness [0,1] 0.9997276060764798 Centerline is valid? [True, True] Translation: X:245.66, Y:-34.87, Z:-7.81 [[ 9.87061808e-01 1.60080888e-01 9.11570395e-03 2.45658683e+02] [-1.60075021e-01 9.87103895e-01 -1.37438620e-03 -3.48663078e+01] [-9.21815983e-03 -1.02592378e-04 9.99957507e-01 -7.81385246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.16420382200002 meters Centerline goodness [0,1] 0.9998100544510574 Centerline is valid? [True, True] Translation: X:245.69, Y:-34.87, Z:-7.81 [[ 9.87217645e-01 1.59122777e-01 9.01465255e-03 2.45688268e+02] [-1.59117006e-01 9.87258797e-01 -1.35846248e-03 -3.48740052e+01] [-9.11595736e-03 -9.32863961e-05 9.99958444e-01 -7.81288719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.19420382200002 meters Centerline goodness [0,1] 0.9998102906768407 Centerline is valid? [True, True] Translation: X:245.72, Y:-34.88, Z:-7.81 [[ 9.87675719e-01 1.56179575e-01 1.02281593e-02 2.45718932e+02] [-1.56171989e-01 9.87728675e-01 -1.54116936e-03 -3.48793593e+01] [-1.03433455e-02 -7.51764349e-05 9.99946503e-01 -7.81087683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.22420382200002 meters Centerline goodness [0,1] 0.9998947457056248 Centerline is valid? [True, True] Translation: X:245.75, Y:-34.88, Z:-7.81 [[ 9.87951058e-01 1.54410585e-01 1.04918180e-02 2.45749159e+02] [-1.54402503e-01 9.88006765e-01 -1.58091298e-03 -3.48836067e+01] [-1.06100969e-02 -5.80983140e-05 9.99943710e-01 -7.81212569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.25420382200002 meters Centerline goodness [0,1] 0.9998930549911236 Centerline is valid? [True, True] Translation: X:245.78, Y:-34.89, Z:-7.81 [[ 9.88491479e-01 1.50978475e-01 9.49187698e-03 2.45780343e+02] [-1.50971733e-01 9.88537050e-01 -1.42700907e-03 -3.48924917e+01] [-9.59851973e-03 -2.24188142e-05 9.99953933e-01 -7.81238584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.28420382200002 meters Centerline goodness [0,1] 0.9998939149622337 Centerline is valid? [True, True] Translation: X:245.81, Y:-34.90, Z:-7.81 [[ 9.88772510e-01 1.49096551e-01 9.95703944e-03 2.45810635e+02] [-1.49089014e-01 9.88822643e-01 -1.49915832e-03 -3.49007298e+01] [-1.00692654e-02 -2.15866418e-06 9.99949304e-01 -7.81351132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.31420382200002 meters Centerline goodness [0,1] 0.9999786666666667 Centerline is valid? [True, True] Translation: X:245.84, Y:-34.91, Z:-7.81 [[ 9.89406106e-01 1.44774733e-01 1.07626708e-02 2.45841974e+02] [-1.44765655e-01 9.89464640e-01 -1.62184624e-03 -3.49126349e+01] [-1.08840846e-02 4.65994816e-05 9.99940766e-01 -7.81232851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.34420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.87, Y:-34.92, Z:-7.81 [[ 9.89775643e-01 1.42238269e-01 1.06042716e-02 2.45871789e+02] [-1.42229282e-01 9.89832445e-01 -1.60069718e-03 -3.49208849e+01] [-1.07241325e-02 7.60931490e-05 9.99942492e-01 -7.81381998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.37420382200003 meters Centerline goodness [0,1] 0.999978584889498 Centerline is valid? [True, True] Translation: X:245.90, Y:-34.93, Z:-7.81 [[ 9.90159669e-01 1.39534401e-01 1.06761974e-02 2.45902697e+02] [-1.39525118e-01 9.90217218e-01 -1.61305916e-03 -3.49291114e+01] [-1.07968317e-02 1.07588419e-04 9.99941707e-01 -7.81445200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.40420382200003 meters Centerline goodness [0,1] 0.9999139414802065 Centerline is valid? [True, True] Translation: X:245.93, Y:-34.94, Z:-7.81 [[ 9.91031483e-01 1.33060630e-01 1.23072904e-02 2.45932073e+02] [-1.33047756e-01 9.91107878e-01 -1.86258961e-03 -3.49425930e+01] [-1.24456898e-02 2.08427576e-04 9.99922528e-01 -7.81253355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.434203822 meters Centerline goodness [0,1] 0.999849569122988 Centerline is valid? [True, True] Translation: X:245.96, Y:-34.96, Z:-7.81 [[ 9.91941996e-01 1.25986132e-01 1.33630390e-02 2.45959288e+02] [-1.25970254e-01 9.92031949e-01 -2.02671457e-03 -3.49617251e+01] [-1.35118996e-02 3.27037882e-04 9.99908657e-01 -7.81222291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.464203822 meters Centerline goodness [0,1] 0.9995968084203378 Centerline is valid? [True, True] Translation: X:245.99, Y:-34.98, Z:-7.81 [[ 9.92363129e-01 1.22668185e-01 1.29590468e-02 2.45988810e+02] [-1.22652957e-01 9.92447674e-01 -1.96636497e-03 -3.49750978e+01] [-1.31023863e-02 3.61882676e-04 9.99914095e-01 -7.81428408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.494203822 meters Centerline goodness [0,1] 0.9996996803741125 Centerline is valid? [True, True] Translation: X:246.02, Y:-34.99, Z:-7.82 [[ 9.92711823e-01 1.19920609e-01 1.19283015e-02 2.46018337e+02] [-1.19907504e-01 9.92783417e-01 -1.81039852e-03 -3.49861593e+01] [-1.20593240e-02 3.66911156e-04 9.99927216e-01 -7.81644174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.524203822 meters Centerline goodness [0,1] 0.9966983880365119 Centerline is valid? [True, True] Translation: X:246.05, Y:-35.00, Z:-7.82 [[ 9.93145857e-01 1.16532287e-01 9.02958611e-03 2.46047396e+02] [-1.16524637e-01 9.93186856e-01 -1.37058290e-03 -3.49982837e+01] [-9.12778340e-03 3.09019490e-04 9.99958293e-01 -7.82327640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.554203822 meters Centerline goodness [0,1] 0.9922080725232031 Centerline is valid? [True, True] Translation: X:246.08, Y:-35.01, Z:-7.82 [[ 9.93192321e-01 1.16151084e-01 8.82829917e-03 2.46077358e+02] [-1.16143784e-01 9.93231511e-01 -1.33689829e-03 -3.50092924e+01] [-8.92382711e-03 3.02445046e-04 9.99960136e-01 -7.82480152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.584203822 meters Centerline goodness [0,1] 0.9982769389821017 Centerline is valid? [True, True] Translation: X:246.11, Y:-35.01, Z:-7.82 [[ 9.93051440e-01 1.17218968e-01 1.04188128e-02 2.46108163e+02] [-1.17208805e-01 9.93106032e-01 -1.58283065e-03 -3.50141535e+01] [-1.05325236e-02 3.50655662e-04 9.99944470e-01 -7.82286267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.614203822 meters Centerline goodness [0,1] 0.9993105974104315 Centerline is valid? [True, True] Translation: X:246.14, Y:-35.02, Z:-7.82 [[ 9.92879589e-01 1.18598621e-01 1.11574173e-02 2.46139428e+02] [-1.18587080e-01 9.92942214e-01 -1.69263913e-03 -3.50213986e+01] [-1.12794153e-02 3.57461298e-04 9.99936321e-01 -7.82088883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.644203822 meters Centerline goodness [0,1] 0.9992087761691936 Centerline is valid? [True, True] Translation: X:246.17, Y:-35.03, Z:-7.82 [[ 9.92699344e-01 1.20058497e-01 1.15745676e-02 2.46170007e+02] [-1.20046150e-01 9.92766755e-01 -1.75826189e-03 -3.50268061e+01] [-1.17019402e-02 3.55943146e-04 9.99931467e-01 -7.82302848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.674203822 meters Centerline goodness [0,1] 0.9997456010175959 Centerline is valid? [True, True] Translation: X:246.20, Y:-35.03, Z:-7.82 [[ 9.92232280e-01 1.23839443e-01 1.17854050e-02 2.46199454e+02] [-1.23826851e-01 9.92302216e-01 -1.79503388e-03 -3.50319745e+01] [-1.19169795e-02 3.21740968e-04 9.99928939e-01 -7.82306367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.704203822 meters Centerline goodness [0,1] 0.999828646089918 Centerline is valid? [True, True] Translation: X:246.23, Y:-35.03, Z:-7.82 [[ 9.91874606e-01 1.26691398e-01 1.15782771e-02 2.46231316e+02] [-1.26679444e-01 9.91942140e-01 -1.76303740e-03 -3.50318932e+01] [-1.17083427e-02 2.81982314e-04 9.99931415e-01 -7.82317769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.734203822 meters Centerline goodness [0,1] 0.999957152344838 Centerline is valid? [True, True] Translation: X:246.26, Y:-35.03, Z:-7.82 [[ 9.90903614e-01 1.34035177e-01 1.20249593e-02 2.46261829e+02] [-1.34022824e-01 9.90976554e-01 -1.83094977e-03 -3.50269716e+01] [-1.21618644e-02 2.02675745e-04 9.99926021e-01 -7.82390219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.764203822 meters Centerline goodness [0,1] 0.9999786557384047 Centerline is valid? [True, True] Translation: X:246.29, Y:-35.03, Z:-7.83 [[ 9.90371591e-01 1.37937095e-01 1.17247565e-02 2.46294696e+02] [-1.37925621e-01 9.90440980e-01 -1.78552720e-03 -3.50281819e+01] [-1.18589697e-02 1.51191098e-04 9.99929669e-01 -7.82565486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.79420382200001 meters Centerline goodness [0,1] 0.9998499528423219 Centerline is valid? [True, True] Translation: X:246.33, Y:-35.02, Z:-7.83 [[ 9.89240325e-01 1.45874419e-01 1.11459692e-02 2.46328275e+02] [-1.45864572e-01 9.89303114e-01 -1.69572798e-03 -3.50220709e+01] [-1.12741054e-02 5.16804789e-05 9.99936444e-01 -7.82653867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.82420382200002 meters Centerline goodness [0,1] 0.9999577702702702 Centerline is valid? [True, True] Translation: X:246.36, Y:-35.02, Z:-7.83 [[ 9.88672132e-01 1.49626851e-01 1.17992169e-02 2.46359205e+02] [-1.49616051e-01 9.88742537e-01 -1.79774039e-03 -3.50232557e+01] [-1.19353779e-02 1.20235828e-05 9.99928771e-01 -7.83023399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.85420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.39, Y:-35.02, Z:-7.83 [[ 9.88133060e-01 1.53151174e-01 1.17377191e-02 2.46392233e+02] [-1.53140717e-01 9.88202771e-01 -1.78987313e-03 -3.50229941e+01] [-1.18733677e-02 -2.88899084e-05 9.99929509e-01 -7.83062932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.88420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.43, Y:-35.02, Z:-7.83 [[ 9.87206724e-01 1.58967027e-01 1.23437681e-02 2.46425523e+02] [-1.58955881e-01 9.87283887e-01 -1.88517113e-03 -3.50180488e+01] [-1.24864834e-02 -1.01060905e-04 9.99922036e-01 -7.82807483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.91420382200002 meters Centerline goodness [0,1] 0.9998933014660378 Centerline is valid? [True, True] Translation: X:246.46, Y:-35.01, Z:-7.83 [[ 9.86593736e-01 1.62680886e-01 1.29510063e-02 2.46457848e+02] [-1.62668901e-01 9.86678725e-01 -1.98057750e-03 -3.50112603e+01] [-1.31006845e-02 -1.52700598e-04 9.99914171e-01 -7.83130107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.94420382200002 meters Centerline goodness [0,1] 0.9995753625342364 Centerline is valid? [True, True] Translation: X:246.49, Y:-35.01, Z:-7.83 [[ 9.86455819e-01 1.63523109e-01 1.28495219e-02 2.46489111e+02] [-1.63511327e-01 9.86539491e-01 -1.96932390e-03 -3.50139795e+01] [-1.29985907e-02 -1.58391359e-04 9.99915502e-01 -7.83281337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.97420382200002 meters Centerline goodness [0,1] 0.9998081514324693 Centerline is valid? [True, True] Translation: X:246.52, Y:-35.02, Z:-7.83 [[ 9.86410544e-01 1.63792750e-01 1.28908105e-02 2.46521409e+02] [-1.63780951e-01 9.86494758e-01 -1.97292797e-03 -3.50218478e+01] [-1.30398683e-02 -1.65152245e-04 9.99914964e-01 -7.82994008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.00420382200002 meters Centerline goodness [0,1] 0.9997440928090079 Centerline is valid? [True, True] Translation: X:246.55, Y:-35.03, Z:-7.83 [[ 9.86530569e-01 1.63087123e-01 1.26501252e-02 2.46552899e+02] [-1.63075667e-01 9.86611660e-01 -1.93890316e-03 -3.50252949e+01] [-1.27969711e-02 -1.50140356e-04 9.99918104e-01 -7.83264266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.03420382200002 meters Centerline goodness [0,1] 0.99980899019483 Centerline is valid? [True, True] Translation: X:246.58, Y:-35.03, Z:-7.83 [[ 9.86644295e-01 1.62407355e-01 1.25254049e-02 2.46583866e+02] [-1.62396038e-01 9.86723787e-01 -1.92212404e-03 -3.50294694e+01] [-1.26712820e-02 -1.37623415e-04 9.99919707e-01 -7.83493464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.06420382200002 meters Centerline goodness [0,1] 0.9999153672005586 Centerline is valid? [True, True] Translation: X:246.61, Y:-35.04, Z:-7.84 [[ 9.87107658e-01 1.59564113e-01 1.25604681e-02 2.46614996e+02] [-1.59552479e-01 9.87187563e-01 -1.92934576e-03 -3.50384001e+01] [-1.27073922e-02 -9.95818451e-05 9.99919253e-01 -7.83567591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.09420382200003 meters Centerline goodness [0,1] 0.999978592224696 Centerline is valid? [True, True] Translation: X:246.65, Y:-35.05, Z:-7.83 [[ 9.87375929e-01 1.57887741e-01 1.26584310e-02 2.46646981e+02] [-1.57875736e-01 9.87457065e-01 -1.94841824e-03 -3.50456477e+01] [-1.28072885e-02 -7.46378336e-05 9.99917981e-01 -7.83452526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.12420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.68, Y:-35.05, Z:-7.84 [[ 9.87890644e-01 1.54643997e-01 1.25422958e-02 2.46677994e+02] [-1.54631962e-01 9.87970259e-01 -1.92956760e-03 -3.50493646e+01] [-1.26898112e-02 -3.32380168e-05 9.99919481e-01 -7.83673096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.15420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.71, Y:-35.05, Z:-7.84 [[ 9.88162083e-01 1.52881411e-01 1.27660123e-02 2.46709244e+02] [-1.52868770e-01 9.88244542e-01 -1.96597358e-03 -3.50542441e+01] [-1.29165028e-02 -8.82404924e-06 9.99916578e-01 -7.83800141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.184203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.74, Y:-35.06, Z:-7.84 [[ 9.88818338e-01 1.48544706e-01 1.31439693e-02 2.46741302e+02] [-1.48530898e-01 9.88905692e-01 -2.02600136e-03 -3.50643255e+01] [-1.32990978e-02 5.10617387e-05 9.99911562e-01 -7.83658338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.214203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.77, Y:-35.07, Z:-7.84 [[ 9.89150156e-01 1.46348668e-01 1.28076873e-02 2.46771587e+02] [-1.46335333e-01 9.89233067e-01 -1.97724729e-03 -3.50737522e+01] [-1.29591553e-02 8.15772779e-05 9.99916023e-01 -7.84018365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.244203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.80, Y:-35.09, Z:-7.84 [[ 9.89714597e-01 1.42540316e-01 1.21356911e-02 2.46801985e+02] [-1.42528038e-01 9.89788989e-01 -1.87508298e-03 -3.50855436e+01] [-1.22790483e-02 1.26120758e-04 9.99924602e-01 -7.84223195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.274203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.83, Y:-35.09, Z:-7.84 [[ 9.89963254e-01 1.40821226e-01 1.19222041e-02 2.46833115e+02] [-1.40809227e-01 9.90035030e-01 -1.84412534e-03 -3.50919185e+01] [-1.20630917e-02 1.46859982e-04 9.99927227e-01 -7.84112803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.304203822 meters Centerline goodness [0,1] 0.9998275007007784 Centerline is valid? [True, True] Translation: X:246.86, Y:-35.10, Z:-7.84 [[ 9.90361052e-01 1.37969165e-01 1.22268531e-02 2.46863720e+02] [-1.37956285e-01 9.90436507e-01 -1.89466214e-03 -3.50984733e+01] [-1.23713266e-02 1.89628357e-04 9.99923454e-01 -7.84354540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.334203822 meters Centerline goodness [0,1] 0.9999783240126587 Centerline is valid? [True, True] Translation: X:246.89, Y:-35.10, Z:-7.84 [[ 9.90501696e-01 1.36923598e-01 1.25824546e-02 2.46894488e+02] [-1.36909874e-01 9.90581589e-01 -1.94981486e-03 -3.51047136e+01] [-1.27309235e-02 2.08632653e-04 9.99918937e-01 -7.84312855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.364203822 meters Centerline goodness [0,1] 0.9999788686262494 Centerline is valid? [True, True] Translation: X:246.93, Y:-35.11, Z:-7.85 [[ 9.90683533e-01 1.35651954e-01 1.20285154e-02 2.46925219e+02] [-1.35639281e-01 9.90756529e-01 -1.86696400e-03 -3.51109649e+01] [-1.21705875e-02 2.18031312e-04 9.99925912e-01 -7.84575630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.394203822 meters Centerline goodness [0,1] 0.9999573050977714 Centerline is valid? [True, True] Translation: X:246.96, Y:-35.12, Z:-7.85 [[ 9.90722912e-01 1.35383939e-01 1.18025829e-02 2.46957314e+02] [-1.35371724e-01 9.90793188e-01 -1.83143954e-03 -3.51166814e+01] [-1.19418663e-02 2.16713119e-04 9.99928670e-01 -7.84644050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.424203822 meters Centerline goodness [0,1] 0.9999784045264113 Centerline is valid? [True, True] Translation: X:246.99, Y:-35.12, Z:-7.85 [[ 9.90669798e-01 1.35855421e-01 1.08007245e-02 2.46987549e+02] [-1.35845202e-01 9.90728654e-01 -1.67765260e-03 -3.51241317e+01] [-1.09285055e-02 1.94773160e-04 9.99940263e-01 -7.84946021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.454203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.02, Y:-35.13, Z:-7.85 [[ 9.90591557e-01 1.36419762e-01 1.08635059e-02 2.47019302e+02] [-1.36409441e-01 9.90651105e-01 -1.68892757e-03 -3.51292058e+01] [-1.09923472e-02 1.91152632e-04 9.99939564e-01 -7.84994744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.484203822 meters Centerline goodness [0,1] 0.9999784496692025 Centerline is valid? [True, True] Translation: X:247.05, Y:-35.13, Z:-7.85 [[ 9.90466213e-01 1.37235654e-01 1.19605721e-02 2.47049652e+02] [-1.37223169e-01 9.90538406e-01 -1.86228245e-03 -3.51342374e+01] [-1.21029776e-02 2.03260238e-04 9.99926736e-01 -7.84991726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.514203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.08, Y:-35.14, Z:-7.85 [[ 9.90424687e-01 1.37517092e-01 1.21650423e-02 2.47082269e+02] [-1.37504182e-01 9.90499373e-01 -1.89537118e-03 -3.51388593e+01] [-1.23101127e-02 2.04478223e-04 9.99924207e-01 -7.84959893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.54420382200001 meters Centerline goodness [0,1] 0.9999785057174791 Centerline is valid? [True, True] Translation: X:247.11, Y:-35.15, Z:-7.85 [[ 9.90395201e-01 1.37740954e-01 1.20322264e-02 2.47114381e+02] [-1.37728313e-01 9.90468267e-01 -1.87699682e-03 -3.51452449e+01] [-1.21760778e-02 2.01790394e-04 9.99925848e-01 -7.85117150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.57420382200002 meters Centerline goodness [0,1] 0.9999570944351482 Centerline is valid? [True, True] Translation: X:247.15, Y:-35.15, Z:-7.85 [[ 9.90314876e-01 1.38382836e-01 1.12533267e-02 2.47145633e+02] [-1.38371796e-01 9.90378795e-01 -1.75757883e-03 -3.51527888e+01] [-1.13882749e-02 1.83413438e-04 9.99935135e-01 -7.85480629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.60420382200002 meters Centerline goodness [0,1] 0.9999569494371139 Centerline is valid? [True, True] Translation: X:247.18, Y:-35.16, Z:-7.85 [[ 9.90002507e-01 1.40503885e-01 1.23973686e-02 2.47177150e+02] [-1.40490613e-01 9.90080111e-01 -1.93933266e-03 -3.51584375e+01] [-1.25468718e-02 1.78230286e-04 9.99921269e-01 -7.85413417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.63420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.21, Y:-35.16, Z:-7.85 [[ 9.89743527e-01 1.42229772e-01 1.33582410e-02 2.47208614e+02] [-1.42214484e-01 9.89833654e-01 -2.09234907e-03 -3.51626080e+01] [-1.35200308e-02 1.71153595e-04 9.99908586e-01 -7.85406127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.66420382200002 meters Centerline goodness [0,1] 0.9999786684869558 Centerline is valid? [True, True] Translation: X:247.24, Y:-35.17, Z:-7.86 [[ 9.89403529e-01 1.44541789e-01 1.37232397e-02 2.47239322e+02] [-1.44525838e-01 9.89498686e-01 -2.15221910e-03 -3.51663335e+01] [-1.38902132e-02 1.46050459e-04 9.99903516e-01 -7.85573375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.69420382200002 meters Centerline goodness [0,1] 0.9999785587169536 Centerline is valid? [True, True] Translation: X:247.27, Y:-35.16, Z:-7.86 [[ 9.88597243e-01 1.49941256e-01 1.38964199e-02 2.47272071e+02] [-1.49925405e-01 9.88694905e-01 -2.18141024e-03 -3.51648177e+01] [-1.40664030e-02 7.31097601e-05 9.99901061e-01 -7.85521118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.72420382200002 meters Centerline goodness [0,1] 0.9999786593824025 Centerline is valid? [True, True] Translation: X:247.30, Y:-35.17, Z:-7.86 [[ 9.88037182e-01 1.53512568e-01 1.47111471e-02 2.47303595e+02] [-1.53495155e-01 9.88146695e-01 -2.31231192e-03 -3.51660251e+01] [-1.48917403e-02 2.65603572e-05 9.99889112e-01 -7.85570571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.75420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.34, Y:-35.16, Z:-7.85 [[ 9.86975780e-01 1.60124021e-01 1.54631363e-02 2.47337726e+02] [-1.60105560e-01 9.87096901e-01 -2.43251866e-03 -3.51619841e+01] [-1.56531186e-02 -7.48971054e-05 9.99877480e-01 -7.85262618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.78420382200002 meters Centerline goodness [0,1] 0.9999575929773971 Centerline is valid? [True, True] Translation: X:247.37, Y:-35.16, Z:-7.86 [[ 9.86452782e-01 1.63334904e-01 1.52517943e-02 2.47369981e+02] [-1.63317272e-01 9.86570674e-01 -2.40288357e-03 -3.51592348e+01] [-1.54394478e-02 -1.20550268e-04 9.99880797e-01 -7.85730205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.81420382200002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.40, Y:-35.16, Z:-7.86 [[ 9.86034105e-01 1.65894625e-01 1.46872833e-02 2.47402525e+02] [-1.65878528e-01 9.86143473e-01 -2.31601863e-03 -3.51590922e+01] [-1.48679836e-02 -1.52631569e-04 9.99889454e-01 -7.85740495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.84420382200003 meters Centerline goodness [0,1] 0.9998724760892668 Centerline is valid? [True, True] Translation: X:247.43, Y:-35.15, Z:-7.86 [[ 9.85505981e-01 1.69082022e-01 1.37561390e-02 2.47434235e+02] [-1.69068148e-01 9.85601966e-01 -2.17371571e-03 -3.51545785e+01] [-1.39256139e-02 -1.83515114e-04 9.99903017e-01 -7.86459027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.87420382200003 meters Centerline goodness [0,1] 0.9999787138934417 Centerline is valid? [True, True] Translation: X:247.47, Y:-35.16, Z:-7.87 [[ 9.85668963e-01 1.68288865e-01 1.16427511e-02 2.47465259e+02] [-1.68278902e-01 9.85737712e-01 -1.83717615e-03 -3.51626080e+01] [-1.17858751e-02 -1.48381847e-04 9.99930533e-01 -7.86625472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.90420382200003 meters Centerline goodness [0,1] 0.9999787964886985 Centerline is valid? [True, True] Translation: X:247.49, Y:-35.17, Z:-7.87 [[ 9.85964208e-01 1.66557912e-01 1.15344160e-02 2.47494908e+02] [-1.66547957e-01 9.86031666e-01 -1.82504656e-03 -3.51675834e+01] [-1.16772754e-02 -1.21602840e-04 9.99931811e-01 -7.86895829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.934203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.53, Y:-35.18, Z:-7.87 [[ 9.86885150e-01 1.60937021e-01 1.25290161e-02 2.47525122e+02] [-1.60924825e-01 9.86964676e-01 -1.98216366e-03 -3.51793486e+01] [-1.26846998e-02 -6.00618365e-05 9.99919544e-01 -7.86846877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.964203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.56, Y:-35.19, Z:-7.87 [[ 9.87403861e-01 1.57744744e-01 1.22560235e-02 2.47555951e+02] [-1.57732856e-01 9.87479921e-01 -1.93674282e-03 -3.51896807e+01] [-1.24080881e-02 -2.08302414e-05 9.99923016e-01 -7.87073878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.994203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.59, Y:-35.19, Z:-7.87 [[ 9.87373840e-01 1.57932576e-01 1.22556978e-02 2.47588014e+02] [-1.57920677e-01 9.87449898e-01 -1.93879998e-03 -3.51949604e+01] [-1.24080872e-02 -2.11077100e-05 9.99923017e-01 -7.87173384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.02420382200006 meters Centerline goodness [0,1] 0.9999573169430395 Centerline is valid? [True, True] Translation: X:247.62, Y:-35.20, Z:-7.87 [[ 9.87870147e-01 1.54837644e-01 1.17420661e-02 2.47617795e+02] [-1.54826470e-01 9.87939929e-01 -1.86028184e-03 -3.52049595e+01] [-1.18884976e-02 1.97342468e-05 9.99929329e-01 -7.87484744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.05420382200003 meters Centerline goodness [0,1] 0.9997851910725409 Centerline is valid? [True, True] Translation: X:247.65, Y:-35.22, Z:-7.88 [[ 9.88837610e-01 1.48575407e-01 1.12040241e-02 2.47647621e+02] [-1.48564817e-01 9.88901077e-01 -1.77631995e-03 -3.52215271e+01] [-1.13435889e-02 9.19681935e-05 9.99935655e-01 -7.87686347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.08420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.68, Y:-35.23, Z:-7.88 [[ 9.89291863e-01 1.45489138e-01 1.15982606e-02 2.47677380e+02] [-1.45477549e-01 9.89359840e-01 -1.84124105e-03 -3.52335722e+01] [-1.17427338e-02 1.34238272e-04 9.99931043e-01 -7.87693958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.11420382200004 meters Centerline goodness [0,1] 0.9997854077253219 Centerline is valid? [True, True] Translation: X:247.71, Y:-35.25, Z:-7.88 [[ 9.89866942e-01 1.41652828e-01 9.89512570e-03 2.47706423e+02] [-1.41644163e-01 9.89916386e-01 -1.57470312e-03 -3.52482079e+01] [-1.00184082e-02 1.57159764e-04 9.99949802e-01 -7.88184847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.14420382200007 meters Centerline goodness [0,1] 0.999956619816068 Centerline is valid? [True, True] Translation: X:247.74, Y:-35.26, Z:-7.88 [[ 9.90012370e-01 1.40552649e-01 1.09754398e-02 2.47738988e+02] [-1.40541957e-01 9.90073189e-01 -1.74326146e-03 -3.52564376e+01] [-1.11115087e-02 1.83340610e-04 9.99938248e-01 -7.87857911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.17420382200004 meters Centerline goodness [0,1] 0.9999782943717306 Centerline is valid? [True, True] Translation: X:247.77, Y:-35.26, Z:-7.88 [[ 9.89841721e-01 1.41733355e-01 1.11814095e-02 2.47771105e+02] [-1.41722303e-01 9.89904857e-01 -1.77872322e-03 -3.52607885e+01] [-1.13206360e-02 1.75999345e-04 9.99935904e-01 -7.87907883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.20420382200007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.80, Y:-35.26, Z:-7.88 [[ 9.89616757e-01 1.43299624e-01 1.11307150e-02 2.47802990e+02] [-1.43288750e-01 9.89679338e-01 -1.77249646e-03 -3.52647850e+01] [-1.12698367e-02 1.59185961e-04 9.99936481e-01 -7.87949749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.23420382200004 meters Centerline goodness [0,1] 0.9999785038693035 Centerline is valid? [True, True] Translation: X:247.83, Y:-35.27, Z:-7.88 [[ 9.89272752e-01 1.45625269e-01 1.15197286e-02 2.47833857e+02] [-1.45613750e-01 9.89339811e-01 -1.83688970e-03 -3.52692119e+01] [-1.16644237e-02 1.39754042e-04 9.99931959e-01 -7.88019441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.26420382200007 meters Centerline goodness [0,1] 0.999741468459152 Centerline is valid? [True, True] Translation: X:247.87, Y:-35.27, Z:-7.88 [[ 9.88611443e-01 1.50179566e-01 9.67019578e-03 2.47865755e+02] [-1.50171639e-01 9.88658734e-01 -1.54478580e-03 -3.52719685e+01] [-9.79251878e-03 7.50037715e-05 9.99952049e-01 -7.88479710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.29420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.90, Y:-35.28, Z:-7.88 [[ 9.88330459e-01 1.51986452e-01 1.01500046e-02 2.47896924e+02] [-1.51977828e-01 9.88382575e-01 -1.62014994e-03 -3.52770339e+01] [-1.02783285e-02 5.86678813e-05 9.99947175e-01 -7.88446873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.324203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.93, Y:-35.28, Z:-7.89 [[ 9.87639585e-01 1.56533130e-01 8.08881422e-03 2.47927976e+02] [-1.56527802e-01 9.87672708e-01 -1.29150824e-03 -3.52783871e+01] [-8.19126487e-03 9.42034355e-06 9.99966451e-01 -7.89093022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.35420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.96, Y:-35.28, Z:-7.89 [[ 9.87226153e-01 1.59104672e-01 8.38011168e-03 2.47960254e+02] [-1.59099035e-01 9.87261720e-01 -1.33931329e-03 -3.52793929e+01] [-8.48645448e-03 -1.10625698e-05 9.99963989e-01 -7.89065291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.384203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.99, Y:-35.28, Z:-7.89 [[ 9.86468044e-01 1.63610393e-01 1.06036713e-02 2.47993138e+02] [-1.63601593e-01 9.86525031e-01 -1.69788491e-03 -3.52755707e+01] [-1.07385787e-02 -5.98683086e-05 9.99942338e-01 -7.88743854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.41420382200005 meters Centerline goodness [0,1] 0.9999785596363714 Centerline is valid? [True, True] Translation: X:248.03, Y:-35.28, Z:-7.89 [[ 9.86100543e-01 1.65805881e-01 1.06830823e-02 2.48025101e+02] [-1.65797058e-01 9.86158407e-01 -1.71245004e-03 -3.52779028e+01] [-1.08191457e-02 -8.25757063e-05 9.99941468e-01 -7.88755845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.444203822 meters Centerline goodness [0,1] 0.9999571477545424 Centerline is valid? [True, True] Translation: X:248.06, Y:-35.28, Z:-7.89 [[ 9.85611152e-01 1.68732158e-01 1.00057597e-02 2.48056370e+02] [-1.68724552e-01 9.85661934e-01 -1.60555710e-03 -3.52811917e+01] [-1.01332056e-02 -1.05762338e-04 9.99948652e-01 -7.89094825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.47420382200005 meters Centerline goodness [0,1] 0.9999789042887581 Centerline is valid? [True, True] Translation: X:248.09, Y:-35.29, Z:-7.89 [[ 9.85399017e-01 1.69958193e-01 1.01484273e-02 2.48087893e+02] [-1.69950417e-01 9.85451267e-01 -1.63000408e-03 -3.52856451e+01] [-1.02778131e-02 -1.18525038e-04 9.99947175e-01 -7.89207293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.504203822 meters Centerline goodness [0,1] 0.9999575893803808 Centerline is valid? [True, True] Translation: X:248.12, Y:-35.29, Z:-7.89 [[ 9.85186201e-01 1.71200906e-01 9.91965768e-03 2.48119409e+02] [-1.71193496e-01 9.85236131e-01 -1.59772927e-03 -3.52852267e+01] [-1.00467379e-02 -1.24120045e-04 9.99949523e-01 -7.89458619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.53420382200005 meters Centerline goodness [0,1] 0.9999783624718712 Centerline is valid? [True, True] Translation: X:248.15, Y:-35.29, Z:-7.89 [[ 9.85209432e-01 1.71074654e-01 9.78969796e-03 2.48151775e+02] [-1.71067459e-01 9.85258061e-01 -1.57394724e-03 -3.52900298e+01] [-9.91464132e-03 -1.24031090e-04 9.99950841e-01 -7.89273015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.564203822 meters Centerline goodness [0,1] 0.9999149623708491 Centerline is valid? [True, True] Translation: X:248.18, Y:-35.29, Z:-7.90 [[ 9.85528573e-01 1.69201297e-01 1.02153555e-02 2.48182596e+02] [-1.69193337e-01 9.85581508e-01 -1.64466316e-03 -3.52941266e+01] [-1.03463447e-02 -1.07507560e-04 9.99946469e-01 -7.89572824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.59420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.21, Y:-35.30, Z:-7.90 [[ 9.85746577e-01 1.67955293e-01 9.73165193e-03 2.48213961e+02] [-1.67947998e-01 9.85794609e-01 -1.56796805e-03 -3.53010304e+01] [-9.85675854e-03 -8.87923209e-05 9.99951417e-01 -7.89633067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.624203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.25, Y:-35.31, Z:-7.90 [[ 9.86153515e-01 1.65567721e-01 9.41140880e-03 2.48245686e+02] [-1.65560776e-01 9.86198421e-01 -1.51773909e-03 -3.53087759e+01] [-9.53280510e-03 -6.14364076e-05 9.99954560e-01 -7.89792741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.65420382200006 meters Centerline goodness [0,1] 0.9999571606048923 Centerline is valid? [True, True] Translation: X:248.28, Y:-35.32, Z:-7.90 [[ 9.86300644e-01 1.64710138e-01 9.03386331e-03 2.48278015e+02] [-1.64703695e-01 9.86342014e-01 -1.45766520e-03 -3.53158043e+01] [-9.15057117e-03 -5.02145411e-05 9.99958131e-01 -7.90015385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.68420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.31, Y:-35.32, Z:-7.90 [[ 9.86670915e-01 1.62327020e-01 1.14211819e-02 2.48309034e+02] [-1.62316486e-01 9.86737016e-01 -1.84942002e-03 -3.53243513e+01] [-1.15699138e-02 -2.90771833e-05 9.99933066e-01 -7.89579211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.71420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.34, Y:-35.33, Z:-7.90 [[ 9.86694523e-01 1.62114156e-01 1.23660188e-02 2.48339831e+02] [-1.62101806e-01 9.86772010e-01 -2.00123949e-03 -3.53280897e+01] [-1.25268705e-02 -2.99419356e-05 9.99921535e-01 -7.89770675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.74420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.37, Y:-35.33, Z:-7.90 [[ 9.86736193e-01 1.61858847e-01 1.23854041e-02 2.48372950e+02] [-1.61846422e-01 9.86813920e-01 -2.00572455e-03 -3.53315475e+01] [-1.25467335e-02 -2.54123302e-05 9.99921286e-01 -7.89739874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.77420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.40, Y:-35.34, Z:-7.90 [[ 9.86762343e-01 1.61712325e-01 1.22148160e-02 2.48404441e+02] [-1.61700197e-01 9.86837942e-01 -1.98061612e-03 -3.53377327e+01] [-1.23743339e-02 -2.07407369e-05 9.99923435e-01 -7.89992433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.80420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.44, Y:-35.35, Z:-7.90 [[ 9.86901024e-01 1.60822086e-01 1.27525067e-02 2.48435090e+02] [-1.60808753e-01 9.86983413e-01 -2.07083008e-03 -3.53462758e+01] [-1.29195478e-02 -7.01037750e-06 9.99916539e-01 -7.89979564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.83420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.47, Y:-35.35, Z:-7.90 [[ 9.86953035e-01 1.60459163e-01 1.32876953e-02 2.48466715e+02] [-1.60444627e-01 9.87042480e-01 -2.15981778e-03 -3.53520333e+01] [-1.34620823e-02 -3.00597245e-07 9.99909382e-01 -7.90075933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.86420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.50, Y:-35.36, Z:-7.90 [[ 9.87157088e-01 1.59311749e-01 1.18595747e-02 2.48497910e+02] [-1.59300072e-01 9.87228325e-01 -1.92894054e-03 -3.53590158e+01] [-1.20154110e-02 1.49362228e-05 9.99927812e-01 -7.90179549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.89420382200007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.53, Y:-35.37, Z:-7.90 [[ 9.87250065e-01 1.58799587e-01 1.09544852e-02 2.48529517e+02] [-1.58789576e-01 9.87310838e-01 -1.78324415e-03 -3.53658131e+01] [-1.10986604e-02 2.10498457e-05 9.99938408e-01 -7.90418031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.92420382200004 meters Centerline goodness [0,1] 0.9999785954322652 Centerline is valid? [True, True] Translation: X:248.56, Y:-35.38, Z:-7.91 [[ 9.87444312e-01 1.57550217e-01 1.14742901e-02 2.48559232e+02] [-1.57539119e-01 9.87510976e-01 -1.87037560e-03 -3.53756251e+01] [-1.16256655e-02 3.92421995e-05 9.99932419e-01 -7.90876335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.95420382200007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.59, Y:-35.38, Z:-7.91 [[ 9.87510715e-01 1.57142899e-01 1.13445109e-02 2.48591884e+02] [-1.57132012e-01 9.87575874e-01 -1.85025557e-03 -3.53833960e+01] [-1.14943198e-02 4.45613721e-05 9.99933937e-01 -7.90619617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.98420382200004 meters Centerline goodness [0,1] 0.9999146885064091 Centerline is valid? [True, True] Translation: X:248.62, Y:-35.39, Z:-7.92 [[ 9.87497050e-01 1.57346715e-01 9.57009949e-03 2.48622176e+02] [-1.57338946e-01 9.87543422e-01 -1.56403178e-03 -3.53909111e+01] [-9.69698406e-03 3.87274005e-05 9.99952982e-01 -7.91618614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.01420382200007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.65, Y:-35.39, Z:-7.91 [[ 9.87413252e-01 1.57786974e-01 1.08784917e-02 2.48654003e+02] [-1.57776960e-01 9.87473174e-01 -1.77804375e-03 -3.53947279e+01] [-1.10227709e-02 3.92885996e-05 9.99939247e-01 -7.91419049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.04420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.69, Y:-35.40, Z:-7.91 [[ 9.87310489e-01 1.58380740e-01 1.15559486e-02 2.48686684e+02] [-1.58369460e-01 9.87378114e-01 -1.89059767e-03 -3.53978118e+01] [-1.17095250e-02 3.64975636e-05 9.99931440e-01 -7.90978356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.074203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.72, Y:-35.40, Z:-7.91 [[ 9.87276776e-01 1.58590708e-01 1.15566160e-02 2.48717467e+02] [-1.58579419e-01 9.87344411e-01 -1.89255433e-03 -3.54049805e+01] [-1.17105017e-02 3.58334930e-05 9.99931429e-01 -7.91426260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.10420382200004 meters Centerline goodness [0,1] 0.9998922227970339 Centerline is valid? [True, True] Translation: X:248.75, Y:-35.41, Z:-7.92 [[ 9.87327625e-01 1.58350926e-01 1.04472157e-02 2.48748755e+02] [-1.58341669e-01 9.87382896e-01 -1.71263117e-03 -3.54126166e+01] [-1.05865988e-02 3.66985033e-05 9.99943960e-01 -7.91720534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.134203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.78, Y:-35.42, Z:-7.92 [[ 9.87357265e-01 1.58144405e-01 1.07693344e-02 2.48780695e+02] [-1.58134539e-01 9.87415994e-01 -1.76692517e-03 -3.54194226e+01] [-1.09132423e-02 4.15826799e-05 9.99940448e-01 -7.91617097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.16420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.81, Y:-35.43, Z:-7.92 [[ 9.87349035e-01 1.58250901e-01 9.92650742e-03 2.48811238e+02] [-1.58242501e-01 9.87398932e-01 -1.63097697e-03 -3.54255958e+01] [-1.00595264e-02 3.95481841e-05 9.99949401e-01 -7.92077470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.194203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.84, Y:-35.43, Z:-7.92 [[ 9.87206630e-01 1.59156757e-01 9.60191605e-03 2.48843772e+02] [-1.59148935e-01 9.87253324e-01 -1.57824414e-03 -3.54302055e+01] [-9.73071175e-03 2.99183646e-05 9.99952655e-01 -7.92019780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.22420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.88, Y:-35.43, Z:-7.92 [[ 9.86973874e-01 1.60604095e-01 9.42845768e-03 2.48875767e+02] [-1.60596586e-01 9.87018908e-01 -1.55317916e-03 -3.54341074e+01] [-9.55551293e-03 1.87691395e-05 9.99954345e-01 -7.92351310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.254203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.91, Y:-35.43, Z:-7.92 [[ 9.86394156e-01 1.64101949e-01 9.85491147e-03 2.48908915e+02] [-1.64093915e-01 9.86443384e-01 -1.62386908e-03 -3.54330183e+01] [-9.98779230e-03 -1.53560336e-05 9.99950121e-01 -7.92173652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.28420382200005 meters Centerline goodness [0,1] 0.9998056449348911 Centerline is valid? [True, True] Translation: X:248.94, Y:-35.43, Z:-7.93 [[ 9.86021700e-01 1.66364081e-01 9.17604451e-03 2.48939985e+02] [-1.66357200e-01 9.86064395e-01 -1.51354879e-03 -3.54330974e+01] [-9.29997094e-03 -3.41091195e-05 9.99956754e-01 -7.92668354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.314203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.97, Y:-35.43, Z:-7.92 [[ 9.85554006e-01 1.68902905e-01 1.24543380e-02 2.48972160e+02] [-1.68890382e-01 9.85632692e-01 -2.05810228e-03 -3.54314701e+01] [-1.26230221e-02 -7.50469599e-05 9.99920324e-01 -7.92362854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.34420382200005 meters Centerline goodness [0,1] 0.9999356057353825 Centerline is valid? [True, True] Translation: X:249.00, Y:-35.43, Z:-7.93 [[ 9.85335645e-01 1.70193588e-01 1.21577122e-02 2.49003458e+02] [-1.70181715e-01 9.85410643e-01 -2.01218357e-03 -3.54316673e+01] [-1.23227997e-02 -8.63441060e-05 9.99924068e-01 -7.93062822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.374203822 meters Centerline goodness [0,1] 0.9999785047934311 Centerline is valid? [True, True] Translation: X:249.04, Y:-35.44, Z:-7.92 [[ 9.85271127e-01 1.70390609e-01 1.44169127e-02 2.49035338e+02] [-1.70373926e-01 9.85376593e-01 -2.38661993e-03 -3.54390375e+01] [-1.46127459e-02 -1.04798314e-04 9.99893223e-01 -7.92055562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.40420382200006 meters Centerline goodness [0,1] 0.9999571679444896 Centerline is valid? [True, True] Translation: X:249.07, Y:-35.44, Z:-7.92 [[ 9.85262692e-01 1.70443485e-01 1.43682625e-02 2.49066823e+02] [-1.70426886e-01 9.85367448e-01 -2.38088146e-03 -3.54431928e+01] [-1.45638239e-02 -1.02944557e-04 9.99893937e-01 -7.92210315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.43420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.10, Y:-35.45, Z:-7.92 [[ 9.85296835e-01 1.70278040e-01 1.39834293e-02 2.49099388e+02] [-1.70262269e-01 9.85396052e-01 -2.31937014e-03 -3.54464587e+01] [-1.41741539e-02 -9.55823520e-05 9.99899537e-01 -7.92469679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.46420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.13, Y:-35.45, Z:-7.93 [[ 9.85267052e-01 1.70521406e-01 1.30876131e-02 2.49131389e+02] [-1.70507579e-01 9.85353968e-01 -2.17332645e-03 -3.54506324e+01] [-1.32665301e-02 -9.02302791e-05 9.99911992e-01 -7.92640214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.49420382200003 meters Centerline goodness [0,1] 0.9999137577887497 Centerline is valid? [True, True] Translation: X:249.16, Y:-35.46, Z:-7.93 [[ 9.85227318e-01 1.70860149e-01 1.15733308e-02 2.49163275e+02] [-1.70849343e-01 9.85295287e-01 -1.92329907e-03 -3.54553183e+01] [-1.17317634e-02 -8.24091745e-05 9.99931177e-01 -7.93191988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.52420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.19, Y:-35.46, Z:-7.93 [[ 9.85279341e-01 1.70404477e-01 1.36723820e-02 2.49194422e+02] [-1.70389303e-01 9.85374196e-01 -2.27569656e-03 -3.54599489e+01] [-1.38602013e-02 -8.74308364e-05 9.99903939e-01 -7.92896131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.55420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.23, Y:-35.46, Z:-7.93 [[ 9.85271181e-01 1.70434289e-01 1.38871247e-02 2.49225966e+02] [-1.70418608e-01 9.85369040e-01 -2.31357198e-03 -3.54637892e+01] [-1.40782548e-02 -8.71286641e-05 9.99900893e-01 -7.92928833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.58420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.26, Y:-35.47, Z:-7.93 [[ 9.85255277e-01 1.70618927e-01 1.26972958e-02 2.49257137e+02] [-1.70605807e-01 9.85337087e-01 -2.11732737e-03 -3.54675510e+01] [-1.28723726e-02 -8.01244403e-05 9.99917144e-01 -7.93309023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.61420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.29, Y:-35.47, Z:-7.93 [[ 9.85104624e-01 1.71488268e-01 1.26749432e-02 2.49288478e+02] [-1.71475226e-01 9.85186158e-01 -2.11676942e-03 -3.54711391e+01] [-1.28501797e-02 -8.81994067e-05 9.99917429e-01 -7.93494156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.64420382200007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.32, Y:-35.47, Z:-7.94 [[ 9.84931771e-01 1.72425380e-01 1.33751768e-02 2.49318763e+02] [-1.72410917e-01 9.85022577e-01 -2.23568820e-03 -3.54726464e+01] [-1.35603405e-02 -1.04026150e-04 9.99908049e-01 -7.93589001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.67420382200004 meters Centerline goodness [0,1] 0.9999786137428088 Centerline is valid? [True, True] Translation: X:249.35, Y:-35.47, Z:-7.94 [[ 9.84530377e-01 1.74756796e-01 1.26490731e-02 2.49350250e+02] [-1.74744030e-01 9.84611622e-01 -2.11611433e-03 -3.54702498e+01] [-1.28242297e-02 -1.26971168e-04 9.99917758e-01 -7.93832293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.70420382200007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.38, Y:-35.47, Z:-7.94 [[ 9.84502402e-01 1.74934581e-01 1.23657767e-02 2.49380407e+02] [-1.74922394e-01 9.84580051e-01 -2.06872054e-03 -3.54735289e+01] [-1.25369878e-02 -1.26390926e-04 9.99921401e-01 -7.93840507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.73420382200004 meters Centerline goodness [0,1] 0.9999785766313896 Centerline is valid? [True, True] Translation: X:249.41, Y:-35.47, Z:-7.94 [[ 9.84408967e-01 1.75425685e-01 1.28379827e-02 2.49409210e+02] [-1.75412583e-01 9.84492666e-01 -2.14834166e-03 -3.54729794e+01] [-1.30157741e-02 -1.37096912e-04 9.99915282e-01 -7.93886029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.76420382200007 meters Centerline goodness [0,1] 0.9999784816663797 Centerline is valid? [True, True] Translation: X:249.44, Y:-35.48, Z:-7.94 [[ 9.84520046e-01 1.74793813e-01 1.29384052e-02 2.49438297e+02] [-1.74780459e-01 9.84605051e-01 -2.16446555e-03 -3.54774043e+01] [-1.31175543e-02 -1.30420683e-04 9.99913953e-01 -7.93974859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.79420382200004 meters Centerline goodness [0,1] 0.9999784918484106 Centerline is valid? [True, True] Translation: X:249.47, Y:-35.49, Z:-7.94 [[ 9.85040905e-01 1.71879042e-01 1.23292489e-02 2.49467219e+02] [-1.71866697e-01 9.85118058e-01 -2.06187014e-03 -3.54882969e+01] [-1.25001580e-02 -8.79608431e-05 9.99921866e-01 -7.94281428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.824203822 meters Centerline goodness [0,1] 0.999978418974038 Centerline is valid? [True, True] Translation: X:249.50, Y:-35.50, Z:-7.94 [[ 9.85321293e-01 1.70281241e-01 1.20933499e-02 2.49497796e+02] [-1.70269250e-01 9.85395501e-01 -2.02195777e-03 -3.54967561e+01] [-1.22610341e-02 -6.68475693e-05 9.99924828e-01 -7.94088306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.85420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.53, Y:-35.50, Z:-7.95 [[ 9.85792406e-01 1.67551577e-01 1.18237627e-02 2.49527277e+02] [-1.67539911e-01 9.85863311e-01 -1.97740508e-03 -3.55003951e+01] [-1.19879312e-02 -3.16412443e-05 9.99928142e-01 -7.94788352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.884203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.56, Y:-35.51, Z:-7.95 [[ 9.86000302e-01 1.66362174e-01 1.12708641e-02 2.49557217e+02] [-1.66351492e-01 9.86064717e-01 -1.88530321e-03 -3.55054459e+01] [-1.14274445e-02 -1.60155251e-05 9.99934704e-01 -7.94773539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.91420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.59, Y:-35.51, Z:-7.95 [[ 9.86417709e-01 1.63918579e-01 1.05263226e-02 2.49586232e+02] [-1.63909134e-01 9.86473872e-01 -1.75970295e-03 -3.55144134e+01] [-1.06723902e-02 1.04417335e-05 9.99943048e-01 -7.95244529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.944203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.62, Y:-35.52, Z:-7.95 [[ 9.86417703e-01 1.63918627e-01 1.05260578e-02 2.49615813e+02] [-1.63909165e-01 9.86473864e-01 -1.76128528e-03 -3.55193620e+01] [-1.06723884e-02 1.20456225e-05 9.99943048e-01 -7.95336343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.97420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.65, Y:-35.53, Z:-7.95 [[ 9.86569983e-01 1.62995366e-01 1.05915157e-02 2.49646423e+02] [-1.62985737e-01 9.86626834e-01 -1.77174593e-03 -3.55256091e+01] [-1.07386600e-02 2.16853476e-05 9.99942339e-01 -7.95038095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.004203822 meters Centerline goodness [0,1] 0.9998063183265904 Centerline is valid? [True, True] Translation: X:249.68, Y:-35.53, Z:-7.96 [[ 9.86587689e-01 1.62902484e-01 1.03688714e-02 2.49676227e+02] [-1.62893246e-01 9.86642174e-01 -1.73499659e-03 -3.55290409e+01] [-1.05130011e-02 2.27071547e-05 9.99944737e-01 -7.95527917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.03420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.71, Y:-35.53, Z:-7.95 [[ 9.86578122e-01 1.62926593e-01 1.08873095e-02 2.49706617e+02] [-1.62916411e-01 9.86638193e-01 -1.82166529e-03 -3.55346850e+01] [-1.10386331e-02 2.34937347e-05 9.99939072e-01 -7.95400559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.064203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.74, Y:-35.54, Z:-7.95 [[ 9.86527908e-01 1.63201186e-01 1.13163801e-02 2.49737190e+02] [-1.63190200e-01 9.86592810e-01 -1.89376247e-03 -3.55397189e+01] [-1.14737235e-02 2.15271936e-05 9.99934174e-01 -7.95293342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.09420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.77, Y:-35.54, Z:-7.95 [[ 9.86396937e-01 1.63905203e-01 1.24966598e-02 2.49767555e+02] [-1.63891866e-01 9.86476094e-01 -2.09092704e-03 -3.55431264e+01] [-1.26703699e-02 1.43831412e-05 9.99919728e-01 -7.95378043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.124203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.80, Y:-35.55, Z:-7.96 [[ 9.86266062e-01 1.64782054e-01 1.12307268e-02 2.49798224e+02] [-1.64771321e-01 9.86330003e-01 -1.88069116e-03 -3.55466300e+01] [-1.13871069e-02 4.36017731e-06 9.99935165e-01 -7.95502976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.15420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.83, Y:-35.55, Z:-7.96 [[ 9.86156427e-01 1.65451493e-01 1.10138245e-02 2.49828967e+02] [-1.65441214e-01 9.86217929e-01 -1.84425403e-03 -3.55515897e+01] [-1.11671657e-02 -3.41752048e-06 9.99937645e-01 -7.95609300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.18420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.86, Y:-35.56, Z:-7.96 [[ 9.86074226e-01 1.65935437e-01 1.10928812e-02 2.49858856e+02] [-1.65925034e-01 9.86136619e-01 -1.85801976e-03 -3.55557109e+01] [-1.12474077e-02 -8.44129401e-06 9.99936746e-01 -7.95825865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.21420382200006 meters Centerline goodness [0,1] 0.9999566235794223 Centerline is valid? [True, True] Translation: X:249.89, Y:-35.56, Z:-7.96 [[ 9.85882561e-01 1.67068087e-01 1.11278673e-02 2.49889177e+02] [-1.67057687e-01 9.85945360e-01 -1.86426055e-03 -3.55575661e+01] [-1.12829276e-02 -2.10538029e-05 9.99936346e-01 -7.95994267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.24420382200003 meters Centerline goodness [0,1] 0.9999568109181999 Centerline is valid? [True, True] Translation: X:249.92, Y:-35.56, Z:-7.96 [[ 9.85875533e-01 1.67110202e-01 1.11181855e-02 2.49919135e+02] [-1.67099823e-01 9.85938223e-01 -1.86263855e-03 -3.55630883e+01] [-1.12731099e-02 -2.15170527e-05 9.99936456e-01 -7.96179726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.27420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.95, Y:-35.57, Z:-7.96 [[ 9.85905280e-01 1.66874030e-01 1.19931925e-02 2.49948180e+02] [-1.66861932e-01 9.85978224e-01 -2.00945596e-03 -3.55683529e+01] [-1.21603526e-02 -2.00740303e-05 9.99926060e-01 -7.96162126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.30420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.98, Y:-35.57, Z:-7.96 [[ 9.85885158e-01 1.67004428e-01 1.18311427e-02 2.49979228e+02] [-1.66992674e-01 9.85956145e-01 -1.98146856e-03 -3.55734495e+01] [-1.19959019e-02 -2.22137072e-05 9.99928046e-01 -7.96113357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.33420382200006 meters Centerline goodness [0,1] 0.9999355517841414 Centerline is valid? [True, True] Translation: X:250.01, Y:-35.58, Z:-7.97 [[ 9.85705959e-01 1.68096495e-01 1.12840911e-02 2.50008940e+02] [-1.68085869e-01 9.85770545e-01 -1.89034003e-03 -3.55776979e+01] [-1.14412841e-02 -3.33768319e-05 9.99934546e-01 -7.96605688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.36420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.04, Y:-35.58, Z:-7.96 [[ 9.85582796e-01 1.68709813e-01 1.27886840e-02 2.50038914e+02] [-1.68696211e-01 9.85665763e-01 -2.14282411e-03 -3.55827499e+01] [-1.29668835e-02 -4.54719540e-05 9.99915925e-01 -7.96175876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.39420382200007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.07, Y:-35.58, Z:-7.96 [[ 9.84981909e-01 1.72074010e-01 1.41835549e-02 2.50069096e+02] [-1.72057624e-01 9.85084019e-01 -2.37674238e-03 -3.55824877e+01] [-1.43809688e-02 -9.93404983e-05 9.99896584e-01 -7.96096271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.42420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.10, Y:-35.58, Z:-7.96 [[ 9.84593350e-01 1.74328331e-01 1.36223610e-02 2.50098501e+02] [-1.74313438e-01 9.84687573e-01 -2.28223881e-03 -3.55833523e+01] [-1.38116285e-02 -1.27483423e-04 9.99904607e-01 -7.96284930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.45420382200007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.13, Y:-35.58, Z:-7.97 [[ 9.83841523e-01 1.78655928e-01 1.17437820e-02 2.50128294e+02] [-1.78645157e-01 9.83911598e-01 -1.96834690e-03 -3.55819261e+01] [-1.19065002e-02 -1.61428378e-04 9.99929102e-01 -7.96656688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.48420382200004 meters Centerline goodness [0,1] 0.9999347315290227 Centerline is valid? [True, True] Translation: X:250.16, Y:-35.59, Z:-7.97 [[ 9.83606577e-01 1.79938414e-01 1.18435037e-02 2.50157475e+02] [-1.79927561e-01 9.83677861e-01 -1.98440570e-03 -3.55855100e+01] [-1.20072632e-02 -1.79098228e-04 9.99927894e-01 -7.96650000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.51420382200007 meters Centerline goodness [0,1] 0.999978293900586 Centerline is valid? [True, True] Translation: X:250.19, Y:-35.58, Z:-7.97 [[ 9.83184514e-01 1.82123326e-01 1.33905331e-02 2.50185930e+02] [-1.82109652e-01 9.83275668e-01 -2.24380611e-03 -3.55841225e+01] [-1.35752348e-02 -2.32469896e-04 9.99907825e-01 -7.96652494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.54420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.21, Y:-35.58, Z:-7.97 [[ 9.83073830e-01 1.82729500e-01 1.32580269e-02 2.50213731e+02] [-1.82716160e-01 9.83163197e-01 -2.22089484e-03 -3.55846423e+01] [-1.34406272e-02 -2.39152177e-04 9.99909642e-01 -7.96933805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.574203822 meters Centerline goodness [0,1] 0.9999355393210142 Centerline is valid? [True, True] Translation: X:250.24, Y:-35.59, Z:-7.97 [[ 9.83057647e-01 1.82851801e-01 1.27625174e-02 2.50242260e+02] [-1.82839465e-01 9.83140460e-01 -2.13673796e-03 -3.55874023e+01] [-1.29380536e-02 -2.32955254e-04 9.99916273e-01 -7.97107776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.60420382200004 meters Centerline goodness [0,1] 0.9999571422448892 Centerline is valid? [True, True] Translation: X:250.27, Y:-35.59, Z:-7.97 [[ 9.83189748e-01 1.82131303e-01 1.28882870e-02 2.50271228e+02] [-1.82118669e-01 9.83274192e-01 -2.15716744e-03 -3.55913790e+01] [-1.30656077e-02 -2.26292761e-04 9.99914616e-01 -7.97170394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.634203822 meters Centerline goodness [0,1] 0.999978454776576 Centerline is valid? [True, True] Translation: X:250.30, Y:-35.60, Z:-7.97 [[ 9.83371630e-01 1.81221459e-01 1.17907099e-02 2.50299342e+02] [-1.81210824e-01 9.83442293e-01 -1.97302959e-03 -3.55972563e+01] [-1.19530381e-02 -1.96382943e-04 9.99928541e-01 -7.97287891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.66420382200005 meters Centerline goodness [0,1] 0.9999570925941818 Centerline is valid? [True, True] Translation: X:250.33, Y:-35.60, Z:-7.98 [[ 9.83793071e-01 1.79000451e-01 1.04895921e-02 2.50327060e+02] [-1.78991909e-01 9.83848980e-01 -1.75518903e-03 -3.56014159e+01] [-1.06343542e-02 -1.50809311e-04 9.99943442e-01 -7.97731659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.694203822 meters Centerline goodness [0,1] 0.9999354338842975 Centerline is valid? [True, True] Translation: X:250.36, Y:-35.61, Z:-7.98 [[ 9.84069447e-01 1.77442530e-01 1.10214464e-02 2.50355533e+02] [-1.77433013e-01 9.84131154e-01 -1.84317823e-03 -3.56070624e+01] [-1.11736070e-02 -1.41753060e-04 9.99937563e-01 -7.97650569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.72420382200005 meters Centerline goodness [0,1] 0.9999785669888762 Centerline is valid? [True, True] Translation: X:250.38, Y:-35.61, Z:-7.98 [[ 9.84387364e-01 1.75633318e-01 1.15954662e-02 2.50382808e+02] [-1.75622664e-01 9.84455647e-01 -1.93875305e-03 -3.56122955e+01] [-1.17557318e-02 -1.27942648e-04 9.99930891e-01 -7.97688329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.754203822 meters Centerline goodness [0,1] 0.9999785352451275 Centerline is valid? [True, True] Translation: X:250.41, Y:-35.62, Z:-7.98 [[ 9.85147057e-01 1.71349406e-01 1.11650358e-02 2.50410441e+02] [-1.71339265e-01 9.85210320e-01 -1.86571559e-03 -3.56211061e+01] [-1.13195977e-02 -7.50047929e-05 9.99935928e-01 -7.97883978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.78420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.44, Y:-35.63, Z:-7.98 [[ 9.85578388e-01 1.68787039e-01 1.20903438e-02 2.50438365e+02] [-1.68774958e-01 9.85652542e-01 -2.02002922e-03 -3.56282458e+01] [-1.22578329e-02 -4.96501301e-05 9.99924869e-01 -7.97885449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.814203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.47, Y:-35.64, Z:-7.98 [[ 9.86441313e-01 1.63508253e-01 1.40921125e-02 2.50465723e+02] [-1.63491317e-01 9.86541966e-01 -2.35336293e-03 -3.56382905e+01] [-1.42872546e-02 1.75163803e-05 9.99897932e-01 -7.97703051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.84420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.49, Y:-35.65, Z:-7.98 [[ 9.86905755e-01 1.60691856e-01 1.39698975e-02 2.50494662e+02] [-1.60674945e-01 9.87004622e-01 -2.33187926e-03 -3.56483279e+01] [-1.41630674e-02 5.67325530e-05 9.99899697e-01 -7.97822923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.874203822 meters Centerline goodness [0,1] 0.9999571220307006 Centerline is valid? [True, True] Translation: X:250.53, Y:-35.66, Z:-7.98 [[ 9.87705961e-01 1.55750246e-01 1.33714706e-02 2.50525071e+02] [-1.55734341e-01 9.87796460e-01 -2.22903913e-03 -3.56621986e+01] [-1.35554647e-02 1.19238085e-04 9.99908113e-01 -7.97732116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.90420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.56, Y:-35.67, Z:-7.98 [[ 9.87997904e-01 1.53972511e-01 1.23534539e-02 2.50555239e+02] [-1.53958771e-01 9.88075123e-01 -2.06134532e-03 -3.56700003e+01] [-1.25235310e-02 1.34682272e-04 9.99921568e-01 -7.98068821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.93420382200003 meters Centerline goodness [0,1] 0.9998700876908087 Centerline is valid? [True, True] Translation: X:250.59, Y:-35.68, Z:-7.99 [[ 9.88196064e-01 1.52813617e-01 1.07952927e-02 2.50586948e+02] [-1.52803047e-01 9.88255018e-01 -1.80216279e-03 -3.56765878e+01] [-1.09438972e-02 1.31336565e-04 9.99940105e-01 -7.98527298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.96420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.62, Y:-35.69, Z:-7.99 [[ 9.88237112e-01 1.52606695e-01 9.93007476e-03 2.50617909e+02] [-1.52597727e-01 9.88286993e-01 -1.65908010e-03 -3.56862023e+01] [-1.00669505e-02 1.24257693e-04 9.99949319e-01 -7.98582405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.99420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.65, Y:-35.69, Z:-7.99 [[ 9.88107341e-01 1.53390512e-01 1.07347010e-02 2.50648157e+02] [-1.53380037e-01 9.88165641e-01 -1.79732411e-03 -3.56925491e+01] [-1.08833551e-02 1.29460324e-04 9.99940766e-01 -7.98632543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.02420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.68, Y:-35.70, Z:-7.98 [[ 9.87793421e-01 1.55295102e-01 1.21485717e-02 2.50679860e+02] [-1.55281826e-01 9.87868117e-01 -2.03429105e-03 -3.56977090e+01] [-1.23171021e-02 1.23006921e-04 9.99924134e-01 -7.98300983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.05420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.71, Y:-35.70, Z:-7.99 [[ 9.87598396e-01 1.56508800e-01 1.24259171e-02 2.50710069e+02] [-1.56494974e-01 9.87676558e-01 -2.08330801e-03 -3.57046147e+01] [-1.25988431e-02 1.12878061e-04 9.99920625e-01 -7.98793177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.08420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.74, Y:-35.71, Z:-7.98 [[ 9.87343652e-01 1.58106733e-01 1.24408090e-02 2.50742709e+02] [-1.58092978e-01 9.87422023e-01 -2.08763219e-03 -3.57054327e+01] [-1.26143975e-02 9.44058498e-05 9.99920431e-01 -7.98465803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.11420382200004 meters Centerline goodness [0,1] 0.999869969442819 Centerline is valid? [True, True] Translation: X:250.77, Y:-35.71, Z:-7.99 [[ 9.86919979e-01 1.60843586e-01 1.08764010e-02 2.50774109e+02] [-1.60833226e-01 9.86979908e-01 -1.82633525e-03 -3.57088326e+01] [-1.10285436e-02 5.31600827e-05 9.99939182e-01 -7.99122314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.14420382200007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.80, Y:-35.72, Z:-8.00 [[ 9.86719637e-01 1.62108771e-01 1.02520780e-02 2.50803864e+02] [-1.62099616e-01 9.86772894e-01 -1.72329214e-03 -3.57170124e+01] [-1.03958334e-02 3.85482897e-05 9.99945961e-01 -7.99728818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.17420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.83, Y:-35.72, Z:-7.99 [[ 9.86526495e-01 1.63328974e-01 9.44042806e-03 2.50834876e+02] [-1.63321227e-01 9.86571663e-01 -1.59092129e-03 -3.57235614e+01] [-9.57350235e-03 2.76637084e-05 9.99954173e-01 -7.99343121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.20420382200007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.86, Y:-35.73, Z:-8.00 [[ 9.86395807e-01 1.64102068e-01 9.68628450e-03 2.50864601e+02] [-1.64093946e-01 9.86443364e-01 -1.63287821e-03 -3.57295754e+01] [-9.82292976e-03 2.12035776e-05 9.99951754e-01 -8.00113507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.23420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.90, Y:-35.74, Z:-7.99 [[ 9.86076036e-01 1.65966425e-01 1.04497333e-02 2.50895245e+02] [-1.65957074e-01 9.86131404e-01 -1.76173887e-03 -3.57357406e+01] [-1.05971997e-02 3.00130730e-06 9.99943848e-01 -7.99211537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.26420382200007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.93, Y:-35.74, Z:-7.99 [[ 9.85886966e-01 1.67061232e-01 1.08367544e-02 2.50925673e+02] [-1.67051240e-01 9.85946522e-01 -1.82714098e-03 -3.57398511e+01] [-1.09897047e-02 -8.93878213e-06 9.99939611e-01 -7.99312661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.29420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.96, Y:-35.74, Z:-7.99 [[ 9.85663026e-01 1.68391299e-01 1.06193145e-02 2.50957055e+02] [-1.68381782e-01 9.85720229e-01 -1.79035886e-03 -3.57432386e+01] [-1.07691540e-02 -2.34085792e-05 9.99942011e-01 -7.99384125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.324203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.99, Y:-35.75, Z:-8.00 [[ 9.85131242e-01 1.71540277e-01 9.50632735e-03 2.50986970e+02] [-1.71532790e-01 9.85177106e-01 -1.60339771e-03 -3.57486420e+01] [-9.64046335e-03 -5.10896807e-05 9.99953528e-01 -7.99671439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.35420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.02, Y:-35.75, Z:-8.00 [[ 9.84850182e-01 1.73135396e-01 9.70846227e-03 2.51015808e+02] [-1.73127663e-01 9.84898030e-01 -1.63774932e-03 -3.57539134e+01] [-9.84539774e-03 -6.78656726e-05 9.99951531e-01 -7.99907334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.384203822 meters Centerline goodness [0,1] 0.99987002296261 Centerline is valid? [True, True] Translation: X:251.05, Y:-35.76, Z:-8.00 [[ 9.84210230e-01 1.76653888e-01 1.11187999e-02 2.51045718e+02] [-1.76643969e-01 9.84273026e-01 -1.87570734e-03 -3.57570178e+01] [-1.12752859e-02 -1.17978603e-04 9.99936425e-01 -7.99822717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.41420382200005 meters Centerline goodness [0,1] 0.9999784338674546 Centerline is valid? [True, True] Translation: X:251.07, Y:-35.76, Z:-8.00 [[ 9.83861881e-01 1.78546706e-01 1.16992442e-02 2.51074821e+02] [-1.78535865e-01 9.83931426e-01 -1.97305686e-03 -3.57599627e+01] [-1.18635368e-02 -1.47519244e-04 9.99929615e-01 -7.99569233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.444203822 meters Centerline goodness [0,1] 0.9999574187229875 Centerline is valid? [True, True] Translation: X:251.10, Y:-35.76, Z:-8.00 [[ 9.83127580e-01 1.82634948e-01 1.02292579e-02 2.51104441e+02] [-1.82626879e-01 9.83180780e-01 -1.72531118e-03 -3.57587771e+01] [-1.03723119e-02 -1.71936452e-04 9.99946191e-01 -8.00014491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.47420382200005 meters Centerline goodness [0,1] 0.9999134667387777 Centerline is valid? [True, True] Translation: X:251.13, Y:-35.76, Z:-8.00 [[ 9.82775409e-01 1.84538728e-01 9.89710112e-03 2.51133737e+02] [-1.84531274e-01 9.82825225e-01 -1.66906374e-03 -3.57615341e+01] [-1.00351275e-02 -1.86009875e-04 9.99949630e-01 -7.99974494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.504203822 meters Centerline goodness [0,1] 0.9999573678937608 Centerline is valid? [True, True] Translation: X:251.16, Y:-35.76, Z:-8.00 [[ 9.82234332e-01 1.87300181e-01 1.15913514e-02 2.51162394e+02] [-1.87290145e-01 9.82302692e-01 -1.95505252e-03 -3.57610326e+01] [-1.17523974e-02 -2.50626167e-04 9.99930907e-01 -7.99928742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.53420382200005 meters Centerline goodness [0,1] 0.9999574359410913 Centerline is valid? [True, True] Translation: X:251.19, Y:-35.76, Z:-8.00 [[ 9.82154360e-01 1.87730190e-01 1.14100627e-02 2.51190289e+02] [-1.87720502e-01 9.82220603e-01 -1.92378887e-03 -3.57646127e+01] [-1.15683519e-02 -2.52445064e-04 9.99933053e-01 -8.00098067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.564203822 meters Centerline goodness [0,1] 0.9999143065255581 Centerline is valid? [True, True] Translation: X:251.22, Y:-35.77, Z:-8.00 [[ 9.82192109e-01 1.87535823e-01 1.13567927e-02 2.51219184e+02] [-1.87526223e-01 9.82257732e-01 -1.91390183e-03 -3.57683607e+01] [-1.15142226e-02 -2.49877169e-04 9.99933678e-01 -8.00146658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.59420382200005 meters Centerline goodness [0,1] 0.9999573214971619 Centerline is valid? [True, True] Translation: X:251.25, Y:-35.77, Z:-8.00 [[ 9.82265139e-01 1.87096101e-01 1.22574386e-02 2.51247629e+02] [-1.87084893e-01 9.82341579e-01 -2.06497664e-03 -3.57716194e+01] [-1.24273407e-02 -2.64827025e-04 9.99922743e-01 -8.00107280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.624203822 meters Centerline goodness [0,1] 0.9999569030534187 Centerline is valid? [True, True] Translation: X:251.28, Y:-35.78, Z:-8.00 [[ 9.82343711e-01 1.86626181e-01 1.30958756e-02 2.51276613e+02] [-1.86613355e-01 9.82430960e-01 -2.20549299e-03 -3.57750483e+01] [-1.32773964e-02 -2.77313108e-04 9.99911813e-01 -8.00038717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.65420382200006 meters Centerline goodness [0,1] 0.9998719644914856 Centerline is valid? [True, True] Translation: X:251.31, Y:-35.77, Z:-8.00 [[ 9.82601685e-01 1.85223134e-01 1.36498841e-02 2.51305389e+02] [-1.85209074e-01 9.82696452e-01 -2.29807477e-03 -3.57738334e+01] [-1.38393493e-02 -2.69990258e-04 9.99904195e-01 -8.00359090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.68420382200003 meters Centerline goodness [0,1] 0.9999362800280368 Centerline is valid? [True, True] Translation: X:251.33, Y:-35.78, Z:-8.00 [[ 9.83085990e-01 1.82646752e-01 1.34944698e-02 2.51333762e+02] [-1.82632782e-01 9.83178575e-01 -2.27088252e-03 -3.57835671e+01] [-1.36822429e-02 -2.32059778e-04 9.99906367e-01 -8.00120568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.71420382200006 meters Centerline goodness [0,1] 0.9999352345588394 Centerline is valid? [True, True] Translation: X:251.36, Y:-35.79, Z:-8.00 [[ 9.83359110e-01 1.81159251e-01 1.36450198e-02 2.51362187e+02] [-1.81144823e-01 9.83453751e-01 -2.29627853e-03 -3.57888927e+01] [-1.38352380e-02 -2.13658283e-04 9.99904266e-01 -8.00116781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.74420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.39, Y:-35.79, Z:-8.00 [[ 9.83659315e-01 1.79496323e-01 1.39793618e-02 2.51391055e+02] [-1.79481024e-01 9.83758625e-01 -2.35166360e-03 -3.57942882e+01] [-1.41744327e-02 -1.95794369e-04 9.99899519e-01 -8.00142856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.77420382200006 meters Centerline goodness [0,1] 0.9999785084891468 Centerline is valid? [True, True] Translation: X:251.42, Y:-35.80, Z:-8.00 [[ 9.84370033e-01 1.75539053e-01 1.42013628e-02 2.51418938e+02] [-1.75522859e-01 9.84472458e-01 -2.38847748e-03 -3.57998846e+01] [-1.44001217e-02 -1.41518161e-04 9.99896303e-01 -8.00379085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.80420382200003 meters Centerline goodness [0,1] 0.9998284403079496 Centerline is valid? [True, True] Translation: X:251.45, Y:-35.81, Z:-8.00 [[ 9.85203971e-01 1.70672493e-01 1.56216275e-02 2.51448031e+02] [-1.70652306e-01 9.85327810e-01 -2.62615418e-03 -3.58104069e+01] [-1.58406363e-02 -7.85692275e-05 9.99874526e-01 -8.00493150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.83420382200006 meters Centerline goodness [0,1] 0.9998284403079496 Centerline is valid? [True, True] Translation: X:251.48, Y:-35.82, Z:-8.01 [[ 9.85203971e-01 1.70672493e-01 1.56216275e-02 2.51477606e+02] [-1.70652306e-01 9.85327810e-01 -2.62615418e-03 -3.58153787e+01] [-1.58406363e-02 -7.85692274e-05 9.99874526e-01 -8.00584948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.86420382200004 meters Centerline goodness [0,1] 0.9999785972647305 Centerline is valid? [True, True] Translation: X:251.51, Y:-35.82, Z:-8.01 [[ 9.85535094e-01 1.68765964e-01 1.54475858e-02 2.51505916e+02] [-1.68745987e-01 9.85656151e-01 -2.59707143e-03 -3.58232910e+01] [-1.56643053e-02 -4.72130803e-05 9.99877306e-01 -8.00563151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.89420382200007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.54, Y:-35.83, Z:-8.01 [[ 9.85884166e-01 1.66837920e-01 1.40541900e-02 2.51536466e+02] [-1.66821198e-01 9.85984335e-01 -2.36209572e-03 -3.58320617e+01] [-1.42512983e-02 -1.57840533e-05 9.99898445e-01 -8.00728932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.92420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.57, Y:-35.84, Z:-8.01 [[ 9.86158151e-01 1.65340992e-01 1.24280666e-02 2.51565958e+02] [-1.65327792e-01 9.86236461e-01 -2.08922311e-03 -3.58392015e+01] [-1.26024467e-02 5.59958839e-06 9.99920586e-01 -8.01265907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.95420382200007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.60, Y:-35.84, Z:-8.01 [[ 9.86353157e-01 1.64207564e-01 1.19718918e-02 2.51597040e+02] [-1.64195233e-01 9.86425808e-01 -2.01242462e-03 -3.58446856e+01] [-1.21398384e-02 1.92338132e-05 9.99926309e-01 -8.00949511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.98420382200004 meters Centerline goodness [0,1] 0.9999569011959918 Centerline is valid? [True, True] Translation: X:251.63, Y:-35.85, Z:-8.02 [[ 9.86208709e-01 1.65146084e-01 1.09157137e-02 2.51626683e+02] [-1.65135886e-01 9.86269117e-01 -1.83534091e-03 -3.58476937e+01] [-1.10689307e-02 7.45314393e-06 9.99938737e-01 -8.01610294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.01420382200007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.66, Y:-35.85, Z:-8.01 [[ 9.86052171e-01 1.66116383e-01 1.03181409e-02 2.51657580e+02] [-1.66107320e-01 9.86106154e-01 -1.73522609e-03 -3.58511241e+01] [-1.04630318e-02 -2.89528646e-06 9.99945261e-01 -8.01413673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.04420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.69, Y:-35.85, Z:-8.01 [[ 9.85907360e-01 1.66940136e-01 1.08475417e-02 2.51687399e+02] [-1.66930163e-01 9.85967033e-01 -1.82474133e-03 -3.58535596e+01] [-1.09999411e-02 -1.17560044e-05 9.99939499e-01 -8.01375080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.074203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.72, Y:-35.86, Z:-8.02 [[ 9.85751424e-01 1.67807366e-01 1.16110948e-02 2.51715610e+02] [-1.67796002e-01 9.85819805e-01 -1.95306813e-03 -3.58557003e+01] [-1.17741864e-02 -2.30555948e-05 9.99930682e-01 -8.01547466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.10420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.75, Y:-35.86, Z:-8.02 [[ 9.85532331e-01 1.69154683e-01 1.06168531e-02 2.51745492e+02] [-1.69145265e-01 9.85589515e-01 -1.78529425e-03 -3.58578772e+01] [-1.07658500e-02 -3.63252257e-05 9.99942046e-01 -8.01582080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.134203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.77, Y:-35.86, Z:-8.02 [[ 9.85386262e-01 1.70094570e-01 9.04165688e-03 2.51774350e+02] [-1.70087778e-01 9.85427742e-01 -1.52056340e-03 -3.58570164e+01] [-9.16853911e-03 -3.95330449e-05 9.99957967e-01 -8.02245024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.16420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.80, Y:-35.86, Z:-8.02 [[ 9.85298003e-01 1.70583462e-01 9.44077164e-03 2.51802709e+02] [-1.70576082e-01 9.85343230e-01 -1.58749791e-03 -3.58592678e+01] [-9.57320131e-03 -4.62113109e-05 9.99954175e-01 -8.02348292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.194203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.83, Y:-35.86, Z:-8.02 [[ 9.85204210e-01 1.71149753e-01 8.96809337e-03 2.51831079e+02] [-1.71143119e-01 9.85245025e-01 -1.50770599e-03 -3.58632863e+01] [-9.09381288e-03 -4.94291834e-05 9.99958649e-01 -8.02152535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.22420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.86, Y:-35.87, Z:-8.03 [[ 9.85131754e-01 1.71551790e-01 9.24173909e-03 2.51858447e+02] [-1.71544766e-01 9.85175101e-01 -1.55344759e-03 -3.58658174e+01] [-9.37122796e-03 -5.50214133e-05 9.99956088e-01 -8.02528459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.254203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.89, Y:-35.87, Z:-8.02 [[ 9.84984151e-01 1.72363836e-01 9.84533201e-03 2.51887778e+02] [-1.72355915e-01 9.85033351e-01 -1.65384188e-03 -3.58656503e+01] [-9.98304292e-03 -6.78931699e-05 9.99950166e-01 -8.02488545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.28420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.92, Y:-35.87, Z:-8.02 [[ 9.84975434e-01 1.72410374e-01 9.90239734e-03 2.51916483e+02] [-1.72402368e-01 9.85025207e-01 -1.66299614e-03 -3.58703868e+01] [-1.00408288e-02 -6.91864076e-05 9.99949587e-01 -8.02346625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.314203822 meters Centerline goodness [0,1] 0.999978332466632 Centerline is valid? [True, True] Translation: X:251.94, Y:-35.88, Z:-8.03 [[ 9.85192758e-01 1.71214790e-01 8.98469812e-03 2.51944857e+02] [-1.71208152e-01 9.85233725e-01 -1.50857052e-03 -3.58769917e+01] [-9.11031718e-03 -5.20208128e-05 9.99958499e-01 -8.02559713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.34420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.97, Y:-35.88, Z:-8.02 [[ 9.85331145e-01 1.70370529e-01 9.81928604e-03 2.51973945e+02] [-1.70362560e-01 9.85380069e-01 -1.64852618e-03 -3.58810025e+01] [-9.95658904e-03 -4.84945157e-05 9.99950431e-01 -8.02467505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.374203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.00, Y:-35.88, Z:-8.03 [[ 9.85712499e-01 1.68115182e-01 1.03997504e-02 2.52001765e+02] [-1.68106129e-01 9.85767358e-01 -1.74486661e-03 -3.58829837e+01] [-1.05450730e-02 -2.83249534e-05 9.99944399e-01 -8.02547033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.40420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.03, Y:-35.89, Z:-8.03 [[ 9.85994603e-01 1.66483268e-01 9.89766004e-03 2.52029561e+02] [-1.66474997e-01 9.86044280e-01 -1.65956961e-03 -3.58894447e+01] [-1.00358216e-02 -1.13862422e-05 9.99949640e-01 -8.03249612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.43420382200003 meters Centerline goodness [0,1] 0.9999784231648902 Centerline is valid? [True, True] Translation: X:252.06, Y:-35.90, Z:-8.03 [[ 9.86304539e-01 1.64685720e-01 9.05372985e-03 2.52058665e+02] [-1.64678728e-01 9.86346092e-01 -1.51756263e-03 -3.58980398e+01] [-9.18003196e-03 5.82219254e-06 9.99957863e-01 -8.03057392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.46420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.09, Y:-35.91, Z:-8.03 [[ 9.86702758e-01 1.62275428e-01 9.18433445e-03 2.52087018e+02] [-1.62268131e-01 9.86745501e-01 -1.53921379e-03 -3.59072843e+01] [-9.31237728e-03 2.84217074e-05 9.99956638e-01 -8.03112711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.49420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.12, Y:-35.91, Z:-8.03 [[ 9.86521757e-01 1.63284925e-01 1.06234220e-02 2.52117453e+02] [-1.63275224e-01 9.86578954e-01 -1.78000638e-03 -3.59069185e+01] [-1.07714928e-02 2.14734138e-05 9.99941986e-01 -8.02914693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.52420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.15, Y:-35.91, Z:-8.03 [[ 9.86231975e-01 1.65030533e-01 1.05553508e-02 2.52147131e+02] [-1.65021056e-01 9.86288458e-01 -1.76858453e-03 -3.59072492e+01] [-1.07024911e-02 2.37949027e-06 9.99942727e-01 -8.02978196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.55420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.18, Y:-35.91, Z:-8.03 [[ 9.85923064e-01 1.66908967e-01 9.85442119e-03 2.52175974e+02] [-1.66900801e-01 9.85972310e-01 -1.65109588e-03 -3.59076546e+01] [-9.99176914e-03 -1.68572848e-05 9.99950081e-01 -8.03199376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.58420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.21, Y:-35.91, Z:-8.03 [[ 9.85478550e-01 1.69547537e-01 9.25529842e-03 2.52205614e+02] [-1.69540454e-01 9.85522009e-01 -1.55037222e-03 -3.59072023e+01] [-9.38416209e-03 -4.12889273e-05 9.99955967e-01 -8.03248142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.61420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.23, Y:-35.91, Z:-8.03 [[ 9.85245560e-01 1.70873216e-01 9.67112493e-03 2.52234011e+02] [-1.70865548e-01 9.85293023e-01 -1.61971880e-03 -3.59069552e+01] [-9.80565848e-03 -5.66413049e-05 9.99951922e-01 -8.03482540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.64420382200007 meters Centerline goodness [0,1] 0.9999783084965619 Centerline is valid? [True, True] Translation: X:252.26, Y:-35.91, Z:-8.04 [[ 9.85151361e-01 1.71405404e-01 9.84801147e-03 2.52263069e+02] [-1.71397489e-01 9.85200580e-01 -1.64839366e-03 -3.59084181e+01] [-9.98481019e-03 -6.40071846e-05 9.99950148e-01 -8.03579123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.67420382200004 meters Centerline goodness [0,1] 0.9999787883930087 Centerline is valid? [True, True] Translation: X:252.29, Y:-35.91, Z:-8.04 [[ 9.85118435e-01 1.71595088e-01 9.83844334e-03 2.52290862e+02] [-1.71587201e-01 9.85167560e-01 -1.64654318e-03 -3.59085665e+01] [-9.97505394e-03 -6.61109181e-05 9.99950246e-01 -8.03979138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.70420382200007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.32, Y:-35.91, Z:-8.04 [[ 9.85258468e-01 1.70928506e-01 7.01412199e-03 2.52320763e+02] [-1.70924486e-01 9.85283433e-01 -1.17311646e-03 -3.59114301e+01] [-7.11141724e-03 -4.30622729e-05 9.99974713e-01 -8.04212703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.73420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.35, Y:-35.92, Z:-8.05 [[ 9.85377523e-01 1.70246426e-01 6.87691047e-03 2.52348205e+02] [-1.70242540e-01 9.85401519e-01 -1.15090256e-03 -3.59160560e+01] [-6.97245507e-03 -3.66691878e-05 9.99975691e-01 -8.04516679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.76420382200007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.38, Y:-35.93, Z:-8.04 [[ 9.85688934e-01 1.68384706e-01 7.99473695e-03 2.52376122e+02] [-1.68379401e-01 9.85721355e-01 -1.33684840e-03 -3.59250489e+01] [-8.10568777e-03 -2.84323472e-05 9.99967148e-01 -8.04356865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.79420382200004 meters Centerline goodness [0,1] 0.9998709927110881 Centerline is valid? [True, True] Translation: X:252.40, Y:-35.93, Z:-8.05 [[ 9.85904062e-01 1.67143614e-01 7.49618668e-03 2.52404033e+02] [-1.67138917e-01 9.85932560e-01 -1.25319667e-03 -3.59303052e+01] [-7.60019834e-03 -1.73728306e-05 9.99971118e-01 -8.04635628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.824203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.43, Y:-35.93, Z:-8.05 [[ 9.86199948e-01 1.65376993e-01 7.75328358e-03 2.52432388e+02] [-1.65371917e-01 9.86230424e-01 -1.29572859e-03 -3.59339381e+01] [-7.86080785e-03 -4.32790573e-06 9.99969103e-01 -8.04526817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.85420382200004 meters Centerline goodness [0,1] 0.9999351785830038 Centerline is valid? [True, True] Translation: X:252.46, Y:-35.94, Z:-8.05 [[ 9.86328470e-01 1.64578749e-01 8.36562987e-03 2.52461111e+02] [-1.64572815e-01 9.86363947e-01 -1.39751773e-03 -3.59387803e+01] [-8.48155742e-03 1.65626497e-06 9.99964031e-01 -8.04727297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.884203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.49, Y:-35.94, Z:-8.04 [[ 9.86432426e-01 1.63911847e-01 9.16376185e-03 2.52489303e+02] [-1.63904704e-01 9.86474990e-01 -1.53024797e-03 -3.59444793e+01] [-9.29064765e-03 7.50254798e-06 9.99956841e-01 -8.04460894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.91420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.52, Y:-35.95, Z:-8.05 [[ 9.86683428e-01 1.62298371e-01 1.07261743e-02 2.52516389e+02] [-1.62288496e-01 9.86741728e-01 -1.79058535e-03 -3.59502468e+01] [-1.08745729e-02 2.60061989e-05 9.99940870e-01 -8.04512431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.944203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.55, Y:-35.96, Z:-8.04 [[ 9.86875098e-01 1.61101568e-01 1.11276835e-02 2.52545120e+02] [-1.61090874e-01 9.86937832e-01 -1.85659817e-03 -3.59556660e+01] [-1.12814327e-02 3.96622384e-05 9.99936362e-01 -8.04319618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.97420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.57, Y:-35.96, Z:-8.04 [[ 9.87328074e-01 1.58243706e-01 1.19249553e-02 2.52572324e+02] [-1.58231228e-01 9.87400083e-01 -1.98867790e-03 -3.59643665e+01] [-1.20893976e-02 7.65771983e-05 9.99926918e-01 -8.04385578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.004203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.60, Y:-35.97, Z:-8.04 [[ 9.87648972e-01 1.56234709e-01 1.18416470e-02 2.52601265e+02] [-1.56222268e-01 9.87719953e-01 -1.97412308e-03 -3.59727619e+01] [-1.20046576e-02 9.98116736e-05 9.99927937e-01 -8.04387499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.03420382200005 meters Centerline goodness [0,1] 0.9999567959906679 Centerline is valid? [True, True] Translation: X:252.63, Y:-35.99, Z:-8.05 [[ 9.88234746e-01 1.52501089e-01 1.16406480e-02 2.52629023e+02] [-1.52488814e-01 9.88303292e-01 -1.94009799e-03 -3.59853482e+01] [-1.18003578e-02 1.42203638e-04 9.99930363e-01 -8.04609301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.064203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.66, Y:-35.99, Z:-8.05 [[ 9.88377017e-01 1.51554214e-01 1.19244576e-02 2.52658356e+02] [-1.51541269e-01 9.88448934e-01 -1.98701288e-03 -3.59920829e+01] [-1.20878576e-02 1.56870421e-04 9.99926927e-01 -8.04643844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.09420382200005 meters Centerline goodness [0,1] 0.9998045984498144 Centerline is valid? [True, True] Translation: X:252.69, Y:-36.00, Z:-8.05 [[ 9.88520352e-01 1.50714654e-01 1.06116544e-02 2.52688093e+02] [-1.50704354e-01 9.88577296e-01 -1.76825601e-03 -3.60004424e+01] [-1.07569427e-02 1.48734536e-04 9.99942131e-01 -8.05109096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.124203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.72, Y:-36.01, Z:-8.05 [[ 9.88341279e-01 1.51920638e-01 1.00814841e-02 2.52718124e+02] [-1.51911404e-01 9.88392687e-01 -1.67991194e-03 -3.60063487e+01] [-1.02196785e-02 1.28833912e-04 9.99947769e-01 -8.04988719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.15420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.75, Y:-36.01, Z:-8.05 [[ 9.88141777e-01 1.53221007e-01 9.95751626e-03 2.52748669e+02] [-1.53212065e-01 9.88191940e-01 -1.65925476e-03 -3.60109166e+01] [-1.00941700e-02 1.13967313e-04 9.99949046e-01 -8.05149410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.18420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.78, Y:-36.02, Z:-8.05 [[ 9.87941741e-01 1.54524798e-01 9.65415585e-03 2.52778185e+02] [-1.54516452e-01 9.87988905e-01 -1.60896333e-03 -3.60153105e+01] [-9.78682360e-03 9.78361226e-05 9.99952103e-01 -8.05298354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.21420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.81, Y:-36.02, Z:-8.06 [[ 9.87468728e-01 1.57513190e-01 9.75221496e-03 2.52806402e+02] [-1.57504818e-01 9.87516881e-01 -1.62542635e-03 -3.60183147e+01] [-9.88650299e-03 6.90368520e-05 9.99951125e-01 -8.05553230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.24420382200003 meters Centerline goodness [0,1] 0.9999786634804131 Centerline is valid? [True, True] Translation: X:252.83, Y:-36.02, Z:-8.06 [[ 9.87154049e-01 1.59438794e-01 1.03031457e-02 2.52834636e+02] [-1.59429555e-01 9.87207814e-01 -1.71718414e-03 -3.60209838e+01] [-1.04451317e-02 5.24993418e-05 9.99945447e-01 -8.05644484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.27420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.86, Y:-36.02, Z:-8.05 [[ 9.86504510e-01 1.63423762e-01 1.00759895e-02 2.52863684e+02] [-1.63415134e-01 9.86555966e-01 -1.67927542e-03 -3.60213278e+01] [-1.02149611e-02 1.00436010e-05 9.99947826e-01 -8.05432008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.30420382200003 meters Centerline goodness [0,1] 0.9999787043741215 Centerline is valid? [True, True] Translation: X:252.89, Y:-36.02, Z:-8.06 [[ 9.86198318e-01 1.65281914e-01 9.73479216e-03 2.52891348e+02] [-1.65273953e-01 9.86246363e-01 -1.62222176e-03 -3.60241138e+01] [-9.86902728e-03 -9.07520937e-06 9.99951300e-01 -8.05883931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.33420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.92, Y:-36.03, Z:-8.06 [[ 9.85714838e-01 1.68144424e-01 9.68042689e-03 2.52920161e+02] [-1.68136698e-01 9.85762371e-01 -1.61232025e-03 -3.60259969e+01] [-9.81370322e-03 -3.83470166e-05 9.99951844e-01 -8.05637882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.36420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.95, Y:-36.03, Z:-8.06 [[ 9.85504156e-01 1.69349093e-01 1.01214153e-02 2.52947425e+02] [-1.69340714e-01 9.85556128e-01 -1.68543593e-03 -3.60286338e+01] [-1.02606499e-02 -5.29635784e-05 9.99947357e-01 -8.06013456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.39420382200007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.98, Y:-36.03, Z:-8.06 [[ 9.85350523e-01 1.70204276e-01 1.07169044e-02 2.52976326e+02] [-1.70194938e-01 9.85408799e-01 -1.78409105e-03 -3.60342040e+01] [-1.08641918e-02 -6.60078238e-05 9.99940981e-01 -8.05747701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.42420382200004 meters Centerline goodness [0,1] 0.9999785343236165 Centerline is valid? [True, True] Translation: X:253.00, Y:-36.04, Z:-8.06 [[ 9.85245239e-01 1.70745171e-01 1.17433054e-02 2.53002916e+02] [-1.70734014e-01 9.85315219e-01 -1.95349777e-03 -3.60414120e+01] [-1.19044078e-02 -8.03072935e-05 9.99929137e-01 -8.05851785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.45420382200007 meters Centerline goodness [0,1] 0.9999138988742278 Centerline is valid? [True, True] Translation: X:253.03, Y:-36.05, Z:-8.06 [[ 9.85264915e-01 1.70710078e-01 1.05412013e-02 2.53031250e+02] [-1.70701094e-01 9.85321300e-01 -1.75282133e-03 -3.60473782e+01] [-1.06856944e-02 -7.24012314e-05 9.99942904e-01 -8.06231517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.48420382200004 meters Centerline goodness [0,1] 0.9999785926829791 Centerline is valid? [True, True] Translation: X:253.06, Y:-36.05, Z:-8.07 [[ 9.85255372e-01 1.70833810e-01 9.36272137e-03 2.53058116e+02] [-1.70826730e-01 9.85299855e-01 -1.55669798e-03 -3.60514999e+01] [-9.49102466e-03 -6.56580265e-05 9.99954957e-01 -8.06647173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.51420382200007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.09, Y:-36.06, Z:-8.07 [[ 9.85297478e-01 1.70581842e-01 9.52448817e-03 2.53086547e+02] [-1.70574511e-01 9.85343509e-01 -1.58282249e-03 -3.60570466e+01] [-9.65489338e-03 -6.50839045e-05 9.99953388e-01 -8.06745835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.54420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.11, Y:-36.07, Z:-8.07 [[ 9.85322003e-01 1.70398177e-01 1.02475601e-02 2.53113799e+02] [-1.70389687e-01 9.85375287e-01 -1.70237133e-03 -3.60655552e+01] [-1.03877735e-02 -6.86946338e-05 9.99946043e-01 -8.06991998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.574203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.14, Y:-36.07, Z:-8.07 [[ 9.85313856e-01 1.70435826e-01 1.04035503e-02 2.53141606e+02] [-1.70427083e-01 9.85368776e-01 -1.72777286e-03 -3.60737556e+01] [-1.05458080e-02 -7.06481792e-05 9.99944389e-01 -8.06729733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.60420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.17, Y:-36.08, Z:-8.07 [[ 9.85194457e-01 1.71144451e-01 1.00726832e-02 2.53169478e+02] [-1.71136294e-01 9.85245944e-01 -1.67262632e-03 -3.60789956e+01] [-1.02103310e-02 -7.59394937e-05 9.99947870e-01 -8.06808451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.634203822 meters Centerline goodness [0,1] 0.9999784399120348 Centerline is valid? [True, True] Translation: X:253.20, Y:-36.08, Z:-8.07 [[ 9.85141873e-01 1.71467079e-01 9.72270962e-03 2.53198529e+02] [-1.71459502e-01 9.85189847e-01 -1.61372809e-03 -3.60822850e+01] [-9.85541605e-03 -7.72998403e-05 9.99951431e-01 -8.06951900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.66420382200005 meters Centerline goodness [0,1] 0.9999785255653145 Centerline is valid? [True, True] Translation: X:253.23, Y:-36.09, Z:-8.07 [[ 9.85210127e-01 1.71052931e-01 1.00945439e-02 2.53225790e+02] [-1.71044745e-01 9.85261838e-01 -1.67519538e-03 -3.60885297e+01] [-1.02323160e-02 -7.61992328e-05 9.99947646e-01 -8.07083280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.694203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.25, Y:-36.10, Z:-8.07 [[ 9.85368836e-01 1.70130205e-01 1.01965781e-02 2.53254285e+02] [-1.70121818e-01 9.85421589e-01 -1.69069853e-03 -3.60983046e+01] [-1.03355671e-02 -6.86987629e-05 9.99946584e-01 -8.06713828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.72420382200005 meters Centerline goodness [0,1] 0.9999786379560797 Centerline is valid? [True, True] Translation: X:253.28, Y:-36.11, Z:-8.07 [[ 9.85569845e-01 1.68983428e-01 9.83270572e-03 2.53282537e+02] [-1.68975571e-01 9.85618891e-01 -1.63039642e-03 -3.61050002e+01] [-9.96681048e-03 -5.46175130e-05 9.99950329e-01 -8.07317991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.754203822 meters Centerline goodness [0,1] 0.9999786379560797 Centerline is valid? [True, True] Translation: X:253.31, Y:-36.11, Z:-8.07 [[ 9.85573833e-01 1.68960160e-01 9.83281597e-03 2.53311310e+02] [-1.68952309e-01 9.85622880e-01 -1.62973107e-03 -3.61097216e+01] [-9.96680802e-03 -5.50566656e-05 9.99950329e-01 -8.07407240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.78420382200005 meters Centerline goodness [0,1] 0.9999782054355644 Centerline is valid? [True, True] Translation: X:253.34, Y:-36.12, Z:-8.07 [[ 9.85910220e-01 1.67013100e-01 9.36285915e-03 2.53339106e+02] [-1.67005895e-01 9.85954676e-01 -1.55167785e-03 -3.61212099e+01] [-9.49050529e-03 -3.38376278e-05 9.99954964e-01 -8.07292345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.814203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.37, Y:-36.13, Z:-8.08 [[ 9.85952120e-01 1.66772698e-01 9.23491896e-03 2.53367505e+02] [-1.66765683e-01 9.85995368e-01 -1.52997646e-03 -3.61270781e+01] [-9.36074562e-03 -3.15840288e-05 9.99956187e-01 -8.07776308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.84420382200005 meters Centerline goodness [0,1] 0.9999785195686729 Centerline is valid? [True, True] Translation: X:253.40, Y:-36.13, Z:-8.08 [[ 9.85744528e-01 1.67941762e-01 1.01631415e-02 2.53396262e+02] [-1.67933327e-01 9.85796917e-01 -1.68383317e-03 -3.61340453e+01] [-1.03015794e-02 -4.69008269e-05 9.99946936e-01 -8.07587078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.874203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.43, Y:-36.14, Z:-8.08 [[ 9.85476956e-01 1.69515602e-01 9.98152921e-03 2.53426195e+02] [-1.69507548e-01 9.85527502e-01 -1.65351595e-03 -3.61370212e+01] [-1.01173683e-02 -6.24426788e-05 9.99948816e-01 -8.07591812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.90420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.46, Y:-36.14, Z:-8.08 [[ 9.85217113e-01 1.71031794e-01 9.76550416e-03 2.53455878e+02] [-1.71024162e-01 9.85265507e-01 -1.61749531e-03 -3.61389094e+01] [-9.89825753e-03 -7.65531065e-05 9.99951008e-01 -8.07707419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.93420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.49, Y:-36.14, Z:-8.08 [[ 9.84797976e-01 1.73423280e-01 9.86473068e-03 2.53485274e+02] [-1.73415612e-01 9.84847377e-01 -1.63392635e-03 -3.61398047e+01] [-9.99861500e-03 -1.01610947e-04 9.99950007e-01 -8.07872916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.96420382200006 meters Centerline goodness [0,1] 0.9999784867585999 Centerline is valid? [True, True] Translation: X:253.51, Y:-36.15, Z:-8.08 [[ 9.84725673e-01 1.73851052e-01 9.54784445e-03 2.53513791e+02] [-1.73843895e-01 9.84771954e-01 -1.58085989e-03 -3.61486107e+01] [-9.67728359e-03 -1.03121144e-04 9.99953169e-01 -8.08025197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.99420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.54, Y:-36.15, Z:-8.08 [[ 9.84760094e-01 1.73659250e-01 9.48799029e-03 2.53543059e+02] [-1.73652176e-01 9.84805795e-01 -1.57071290e-03 -3.61540525e+01] [-9.61659665e-03 -1.00834776e-04 9.99953754e-01 -8.08138047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.02420382200006 meters Centerline goodness [0,1] 0.999978700291806 Centerline is valid? [True, True] Translation: X:253.57, Y:-36.16, Z:-8.09 [[ 9.84855989e-01 1.73126448e-01 9.26900866e-03 2.53571107e+02] [-1.73119673e-01 9.84899601e-01 -1.53450446e-03 -3.61574879e+01] [-9.39470624e-03 -9.33818384e-05 9.99955864e-01 -8.08656968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.05420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.60, Y:-36.17, Z:-8.09 [[ 9.85282008e-01 1.70685723e-01 9.26001342e-03 2.53599267e+02] [-1.70678859e-01 9.85325519e-01 -1.53237754e-03 -3.61664213e+01] [-9.38568250e-03 -7.06645032e-05 9.99955951e-01 -8.08745224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.08420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.63, Y:-36.18, Z:-8.09 [[ 9.85520022e-01 1.69259918e-01 1.00681091e-02 2.53628345e+02] [-1.69251732e-01 9.85571447e-01 -1.66581033e-03 -3.61751981e+01] [-1.02047958e-02 -6.23554840e-05 9.99947928e-01 -8.08636352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.11420382200004 meters Centerline goodness [0,1] 0.9999357917941913 Centerline is valid? [True, True] Translation: X:253.66, Y:-36.19, Z:-8.09 [[ 9.85952003e-01 1.66678658e-01 1.08108113e-02 2.53655884e+02] [-1.66669077e-01 9.86011269e-01 -1.78753707e-03 -3.61878365e+01] [-1.09575261e-02 -3.94021869e-05 9.99939964e-01 -8.08685284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.14420382200007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.69, Y:-36.20, Z:-8.09 [[ 9.86128072e-01 1.65606679e-01 1.12184592e-02 2.53685839e+02] [-1.65596286e-01 9.86191882e-01 -1.85553258e-03 -3.61952364e+01] [-1.13708420e-02 -2.79424093e-05 9.99935349e-01 -8.08665575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.17420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.72, Y:-36.20, Z:-8.08 [[ 9.86477385e-01 1.63391786e-01 1.28644340e-02 2.53715657e+02] [-1.63377936e-01 9.86561262e-01 -2.12734639e-03 -3.62049378e+01] [-1.30391431e-02 -3.18556983e-06 9.99914987e-01 -8.08479556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.20420382200007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.75, Y:-36.22, Z:-8.09 [[ 9.86673432e-01 1.62190054e-01 1.30355487e-02 2.53746743e+02] [-1.62175760e-01 9.86759538e-01 -2.15322033e-03 -3.62152474e+01] [-1.32121829e-02 1.04752752e-05 9.99912715e-01 -8.08637199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.23420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.78, Y:-36.23, Z:-8.09 [[ 9.86967574e-01 1.60428947e-01 1.25523066e-02 2.53776067e+02] [-1.60415518e-01 9.87047391e-01 -2.07598883e-03 -3.62295495e+01] [-1.27227702e-02 3.53488896e-05 9.99919062e-01 -8.08839330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.26420382200007 meters Centerline goodness [0,1] 0.999978624257193 Centerline is valid? [True, True] Translation: X:253.81, Y:-36.24, Z:-8.09 [[ 9.87053109e-01 1.59924660e-01 1.22581862e-02 2.53808102e+02] [-1.59911801e-01 9.87129222e-01 -2.02842876e-03 -3.62367625e+01] [-1.24248095e-02 4.19382933e-05 9.99922808e-01 -8.08863377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.29420382200004 meters Centerline goodness [0,1] 0.9999784802771741 Centerline is valid? [True, True] Translation: X:253.84, Y:-36.25, Z:-8.09 [[ 9.87195042e-01 1.59152258e-01 1.07938544e-02 2.53838486e+02] [-1.59142203e-01 9.87254049e-01 -1.78961565e-03 -3.62455450e+01] [-1.09410978e-02 4.89419275e-05 9.99940143e-01 -8.09393333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.324203822 meters Centerline goodness [0,1] 0.9999571505088377 Centerline is valid? [True, True] Translation: X:253.87, Y:-36.25, Z:-8.10 [[ 9.87222504e-01 1.59053845e-01 9.67478867e-03 2.53868203e+02] [-1.59045769e-01 9.87269909e-01 -1.60340825e-03 -3.62541752e+01] [-9.80665597e-03 4.41865043e-05 9.99951913e-01 -8.09972906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.35420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.90, Y:-36.26, Z:-8.10 [[ 9.87142415e-01 1.59597541e-01 8.85877135e-03 2.53899552e+02] [-1.59590787e-01 9.87182163e-01 -1.46869198e-03 -3.62629730e+01] [-8.97962070e-03 3.60298536e-05 9.99959682e-01 -8.09674803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.384203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.93, Y:-36.27, Z:-8.10 [[ 9.87032592e-01 1.60288420e-01 8.61880973e-03 2.53930161e+02] [-1.60282043e-01 9.87070221e-01 -1.43006140e-03 -3.62717630e+01] [-8.73659271e-03 3.00767741e-05 9.99961835e-01 -8.10376952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.41420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.96, Y:-36.28, Z:-8.10 [[ 9.86879910e-01 1.61224462e-01 8.64381566e-03 2.53962547e+02] [-1.61218071e-01 9.86917764e-01 -1.43565087e-03 -3.62784664e+01] [-8.76219726e-03 2.32757086e-05 9.99961611e-01 -8.09942770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.444203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.99, Y:-36.28, Z:-8.10 [[ 9.86497438e-01 1.63533200e-01 8.92735310e-03 2.53993853e+02] [-1.63526455e-01 9.86537831e-01 -1.48528484e-03 -3.62848341e+01] [-9.05006495e-03 5.37128755e-06 9.99959047e-01 -8.09991972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.47420382200005 meters Centerline goodness [0,1] 0.999847494553377 Centerline is valid? [True, True] Translation: X:254.02, Y:-36.29, Z:-8.11 [[ 9.86214802e-01 1.65205136e-01 9.36090971e-03 2.54024307e+02] [-1.65197774e-01 9.86259227e-01 -1.55964278e-03 -3.62894134e+01] [-9.48994457e-03 -8.25865163e-06 9.99954969e-01 -8.10653429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.504203822 meters Centerline goodness [0,1] 0.9999355310095844 Centerline is valid? [True, True] Translation: X:254.06, Y:-36.30, Z:-8.11 [[ 9.85810044e-01 1.67561483e-01 1.00849317e-02 2.54055134e+02] [-1.67553039e-01 9.85861628e-01 -1.68241631e-03 -3.62956851e+01] [-1.02242553e-02 -3.12180494e-05 9.99947730e-01 -8.10913001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.53420382200005 meters Centerline goodness [0,1] 0.9999785352451275 Centerline is valid? [True, True] Translation: X:254.09, Y:-36.31, Z:-8.11 [[ 9.85653288e-01 1.68560138e-01 8.66459930e-03 2.54085764e+02] [-1.68553940e-01 9.85691371e-01 -1.44589589e-03 -3.63070534e+01] [-8.78434117e-03 -3.53003117e-05 9.99961416e-01 -8.10588714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.564203822 meters Centerline goodness [0,1] 0.9998696077366076 Centerline is valid? [True, True] Translation: X:254.12, Y:-36.31, Z:-8.11 [[ 9.85521033e-01 1.69312925e-01 9.02367884e-03 2.54118343e+02] [-1.69306223e-01 9.85562343e-01 -1.50703978e-03 -3.63140631e+01] [-9.14855937e-03 -4.25455780e-05 9.99958150e-01 -8.11009287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.59420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.15, Y:-36.32, Z:-8.11 [[ 9.85443333e-01 1.69749755e-01 9.29827700e-03 2.54149863e+02] [-1.69742637e-01 9.85487199e-01 -1.55524320e-03 -3.63184602e+01] [-9.42733510e-03 -4.57100092e-05 9.99955561e-01 -8.11086130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.624203822 meters Centerline goodness [0,1] 0.9999788243266136 Centerline is valid? [True, True] Translation: X:254.18, Y:-36.32, Z:-8.11 [[ 9.85282212e-01 1.70664874e-01 9.61576664e-03 2.54182099e+02] [-1.70657286e-01 9.85329132e-01 -1.61022185e-03 -3.63245397e+01] [-9.74950331e-03 -5.44776898e-05 9.99952471e-01 -8.10937383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.65420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.21, Y:-36.34, Z:-8.11 [[ 9.85215937e-01 1.71032152e-01 9.87729100e-03 2.54214115e+02] [-1.71024144e-01 9.85265446e-01 -1.65604356e-03 -3.63357832e+01] [-1.00149902e-02 -5.76947265e-05 9.99949847e-01 -8.10738033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.68420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.25, Y:-36.34, Z:-8.11 [[ 9.85165971e-01 1.71266286e-01 1.07642150e-02 2.54245731e+02] [-1.71256755e-01 9.85224774e-01 -1.80789549e-03 -3.63439019e+01] [-1.09148028e-02 -6.23674120e-05 9.99940430e-01 -8.10691393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.71420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.28, Y:-36.35, Z:-8.11 [[ 9.85153134e-01 1.71316517e-01 1.11334860e-02 2.54276744e+02] [-1.71306300e-01 9.85216041e-01 -1.87200499e-03 -3.63544553e+01] [-1.12895944e-02 -6.30247154e-05 9.99936269e-01 -8.10702696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.74420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.31, Y:-36.36, Z:-8.11 [[ 9.85140185e-01 1.71374955e-01 1.13772363e-02 2.54308639e+02] [-1.71364272e-01 9.85205877e-01 -1.91451943e-03 -3.63614981e+01] [-1.15370207e-02 -6.35817864e-05 9.99933444e-01 -8.10634994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.77420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.34, Y:-36.37, Z:-8.11 [[ 9.84932879e-01 1.72490671e-01 1.24174521e-02 2.54340593e+02] [-1.72477991e-01 9.85011148e-01 -2.09303458e-03 -3.63669552e+01] [-1.25923577e-02 -8.02386198e-05 9.99920710e-01 -8.10674297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.80420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.37, Y:-36.37, Z:-8.11 [[ 9.84754639e-01 1.73529081e-01 1.20813507e-02 2.54371738e+02] [-1.73517129e-01 9.84828742e-01 -2.03860746e-03 -3.63717606e+01] [-1.22518191e-02 -8.87931316e-05 9.99924940e-01 -8.11065099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.83420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.40, Y:-36.38, Z:-8.11 [[ 9.84291075e-01 1.76155065e-01 1.18520914e-02 2.54403434e+02] [-1.76143732e-01 9.84362423e-01 -2.00154953e-03 -3.63779017e+01] [-1.20193365e-02 -1.17564278e-04 9.99927758e-01 -8.11007312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.86420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.44, Y:-36.38, Z:-8.11 [[ 9.84010740e-01 1.77702469e-01 1.20289618e-02 2.54435507e+02] [-1.77690885e-01 9.84084251e-01 -2.03358142e-03 -3.63826002e+01] [-1.21988843e-02 -1.36370906e-04 9.99925582e-01 -8.11050864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.89420382200007 meters Centerline goodness [0,1] 0.9999786484466745 Centerline is valid? [True, True] Translation: X:254.47, Y:-36.38, Z:-8.12 [[ 9.83658626e-01 1.79689384e-01 1.12886293e-02 2.54467144e+02] [-1.79679278e-01 9.83723388e-01 -1.91151978e-03 -3.63828187e+01] [-1.14483685e-02 -1.48049835e-04 9.99934454e-01 -8.11565953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.92420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.50, Y:-36.39, Z:-8.12 [[ 9.83532852e-01 1.80403482e-01 1.08495857e-02 2.54498327e+02] [-1.80394192e-01 9.83592681e-01 -1.83693861e-03 -3.63886458e+01] [-1.10029632e-02 -1.50512784e-04 9.99939454e-01 -8.11576189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.95420382200007 meters Centerline goodness [0,1] 0.9998490663676743 Centerline is valid? [True, True] Translation: X:254.53, Y:-36.40, Z:-8.12 [[ 9.83504523e-01 1.80555370e-01 1.08908739e-02 2.54530404e+02] [-1.80546008e-01 9.83564810e-01 -1.84492931e-03 -3.63950375e+01] [-1.10449923e-02 -1.51807494e-04 9.99938991e-01 -8.12050235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.98420382200004 meters Centerline goodness [0,1] 0.9999359467076607 Centerline is valid? [True, True] Translation: X:254.56, Y:-36.40, Z:-8.12 [[ 9.83666248e-01 1.79679963e-01 1.07621130e-02 2.54562084e+02] [-1.79670741e-01 9.83725110e-01 -1.82564171e-03 -3.64007880e+01] [-1.09149920e-02 -1.37814693e-04 9.99940420e-01 -8.11711145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.01420382200007 meters Centerline goodness [0,1] 0.9999785481379784 Centerline is valid? [True, True] Translation: X:254.59, Y:-36.41, Z:-8.12 [[ 9.83734081e-01 1.79313764e-01 1.06692114e-02 2.54594902e+02] [-1.79304664e-01 9.83791928e-01 -1.81119596e-03 -3.64055775e+01] [-1.08210565e-02 -1.31304189e-04 9.99941442e-01 -8.11828167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.04420382200004 meters Centerline goodness [0,1] 0.9999782087600785 Centerline is valid? [True, True] Translation: X:254.63, Y:-36.41, Z:-8.12 [[ 9.84072515e-01 1.77414646e-01 1.11950498e-02 2.54625386e+02] [-1.77404467e-01 9.84136185e-01 -1.90375961e-03 -3.64122669e+01] [-1.13552084e-02 -1.12614336e-04 9.99935521e-01 -8.11883900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.074203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.66, Y:-36.42, Z:-8.12 [[ 9.84339689e-01 1.75950954e-01 1.07998909e-02 2.54656351e+02] [-1.75941380e-01 9.84398930e-01 -1.83779090e-03 -3.64200661e+01] [-1.09547621e-02 -9.11371721e-05 9.99939991e-01 -8.11851780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.10420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.69, Y:-36.43, Z:-8.12 [[ 9.84950095e-01 1.72585171e-01 9.36319092e-03 2.54687171e+02] [-1.72577816e-01 9.84994597e-01 -1.59400634e-03 -3.64279068e+01] [-9.49779432e-03 -4.58623404e-05 9.99954894e-01 -8.12291615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.134203822 meters Centerline goodness [0,1] 0.9999782386351272 Centerline is valid? [True, True] Translation: X:254.72, Y:-36.44, Z:-8.12 [[ 9.85225171e-01 1.71021075e-01 9.11889440e-03 2.54719764e+02] [-1.71013997e-01 9.85267370e-01 -1.55622966e-03 -3.64356295e+01] [-9.25069718e-03 -2.62219411e-05 9.99957211e-01 -8.12396782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.16420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.75, Y:-36.44, Z:-8.13 [[ 9.85722494e-01 1.68130451e-01 9.12777066e-03 2.54750408e+02] [-1.68123247e-01 9.85764755e-01 -1.55642649e-03 -3.64434601e+01] [-9.25951729e-03 -3.85838907e-07 9.99957130e-01 -8.12571246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.194203822 meters Centerline goodness [0,1] 0.9998479252661308 Centerline is valid? [True, True] Translation: X:254.78, Y:-36.45, Z:-8.13 [[ 9.85969498e-01 1.66688932e-01 8.88531207e-03 2.54783145e+02] [-1.66682035e-01 9.86009533e-01 -1.51633724e-03 -3.64496058e+01] [-9.01375904e-03 1.40403700e-05 9.99959375e-01 -8.13107201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.22420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.81, Y:-36.46, Z:-8.13 [[ 9.86684268e-01 1.62412921e-01 8.72921871e-03 2.54812911e+02] [-1.62406075e-01 9.86722879e-01 -1.49221493e-03 -3.64587795e+01] [-8.85567480e-03 5.46668476e-05 9.99960786e-01 -8.12867714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.254203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.84, Y:-36.47, Z:-8.13 [[ 9.86994002e-01 1.60518805e-01 8.74947676e-03 2.54843198e+02] [-1.60511840e-01 9.87032780e-01 -1.49715847e-03 -3.64672403e+01] [-8.87634245e-03 7.32918234e-05 9.99960602e-01 -8.12999870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.28420382200005 meters Centerline goodness [0,1] 0.999978354978355 Centerline is valid? [True, True] Translation: X:254.87, Y:-36.48, Z:-8.13 [[ 9.87432304e-01 1.57773114e-01 9.22443039e-03 2.54873996e+02] [-1.57765222e-01 9.87475384e-01 -1.58163668e-03 -3.64751866e+01] [-9.35843768e-03 1.06464844e-04 9.99956203e-01 -8.12951146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.314203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.91, Y:-36.48, Z:-8.13 [[ 9.87539581e-01 1.57083268e-01 9.50912189e-03 2.54905461e+02] [-1.57074846e-01 9.87585355e-01 -1.63084310e-03 -3.64830156e+01] [-9.64724768e-03 1.16878254e-04 9.99953457e-01 -8.13326857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.34420382200005 meters Centerline goodness [0,1] 0.999978342790315 Centerline is valid? [True, True] Translation: X:254.94, Y:-36.49, Z:-8.13 [[ 9.87497760e-01 1.57360764e-01 9.26083364e-03 2.54937943e+02] [-1.57352793e-01 9.87541178e-01 -1.58777676e-03 -3.64876129e+01] [-9.39530833e-03 1.10707958e-04 9.99955857e-01 -8.13205129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.374203822 meters Centerline goodness [0,1] 0.9999353127627919 Centerline is valid? [True, True] Translation: X:254.97, Y:-36.49, Z:-8.14 [[ 9.87290475e-01 1.58651032e-01 9.34703470e-03 2.54968697e+02] [-1.58642944e-01 9.87334715e-01 -1.60526049e-03 -3.64910163e+01] [-9.48332807e-03 1.02017290e-04 9.99955027e-01 -8.13728482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.40420382200006 meters Centerline goodness [0,1] 0.9999567698426423 Centerline is valid? [True, True] Translation: X:255.00, Y:-36.49, Z:-8.14 [[ 9.86898223e-01 1.61042161e-01 9.86504024e-03 2.55001741e+02] [-1.61033255e-01 9.86947524e-01 -1.69577905e-03 -3.64912489e+01] [-1.00093690e-02 8.49617940e-05 9.99949901e-01 -8.13538886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.43420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.03, Y:-36.49, Z:-8.13 [[ 9.86701726e-01 1.62215471e-01 1.02881095e-02 2.55034224e+02] [-1.62205829e-01 9.86755357e-01 -1.77039497e-03 -3.64940968e+01] [-1.04390326e-02 7.80604360e-05 9.99945509e-01 -8.12994285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.46420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.07, Y:-36.50, Z:-8.13 [[ 9.86504913e-01 1.63377189e-01 1.07680439e-02 2.55065624e+02] [-1.63366667e-01 9.86563677e-01 -1.85548974e-03 -3.64965674e+01] [-1.09265057e-02 7.13102913e-05 9.99940301e-01 -8.13191019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.49420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.10, Y:-36.50, Z:-8.13 [[ 9.86476475e-01 1.63583691e-01 1.02244650e-02 2.55097113e+02] [-1.63574203e-01 9.86529458e-01 -1.76310427e-03 -3.65012859e+01] [-1.03751510e-02 6.68021654e-05 9.99946174e-01 -8.13282951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.52420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.13, Y:-36.51, Z:-8.14 [[ 9.86431925e-01 1.63888797e-01 9.61871080e-03 2.55127586e+02] [-1.63880398e-01 9.86478818e-01 -1.66032116e-03 -3.65076122e+01] [-9.76076250e-03 6.14756468e-05 9.99952361e-01 -8.13683230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.55420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.16, Y:-36.51, Z:-8.14 [[ 9.86333174e-01 1.64602610e-01 7.26982736e-03 2.55158679e+02] [-1.64597832e-01 9.86359964e-01 -1.25490308e-03 -3.65127080e+01] [-7.37722698e-03 4.11547182e-05 9.99972787e-01 -8.14091669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.58420382200006 meters Centerline goodness [0,1] 0.9999138228197173 Centerline is valid? [True, True] Translation: X:255.19, Y:-36.51, Z:-8.15 [[ 9.86021122e-01 1.66432509e-01 7.90987404e-03 2.55191524e+02] [-1.66426879e-01 9.86052848e-01 -1.36935944e-03 -3.65135461e+01] [-8.02745975e-03 3.38016894e-05 9.99967779e-01 -8.14556738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.61420382200004 meters Centerline goodness [0,1] 0.9999784110535406 Centerline is valid? [True, True] Translation: X:255.22, Y:-36.52, Z:-8.14 [[ 9.85842246e-01 1.67480240e-01 8.08923125e-03 2.55223990e+02] [-1.67474404e-01 9.85875433e-01 -1.39838199e-03 -3.65177419e+01] [-8.20917571e-03 2.38448584e-05 9.99966304e-01 -8.14385527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.64420382200007 meters Centerline goodness [0,1] 0.9999784110535406 Centerline is valid? [True, True] Translation: X:255.26, Y:-36.52, Z:-8.14 [[ 9.85808659e-01 1.67677832e-01 8.08908183e-03 2.55255968e+02] [-1.67671995e-01 9.85841845e-01 -1.39924565e-03 -3.65234806e+01] [-8.20917783e-03 2.30759959e-05 9.99966304e-01 -8.14485034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.67420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.29, Y:-36.53, Z:-8.14 [[ 9.85567825e-01 1.69090179e-01 8.03573828e-03 2.55287364e+02] [-1.69084439e-01 9.85600584e-01 -1.39336008e-03 -3.65281324e+01] [-8.15563185e-03 1.45325640e-05 9.99966742e-01 -8.14235763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.70420382200007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.32, Y:-36.53, Z:-8.14 [[ 9.85394446e-01 1.70106013e-01 7.85691667e-03 2.55318895e+02] [-1.70100561e-01 9.85425768e-01 -1.36193177e-03 -3.65321303e+01] [-7.97408092e-03 5.57406833e-06 9.99968206e-01 -8.14469555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.73420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.35, Y:-36.54, Z:-8.15 [[ 9.85244994e-01 1.70963044e-01 7.99623761e-03 2.55351773e+02] [-1.70957413e-01 9.85277442e-01 -1.38750612e-03 -3.65361338e+01] [-8.11572480e-03 1.73630086e-08 9.99967067e-01 -8.14638721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.76420382200007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.38, Y:-36.54, Z:-8.15 [[ 9.85127698e-01 1.71658030e-01 7.54586111e-03 2.55381882e+02] [-1.71653010e-01 9.85156597e-01 -1.31283271e-03 -3.65421248e+01] [-7.65921313e-03 -1.96190414e-06 9.99970668e-01 -8.15079861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.79420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.41, Y:-36.54, Z:-8.15 [[ 9.84885034e-01 1.73067865e-01 6.99889213e-03 2.55414491e+02] [-1.73063591e-01 9.84909901e-01 -1.21634084e-03 -3.65448044e+01] [-7.10378767e-03 -1.32975111e-05 9.99974768e-01 -8.15133661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.824203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.45, Y:-36.55, Z:-8.15 [[ 9.84750000e-01 1.73825523e-01 7.21972618e-03 2.55448032e+02] [-1.73820990e-01 9.84776466e-01 -1.25544422e-03 -3.65474608e+01] [-7.32804468e-03 -1.86412616e-05 9.99973149e-01 -8.15074787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.85420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.48, Y:-36.55, Z:-8.15 [[ 9.84552031e-01 1.74906558e-01 8.06195325e-03 2.55479649e+02] [-1.74900920e-01 9.84585037e-01 -1.40465096e-03 -3.65524177e+01] [-8.18336120e-03 -2.70910868e-05 9.99966515e-01 -8.14797019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.884203822 meters Centerline goodness [0,1] 0.9998481726493873 Centerline is valid? [True, True] Translation: X:255.51, Y:-36.56, Z:-8.15 [[ 9.84381828e-01 1.75845996e-01 8.40252946e-03 2.55510593e+02] [-1.75839875e-01 9.84417688e-01 -1.46751092e-03 -3.65568577e+01] [-8.52965454e-03 -3.29086450e-05 9.99963621e-01 -8.15360192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.91420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.54, Y:-36.56, Z:-8.15 [[ 9.84013787e-01 1.77890062e-01 8.48489706e-03 2.55543475e+02] [-1.77883905e-01 9.84050366e-01 -1.48089258e-03 -3.65554765e+01] [-8.61300213e-03 -5.21079059e-05 9.99962906e-01 -8.15088886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.944203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.58, Y:-36.56, Z:-8.15 [[ 9.83878261e-01 1.78633082e-01 8.59012009e-03 2.55576036e+02] [-1.78626783e-01 9.83915758e-01 -1.50123799e-03 -3.65587543e+01] [-8.72012529e-03 -5.73900947e-05 9.99961977e-01 -8.15116872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.97420382200005 meters Centerline goodness [0,1] 0.9998276196427417 Centerline is valid? [True, True] Translation: X:255.61, Y:-36.56, Z:-8.16 [[ 9.83836985e-01 1.78928282e-01 7.03261269e-03 2.55606286e+02] [-1.78924052e-01 9.83862118e-01 -1.23125365e-03 -3.65629531e+01] [-7.13942732e-03 -4.69506799e-05 9.99974513e-01 -8.16226994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.004203822 meters Centerline goodness [0,1] 0.9999361104012267 Centerline is valid? [True, True] Translation: X:255.64, Y:-36.57, Z:-8.16 [[ 9.83929121e-01 1.78446574e-01 6.34855662e-03 2.55636504e+02] [-1.78443125e-01 9.83949602e-01 -1.11023137e-03 -3.65695926e+01] [-6.44477674e-03 -4.04673090e-05 9.99979231e-01 -8.16036159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.03420382200005 meters Centerline goodness [0,1] 0.9998485143586747 Centerline is valid? [True, True] Translation: X:255.67, Y:-36.58, Z:-8.16 [[ 9.84392857e-01 1.75817128e-01 7.68375072e-03 2.55668133e+02] [-1.75811981e-01 9.84422845e-01 -1.34551392e-03 -3.65768173e+01] [-7.80062413e-03 -2.63811458e-05 9.99969574e-01 -8.16119831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.064203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.70, Y:-36.58, Z:-8.16 [[ 9.84655976e-01 1.74312715e-01 8.22711890e-03 2.55699302e+02] [-1.74306747e-01 9.84690346e-01 -1.44252485e-03 -3.65827921e+01] [-8.35261498e-03 -1.36516165e-05 9.99965116e-01 -8.16008241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.09420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.73, Y:-36.59, Z:-8.16 [[ 9.85193617e-01 1.71328932e-01 6.31928961e-03 2.55730131e+02] [-1.71325349e-01 9.85213884e-01 -1.10821772e-03 -3.65908243e+01] [-6.41572162e-03 9.15453377e-06 9.99979419e-01 -8.16133844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.124203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.76, Y:-36.60, Z:-8.17 [[ 9.85397380e-01 1.70180201e-01 5.54104171e-03 2.55760485e+02] [-1.70177426e-01 9.85412959e-01 -9.72058257e-04 -3.65983833e+01] [-5.62563938e-03 1.49034444e-05 9.99984176e-01 -8.16522792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.15420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.79, Y:-36.61, Z:-8.16 [[ 9.85653685e-01 1.68687249e-01 5.60589733e-03 2.55792775e+02] [-1.68684384e-01 9.85669626e-01 -9.83378145e-04 -3.66061133e+01] [-5.69144607e-03 2.36429551e-05 9.99983803e-01 -8.16413124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.18420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.82, Y:-36.62, Z:-8.17 [[ 9.86092496e-01 1.66073161e-01 6.42613798e-03 2.55822731e+02] [-1.66069325e-01 9.86113433e-01 -1.12982099e-03 -3.66182000e+01] [-6.52453393e-03 4.69236096e-05 9.99978714e-01 -8.16630502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.21420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.85, Y:-36.63, Z:-8.17 [[ 9.86444928e-01 1.64008378e-01 5.25890923e-03 2.55853739e+02] [-1.64005779e-01 9.86458945e-01 -9.24808855e-04 -3.66266029e+01] [-5.33937445e-03 4.97815015e-05 9.99985744e-01 -8.16508796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.24420382200003 meters Centerline goodness [0,1] 0.9998493846286255 Centerline is valid? [True, True] Translation: X:255.88, Y:-36.63, Z:-8.17 [[ 9.86479095e-01 1.63786238e-01 5.75015463e-03 2.55883920e+02] [-1.63783115e-01 9.86495851e-01 -1.01308367e-03 -3.66322615e+01] [-5.83843285e-03 5.76076292e-05 9.99982955e-01 -8.17345261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.27420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.92, Y:-36.64, Z:-8.17 [[ 9.86449933e-01 1.63964385e-01 5.67540688e-03 2.55916850e+02] [-1.63961347e-01 9.86466258e-01 -9.99782601e-04 -3.66368635e+01] [-5.76252612e-03 5.56881250e-05 9.99983395e-01 -8.16619114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.30420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.95, Y:-36.64, Z:-8.17 [[ 9.86381764e-01 1.64346346e-01 6.42606930e-03 2.55947116e+02] [-1.64342439e-01 9.86402694e-01 -1.13512411e-03 -3.66436933e+01] [-6.52524557e-03 6.35898230e-05 9.99978708e-01 -8.16712308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.33420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.98, Y:-36.65, Z:-8.17 [[ 9.86333581e-01 1.64653017e-01 5.95405676e-03 2.55977652e+02] [-1.64649664e-01 9.86351550e-01 -1.05241222e-03 -3.66503269e+01] [-6.04607596e-03 5.76960694e-05 9.99981721e-01 -8.16944495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.36420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.01, Y:-36.66, Z:-8.17 [[ 9.86287954e-01 1.64969092e-01 4.61209879e-03 2.56009272e+02] [-1.64967087e-01 9.86298736e-01 -8.14367740e-04 -3.66558075e+01] [-4.68325271e-03 4.23565877e-05 9.99989033e-01 -8.16955970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.39420382200007 meters Centerline goodness [0,1] 0.9999129336990118 Centerline is valid? [True, True] Translation: X:256.04, Y:-36.66, Z:-8.18 [[ 9.86251384e-01 1.65188668e-01 4.57292522e-03 2.56039853e+02] [-1.65186697e-01 9.86261985e-01 -8.07934408e-04 -3.66633768e+01] [-4.64356391e-03 4.14400132e-05 9.99989218e-01 -8.17785992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.42420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.07, Y:-36.67, Z:-8.17 [[ 9.86055207e-01 1.66330992e-01 5.39723746e-03 2.56071186e+02] [-1.66328250e-01 9.86069977e-01 -9.56169572e-04 -3.66707565e+01] [-5.48109445e-03 4.51229268e-05 9.99984978e-01 -8.17283730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.45420382200007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.10, Y:-36.68, Z:-8.17 [[ 9.85949984e-01 1.66934059e-01 5.97065834e-03 2.56101866e+02] [-1.66930703e-01 9.85968061e-01 -1.05971626e-03 -3.66782293e+01] [-6.06378117e-03 4.81410353e-05 9.99981614e-01 -8.17481607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.48420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.13, Y:-36.69, Z:-8.17 [[ 9.85955048e-01 1.66893105e-01 6.27170626e-03 2.56133676e+02] [-1.66889398e-01 9.85974994e-01 -1.11352676e-03 -3.66885670e+01] [-6.36958548e-03 5.12060444e-05 9.99979713e-01 -8.17414011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.51420382200007 meters Centerline goodness [0,1] 0.9999784268887258 Centerline is valid? [True, True] Translation: X:256.17, Y:-36.70, Z:-8.18 [[ 9.85978941e-01 1.66755322e-01 6.17985857e-03 2.56165301e+02] [-1.66751701e-01 9.85998306e-01 -1.10019965e-03 -3.66962326e+01] [-6.27679423e-03 5.42717559e-05 9.99980299e-01 -8.17547951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.54420382200004 meters Centerline goodness [0,1] 0.9997602441150828 Centerline is valid? [True, True] Translation: X:256.20, Y:-36.70, Z:-8.18 [[ 9.85912952e-01 1.67151799e-01 5.99396340e-03 2.56197225e+02] [-1.67148408e-01 9.85931171e-01 -1.06585481e-03 -3.67047596e+01] [-6.08779490e-03 4.89586251e-05 9.99981468e-01 -8.18090428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.574203822 meters Centerline goodness [0,1] 0.9999130207880317 Centerline is valid? [True, True] Translation: X:256.23, Y:-36.71, Z:-8.18 [[ 9.85752695e-01 1.68121687e-01 5.16947327e-03 2.56228763e+02] [-1.68119174e-01 9.85766249e-01 -9.20110880e-04 -3.67112671e+01] [-5.25058287e-03 3.79142037e-05 9.99986215e-01 -8.18193946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.60420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.26, Y:-36.72, Z:-8.18 [[ 9.85239509e-01 1.71126000e-01 4.35913897e-03 2.56261790e+02] [-1.71124245e-01 9.85249152e-01 -7.75182203e-04 -3.67158084e+01] [-4.42749181e-03 1.77857659e-05 9.99990198e-01 -8.18020633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.634203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.29, Y:-36.72, Z:-8.18 [[ 9.84907759e-01 1.72999670e-01 5.27453962e-03 2.56292460e+02] [-1.72997101e-01 9.84921882e-01 -9.42872637e-04 -3.67196456e+01] [-5.35812614e-03 1.61625125e-05 9.99985645e-01 -8.18025472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.66420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.33, Y:-36.72, Z:-8.18 [[ 9.84301671e-01 1.76389562e-01 6.07804283e-03 2.56325326e+02] [-1.76386204e-01 9.84320437e-01 -1.08850818e-03 -3.67215473e+01] [-6.17474326e-03 -6.62480070e-07 9.99980936e-01 -8.17901974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.694203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.36, Y:-36.73, Z:-8.18 [[ 9.84045535e-01 1.77782121e-01 6.92114630e-03 2.56356948e+02] [-1.77777814e-01 9.84069874e-01 -1.23757763e-03 -3.67251446e+01] [-7.03091074e-03 -1.25935195e-05 9.99975283e-01 -8.17913217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.72420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.39, Y:-36.73, Z:-8.18 [[ 9.83720170e-01 1.79487395e-01 8.88271128e-03 2.56387807e+02] [-1.79480340e-01 9.83760273e-01 -1.59169782e-03 -3.67297476e+01] [-9.02414817e-03 -2.84867906e-05 9.99959281e-01 -8.17803849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.754203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.42, Y:-36.74, Z:-8.18 [[ 9.83702369e-01 1.79586301e-01 8.85494420e-03 2.56420383e+02] [-1.79579288e-01 9.83742222e-01 -1.58736607e-03 -3.67359659e+01] [-8.99605168e-03 -2.86688154e-05 9.99959534e-01 -8.17904359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.78420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.45, Y:-36.74, Z:-8.18 [[ 9.84019779e-01 1.77844834e-01 8.73436533e-03 2.56452300e+02] [-1.77837928e-01 9.84058542e-01 -1.56732879e-03 -3.67443063e+01] [-8.87386815e-03 -1.10189066e-05 9.99960626e-01 -8.18017740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.814203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.48, Y:-36.75, Z:-8.18 [[ 9.84314833e-01 1.76196497e-01 8.89402314e-03 2.56484174e+02] [-1.76189253e-01 9.84355014e-01 -1.59778896e-03 -3.67532583e+01] [-9.03640110e-03 5.69608271e-06 9.99959171e-01 -8.18044277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.84420382200005 meters Centerline goodness [0,1] 0.9999351981855492 Centerline is valid? [True, True] Translation: X:256.51, Y:-36.77, Z:-8.19 [[ 9.85037742e-01 1.72193303e-01 7.07902695e-03 2.56513983e+02] [-1.72188583e-01 9.85063178e-01 -1.27548901e-03 -3.67655590e+01] [-7.19291946e-03 3.74771888e-05 9.99974130e-01 -8.18843232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.874203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.54, Y:-36.78, Z:-8.19 [[ 9.85309895e-01 1.70658753e-01 6.32459487e-03 2.56543938e+02] [-1.70654971e-01 9.85330193e-01 -1.13695484e-03 -3.67761002e+01] [-6.42584558e-03 4.09292968e-05 9.99979353e-01 -8.18970599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.90420382200006 meters Centerline goodness [0,1] 0.9998497080041223 Centerline is valid? [True, True] Translation: X:256.57, Y:-36.79, Z:-8.20 [[ 9.85918807e-01 1.67085042e-01 6.83343382e-03 2.56572859e+02] [-1.67080517e-01 9.85942485e-01 -1.23172156e-03 -3.67909977e+01] [-6.94317497e-03 7.26437928e-05 9.99975893e-01 -8.19502777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.93420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.60, Y:-36.80, Z:-8.19 [[ 9.86105989e-01 1.65988506e-01 6.54180946e-03 2.56602522e+02] [-1.65984342e-01 9.86127684e-01 -1.17813344e-03 -3.68020495e+01] [-6.64661603e-03 7.59265027e-05 9.99977908e-01 -8.19377225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.96420382200006 meters Centerline goodness [0,1] 0.9998704551342948 Centerline is valid? [True, True] Translation: X:256.63, Y:-36.81, Z:-8.20 [[ 9.86632505e-01 1.62865435e-01 5.58114173e-03 2.56632297e+02] [-1.62862353e-01 9.86648287e-01 -1.00532750e-03 -3.68148265e+01] [-5.67035703e-03 8.29309111e-05 9.99983920e-01 -8.19927998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.99420382200003 meters Centerline goodness [0,1] 0.9999782116088548 Centerline is valid? [True, True] Translation: X:256.66, Y:-36.83, Z:-8.19 [[ 9.86814604e-01 1.61669518e-01 7.73975270e-03 2.56663839e+02] [-1.61663514e-01 9.86844947e-01 -1.39929410e-03 -3.68254189e+01] [-7.86415905e-03 1.29608234e-04 9.99969069e-01 -8.19021572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.02420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.70, Y:-36.84, Z:-8.19 [[ 9.86841753e-01 1.61454338e-01 8.70926862e-03 2.56695067e+02] [-1.61446742e-01 9.86880173e-01 -1.57296316e-03 -3.68354942e+01] [-8.84896625e-03 1.46182678e-04 9.99960836e-01 -8.19049579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.05420382200003 meters Centerline goodness [0,1] 0.9999127494819501 Centerline is valid? [True, True] Translation: X:256.73, Y:-36.84, Z:-8.20 [[ 9.86814551e-01 1.61657446e-01 7.99448841e-03 2.56725967e+02] [-1.61651044e-01 9.86846924e-01 -1.44482485e-03 -3.68445540e+01] [-8.12290300e-03 1.33456790e-04 9.99967000e-01 -8.19500998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.08420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.76, Y:-36.85, Z:-8.19 [[ 9.86596696e-01 1.63049455e-01 6.46790072e-03 2.56756955e+02] [-1.63045295e-01 9.86617892e-01 -1.16894937e-03 -3.68540505e+01] [-6.57194314e-03 9.87208084e-05 9.99978400e-01 -8.19406976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.11420382200004 meters Centerline goodness [0,1] 0.9999783512296502 Centerline is valid? [True, True] Translation: X:256.79, Y:-36.86, Z:-8.20 [[ 9.86375796e-01 1.64403175e-01 5.86393263e-03 2.56787454e+02] [-1.64399777e-01 9.86393223e-01 -1.06004807e-03 -3.68617318e+01] [-5.95841867e-03 8.15765364e-05 9.99982245e-01 -8.19917903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.14420382200007 meters Centerline goodness [0,1] 0.9999783807155983 Centerline is valid? [True, True] Translation: X:256.82, Y:-36.87, Z:-8.20 [[ 9.85750195e-01 1.68142585e-01 4.96223719e-03 2.56819658e+02] [-1.68140197e-01 9.85762684e-01 -8.97516792e-04 -3.68661138e+01] [-5.04249904e-03 5.03758142e-05 9.99987285e-01 -8.20320728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.17420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.85, Y:-36.87, Z:-8.20 [[ 9.85303237e-01 1.70760385e-01 4.29202622e-03 2.56851635e+02] [-1.70758623e-01 9.85312585e-01 -7.76304403e-04 -3.68712279e+01] [-4.36154948e-03 3.19947538e-05 9.99990488e-01 -8.20271946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.20420382200007 meters Centerline goodness [0,1] 0.9999784821294084 Centerline is valid? [True, True] Translation: X:256.88, Y:-36.87, Z:-8.21 [[ 9.84259697e-01 1.76681849e-01 4.04649449e-03 2.56882691e+02] [-1.76680330e-01 9.84268014e-01 -7.32656357e-04 -3.68721819e+01] [-4.11228218e-03 6.18814357e-06 9.99991545e-01 -8.20571113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.23420382200004 meters Centerline goodness [0,1] 0.9999783783783783 Centerline is valid? [True, True] Translation: X:256.92, Y:-36.87, Z:-8.20 [[ 9.83690168e-01 1.79828817e-01 3.90518531e-03 2.56915416e+02] [-1.79827429e-01 9.83697919e-01 -7.06440271e-04 -3.68749993e+01] [-3.96856098e-03 -7.34108620e-06 9.99992125e-01 -8.20320913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.26420382200007 meters Centerline goodness [0,1] 0.999805720453319 Centerline is valid? [True, True] Translation: X:256.95, Y:-36.88, Z:-8.21 [[ 9.82669598e-01 1.85326674e-01 3.80601187e-03 2.56946851e+02] [-1.85325390e-01 9.82676968e-01 -6.90169257e-04 -3.68754713e+01] [-3.86798697e-03 -2.71422888e-05 9.99992519e-01 -8.20768820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.29420382200004 meters Centerline goodness [0,1] 0.9999784213024902 Centerline is valid? [True, True] Translation: X:256.98, Y:-36.87, Z:-8.20 [[ 9.81685486e-01 1.90425073e-01 5.64789368e-03 2.56978449e+02] [-1.90422312e-01 9.81701730e-01 -1.02754969e-03 -3.68742653e+01] [-5.74021822e-03 -6.67543556e-05 9.99983523e-01 -8.20426132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.324203822 meters Centerline goodness [0,1] 0.9997214723400608 Centerline is valid? [True, True] Translation: X:257.01, Y:-36.88, Z:-8.21 [[ 9.81280074e-01 1.92461411e-01 6.92982408e-03 2.57009764e+02] [-1.92457289e-01 9.81304538e-01 -1.26317963e-03 -3.68757062e+01] [-7.04338115e-03 -9.41621523e-05 9.99975191e-01 -8.20552638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.35420382200004 meters Centerline goodness [0,1] 0.9999138228197173 Centerline is valid? [True, True] Translation: X:257.04, Y:-36.88, Z:-8.20 [[ 9.80964291e-01 1.94034883e-01 7.71513214e-03 2.57042517e+02] [-1.94029816e-01 9.80994623e-01 -1.40715643e-03 -3.68819356e+01] [-7.84154057e-03 -1.16595459e-04 9.99969248e-01 -8.20121060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.384203822 meters Centerline goodness [0,1] 0.9999136050454653 Centerline is valid? [True, True] Translation: X:257.07, Y:-36.89, Z:-8.20 [[ 9.80529346e-01 1.96172108e-01 8.87158641e-03 2.57074697e+02] [-1.96165469e-01 9.80569468e-01 -1.62101054e-03 -3.68861834e+01] [-9.01720382e-03 -1.50850505e-04 9.99959333e-01 -8.20129995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.41420382200005 meters Centerline goodness [0,1] 0.9999356388912727 Centerline is valid? [True, True] Translation: X:257.11, Y:-36.89, Z:-8.20 [[ 9.80356907e-01 1.97009357e-01 9.36201400e-03 2.57106551e+02] [-1.97001985e-01 9.80401594e-01 -1.71234072e-03 -3.68936294e+01] [-9.51588059e-03 -1.65630288e-04 9.99954709e-01 -8.19946252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.444203822 meters Centerline goodness [0,1] 0.9998693607385473 Centerline is valid? [True, True] Translation: X:257.14, Y:-36.90, Z:-8.20 [[ 9.80180472e-01 1.97854669e-01 9.98862843e-03 2.57139909e+02] [-1.97846296e-01 9.80231348e-01 -1.82934673e-03 -3.68973786e+01] [-1.01531115e-02 -1.83123202e-04 9.99948439e-01 -8.19951144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.47420382200005 meters Centerline goodness [0,1] 0.9999356154093787 Centerline is valid? [True, True] Translation: X:257.17, Y:-36.90, Z:-8.20 [[ 9.79978737e-01 1.98905477e-01 8.84792122e-03 2.57171603e+02] [-1.98898920e-01 9.80018665e-01 -1.62381046e-03 -3.68956674e+01] [-8.99411274e-03 -1.68542252e-04 9.99959538e-01 -8.20365493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.504203822 meters Centerline goodness [0,1] 0.999828377740593 Centerline is valid? [True, True] Translation: X:257.20, Y:-36.89, Z:-8.21 [[ 9.79827234e-01 1.99667047e-01 8.46537364e-03 2.57203055e+02] [-1.99661080e-01 9.79863788e-01 -1.55276521e-03 -3.68942741e+01] [-8.60494912e-03 -1.68764000e-04 9.99962962e-01 -8.20975275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.53420382200005 meters Centerline goodness [0,1] 0.9998709094429743 Centerline is valid? [True, True] Translation: X:257.24, Y:-36.90, Z:-8.21 [[ 9.79719642e-01 2.00187980e-01 8.61370166e-03 2.57235658e+02] [-2.00181817e-01 9.79757491e-01 -1.58061080e-03 -3.69019470e+01] [-8.75575801e-03 -1.75750999e-04 9.99961652e-01 -8.20649466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.564203822 meters Centerline goodness [0,1] 0.9998709094429743 Centerline is valid? [True, True] Translation: X:257.27, Y:-36.91, Z:-8.21 [[ 9.79681349e-01 2.00375308e-01 8.61339891e-03 2.57267580e+02] [-2.00369138e-01 9.79719197e-01 -1.58225667e-03 -3.69080121e+01] [-8.75575743e-03 -1.75751967e-04 9.99961652e-01 -8.20749000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.59420382200005 meters Centerline goodness [0,1] 0.9999135994470365 Centerline is valid? [True, True] Translation: X:257.30, Y:-36.91, Z:-8.21 [[ 9.79553168e-01 2.01028302e-01 7.95068656e-03 2.57300008e+02] [-2.01023053e-01 9.79585420e-01 -1.46217993e-03 -3.69097708e+01] [-8.08231617e-03 -1.65988307e-04 9.99967324e-01 -8.20909038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.624203822 meters Centerline goodness [0,1] 0.9999130302437328 Centerline is valid? [True, True] Translation: X:257.33, Y:-36.91, Z:-8.21 [[ 9.79547098e-01 2.01130481e-01 5.83197916e-03 2.57331992e+02] [-2.01127662e-01 9.79564451e-01 -1.07202951e-03 -3.69129437e+01] [-5.92841728e-03 -1.22868935e-04 9.99982419e-01 -8.21053330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.65420382200006 meters Centerline goodness [0,1] 0.9997444796967826 Centerline is valid? [True, True] Translation: X:257.36, Y:-36.91, Z:-8.22 [[ 9.79553112e-01 2.01102417e-01 5.78950012e-03 2.57364871e+02] [-2.01099634e-01 9.79570213e-01 -1.06492251e-03 -3.69130294e+01] [-5.88538036e-03 -1.21118196e-04 9.99982674e-01 -8.21537082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.68420382200003 meters Centerline goodness [0,1] 0.9999139969898947 Centerline is valid? [True, True] Translation: X:257.40, Y:-36.92, Z:-8.21 [[ 9.79692742e-01 2.00421981e-01 5.75856373e-03 2.57396437e+02] [-2.00419207e-01 9.79709659e-01 -1.06069197e-03 -3.69178641e+01] [-5.85430650e-03 -1.14974553e-04 9.99982857e-01 -8.21373250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.71420382200006 meters Centerline goodness [0,1] 0.9996962201102287 Centerline is valid? [True, True] Translation: X:257.43, Y:-36.92, Z:-8.22 [[ 9.80468545e-01 1.96575516e-01 6.28479234e-03 2.57426661e+02] [-1.96572098e-01 9.80488683e-01 -1.16303993e-03 -3.69189874e+01] [-6.39079294e-03 -9.50907519e-05 9.99979574e-01 -8.22024698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.74420382200003 meters Centerline goodness [0,1] 0.9998028045574058 Centerline is valid? [True, True] Translation: X:257.46, Y:-36.93, Z:-8.22 [[ 9.81018738e-01 1.93800589e-01 6.60057870e-03 2.57458275e+02] [-1.93796764e-01 9.81040940e-01 -1.22035570e-03 -3.69276736e+01] [-6.71194359e-03 -8.19789769e-05 9.99977471e-01 -8.21687841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.77420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.49, Y:-36.94, Z:-8.22 [[ 9.82355834e-01 1.86924677e-01 6.01506630e-03 2.57488190e+02] [-1.86921387e-01 9.82374248e-01 -1.10953756e-03 -3.69396291e+01] [-6.11644619e-03 -3.43838412e-05 9.99981294e-01 -8.21981109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.80420382200003 meters Centerline goodness [0,1] 0.9998915895145378 Centerline is valid? [True, True] Translation: X:257.52, Y:-36.95, Z:-8.22 [[ 9.83056894e-01 1.83209478e-01 5.78197035e-03 2.57518870e+02] [-1.83206352e-01 9.83073897e-01 -1.07020476e-03 -3.69508658e+01] [-5.88017578e-03 -7.22152846e-06 9.99982712e-01 -8.22175663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.83420382200006 meters Centerline goodness [0,1] 0.9999782533054976 Centerline is valid? [True, True] Translation: X:257.55, Y:-36.96, Z:-8.22 [[ 9.84117278e-01 1.77419646e-01 5.95425589e-03 2.57548249e+02] [-1.77416237e-01 9.84135290e-01 -1.10007972e-03 -3.69641464e+01] [-6.05496910e-03 2.62257803e-05 9.99981668e-01 -8.21873252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.86420382200004 meters Centerline goodness [0,1] 0.9998480276155532 Centerline is valid? [True, True] Translation: X:257.58, Y:-36.97, Z:-8.22 [[ 9.84515673e-01 1.75199846e-01 5.82271336e-03 2.57579448e+02] [-1.75196544e-01 9.84532890e-01 -1.07628713e-03 -3.69714179e+01] [-5.92121815e-03 3.95022915e-05 9.99982469e-01 -8.22371518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.89420382200007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.61, Y:-36.98, Z:-8.22 [[ 9.84841871e-01 1.73367916e-01 5.48217814e-03 2.57609104e+02] [-1.73364955e-01 9.84857128e-01 -1.01432995e-03 -3.69805871e+01] [-5.57501450e-03 4.85370385e-05 9.99984458e-01 -8.22234759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.92420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.64, Y:-36.99, Z:-8.22 [[ 9.85381681e-01 1.70249934e-01 6.15655011e-03 2.57638408e+02] [-1.70246129e-01 9.85400910e-01 -1.14080325e-03 -3.69914042e+01] [-6.26089176e-03 7.59977962e-05 9.99980398e-01 -8.22386189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.95420382200007 meters Centerline goodness [0,1] 0.9999343027330063 Centerline is valid? [True, True] Translation: X:257.67, Y:-37.00, Z:-8.23 [[ 9.85520529e-01 1.69417810e-01 6.84782943e-03 2.57671450e+02] [-1.69413067e-01 9.85544315e-01 -1.27113684e-03 -3.69967370e+01] [-6.96419259e-03 9.26196639e-05 9.99975745e-01 -8.22564762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.98420382200004 meters Centerline goodness [0,1] 0.9999569661108123 Centerline is valid? [True, True] Translation: X:257.70, Y:-37.00, Z:-8.23 [[ 9.85641548e-01 1.68709795e-01 6.90972934e-03 2.57701668e+02] [-1.68704944e-01 9.85665763e-01 -1.28310374e-03 -3.70032650e+01] [-7.02715581e-03 9.89748509e-05 9.99975304e-01 -8.22673075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.01420382200007 meters Centerline goodness [0,1] 0.9998914883458483 Centerline is valid? [True, True] Translation: X:257.73, Y:-37.01, Z:-8.23 [[ 9.85571655e-01 1.69117981e-01 6.90085096e-03 2.57734424e+02] [-1.69113151e-01 9.85595809e-01 -1.28166001e-03 -3.70098383e+01] [-7.01820154e-03 9.61431255e-05 9.99975367e-01 -8.22694155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.04420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.77, Y:-37.01, Z:-8.22 [[ 9.85141668e-01 1.71572925e-01 7.65672503e-03 2.57766692e+02] [-1.71567033e-01 9.85171418e-01 -1.42476009e-03 -3.70125697e+01] [-7.78763691e-03 8.99489382e-05 9.99969672e-01 -8.22093269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.074203822 meters Centerline goodness [0,1] 0.999978592224696 Centerline is valid? [True, True] Translation: X:257.80, Y:-37.02, Z:-8.22 [[ 9.84782882e-01 1.73606237e-01 7.97183960e-03 2.57797596e+02] [-1.73599900e-01 9.84815144e-01 -1.48533076e-03 -3.70157353e+01] [-8.10865105e-03 7.88177451e-05 9.99967121e-01 -8.22341260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.10420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.83, Y:-37.01, Z:-8.22 [[ 9.84015138e-01 1.77948831e-01 6.95860757e-03 2.57830539e+02] [-1.77944111e-01 9.84039741e-01 -1.29670229e-03 -3.70145518e+01] [-7.07829305e-03 3.77314407e-05 9.99974948e-01 -8.22288988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.134203822 meters Centerline goodness [0,1] 0.9999784575613959 Centerline is valid? [True, True] Translation: X:257.86, Y:-37.01, Z:-8.22 [[ 9.83282577e-01 1.81924253e-01 7.67722115e-03 2.57863773e+02] [-1.81918613e-01 9.83312548e-01 -1.43255750e-03 -3.70139412e+01] [-7.80972484e-03 1.19794107e-05 9.99969504e-01 -8.22269598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.16420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.90, Y:-37.02, Z:-8.22 [[ 9.82949269e-01 1.83736784e-01 7.17840954e-03 2.57896156e+02] [-1.83731896e-01 9.82975480e-01 -1.34030290e-03 -3.70160745e+01] [-7.30246351e-03 -1.45304280e-06 9.99973337e-01 -8.22192844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.194203822 meters Centerline goodness [0,1] 0.9999782210993989 Centerline is valid? [True, True] Translation: X:257.93, Y:-37.02, Z:-8.23 [[ 9.82665783e-01 1.85263084e-01 6.74897662e-03 2.57927030e+02] [-1.85258790e-01 9.82688959e-01 -1.26136874e-03 -3.70180762e+01] [-6.86582987e-03 -1.08033427e-05 9.99976430e-01 -8.22756684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.22420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.96, Y:-37.02, Z:-8.23 [[ 9.82554426e-01 1.85836860e-01 7.17368895e-03 2.57958629e+02] [-1.85832015e-01 9.82580613e-01 -1.34201096e-03 -3.70238566e+01] [-7.29812279e-03 -1.45022647e-05 9.99973368e-01 -8.22518805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.254203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.99, Y:-37.03, Z:-8.23 [[ 9.82675282e-01 1.85184342e-01 7.48661686e-03 2.57988741e+02] [-1.85179031e-01 9.82703800e-01 -1.40248540e-03 -3.70314540e+01] [-7.61684517e-03 -8.17671604e-06 9.99970991e-01 -8.22946262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.28420382200005 meters Centerline goodness [0,1] 0.9999569049106855 Centerline is valid? [True, True] Translation: X:258.02, Y:-37.04, Z:-8.23 [[ 9.83184104e-01 1.82487151e-01 6.88894327e-03 2.58018800e+02] [-1.82482571e-01 9.83208238e-01 -1.29302805e-03 -3.70427786e+01] [-7.00922678e-03 1.41725451e-05 9.99975435e-01 -8.23219273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.314203822 meters Centerline goodness [0,1] 0.99997842363044 Centerline is valid? [True, True] Translation: X:258.05, Y:-37.05, Z:-8.24 [[ 9.83392376e-01 1.81396133e-01 5.90570595e-03 2.58048299e+02] [-1.81392756e-01 9.83410109e-01 -1.10704209e-03 -3.70520799e+01] [-6.00854409e-03 1.74044753e-05 9.99981948e-01 -8.23590487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.34420382200005 meters Centerline goodness [0,1] 0.9998700088827264 Centerline is valid? [True, True] Translation: X:258.08, Y:-37.06, Z:-8.24 [[ 9.83490222e-01 1.80897143e-01 4.81724439e-03 2.58080190e+02] [-1.80894893e-01 9.83502020e-01 -9.02374188e-04 -3.70581776e+01] [-4.90100651e-03 1.60612804e-05 9.99987990e-01 -8.23912774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.374203822 meters Centerline goodness [0,1] 0.9999565821465787 Centerline is valid? [True, True] Translation: X:258.11, Y:-37.06, Z:-8.24 [[ 9.83345468e-01 1.81694531e-01 4.33457675e-03 2.58112513e+02] [-1.81692716e-01 9.83355021e-01 -8.12152288e-04 -3.70625037e+01] [-4.40999144e-03 1.10652489e-05 9.99990276e-01 -8.23817522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.40420382200006 meters Centerline goodness [0,1] 0.9998697209857779 Centerline is valid? [True, True] Translation: X:258.14, Y:-37.07, Z:-8.24 [[ 9.82854025e-01 1.84343422e-01 3.93293447e-03 2.58144668e+02] [-1.84341950e-01 9.82861894e-01 -7.36790529e-04 -3.70656629e+01] [-4.00135391e-03 -8.47270381e-07 9.99991995e-01 -8.24170277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.43420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.18, Y:-37.07, Z:-8.24 [[ 9.82563184e-01 1.85889000e-01 3.85613726e-03 2.58177675e+02] [-1.85887595e-01 9.82570750e-01 -7.22709395e-04 -3.70707403e+01] [-3.92327141e-03 -6.70043802e-06 9.99992304e-01 -8.23763430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.46420382200006 meters Centerline goodness [0,1] 0.9998707843390618 Centerline is valid? [True, True] Translation: X:258.21, Y:-37.07, Z:-8.24 [[ 9.82002219e-01 1.88822862e-01 4.19148397e-03 2.58208557e+02] [-1.88821218e-01 9.82011164e-01 -7.87999896e-04 -3.70720864e+01] [-4.26487645e-03 -1.76234643e-05 9.99990905e-01 -8.24305276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.49420382200003 meters Centerline goodness [0,1] 0.9999127285421303 Centerline is valid? [True, True] Translation: X:258.24, Y:-37.08, Z:-8.24 [[ 9.81746318e-01 1.90165808e-01 3.33659980e-03 2.58240186e+02] [-1.90164777e-01 9.81751988e-01 -6.26534221e-04 -3.70762072e+01] [-3.39485887e-03 -1.94060922e-05 9.99994237e-01 -8.24436119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.52420382200006 meters Centerline goodness [0,1] 0.9998492029297716 Centerline is valid? [True, True] Translation: X:258.27, Y:-37.08, Z:-8.25 [[ 9.81353747e-01 1.92181148e-01 3.35110019e-03 2.58271470e+02] [-1.92180101e-01 9.81359468e-01 -6.34595624e-04 -3.70767471e+01] [-3.41059122e-03 -2.12519803e-05 9.99994184e-01 -8.24601028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.55420382200003 meters Centerline goodness [0,1] 0.9999345692475463 Centerline is valid? [True, True] Translation: X:258.30, Y:-37.08, Z:-8.24 [[ 9.81251323e-01 1.92711114e-01 2.87543809e-03 2.58302690e+02] [-1.92710347e-01 9.81255536e-01 -5.43808908e-04 -3.70820810e+01] [-2.92633757e-03 -2.05134636e-05 9.99995718e-01 -8.24058963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.58420382200006 meters Centerline goodness [0,1] 0.9999356402720271 Centerline is valid? [True, True] Translation: X:258.33, Y:-37.08, Z:-8.24 [[ 9.80929513e-01 1.94333167e-01 3.45118562e-03 2.58333630e+02] [-1.94332076e-01 9.80935584e-01 -6.51844497e-04 -3.70836628e+01] [-3.51206579e-03 -3.12625622e-05 9.99993832e-01 -8.24446839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.61420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.36, Y:-37.09, Z:-8.24 [[ 9.80800594e-01 1.94965836e-01 4.30326892e-03 2.58364247e+02] [-1.94964136e-01 9.80810033e-01 -8.15310088e-04 -3.70887418e+01] [-4.37964695e-03 -3.93264873e-05 9.99990409e-01 -8.24069205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.64420382200007 meters Centerline goodness [0,1] 0.9999781473306965 Centerline is valid? [True, True] Translation: X:258.40, Y:-37.09, Z:-8.24 [[ 9.80846706e-01 1.94692243e-01 5.88817000e-03 2.58395371e+02] [-1.94689057e-01 9.80864378e-01 -1.11496563e-03 -3.70928370e+01] [-5.99257136e-03 -5.27519004e-05 9.99982043e-01 -8.23870447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.67420382200004 meters Centerline goodness [0,1] 0.9999566367460214 Centerline is valid? [True, True] Translation: X:258.43, Y:-37.10, Z:-8.24 [[ 9.80875521e-01 1.94534292e-01 6.29462919e-03 2.58425842e+02] [-1.94530668e-01 9.80895716e-01 -1.18878504e-03 -3.70977623e+01] [-6.40563426e-03 -5.84482793e-05 9.99979482e-01 -8.24257843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.70420382200007 meters Centerline goodness [0,1] 0.9999784992474736 Centerline is valid? [True, True] Translation: X:258.46, Y:-37.10, Z:-8.24 [[ 9.81207345e-01 1.92836086e-01 6.81096121e-03 2.58456035e+02] [-1.92831791e-01 9.81230983e-01 -1.28789076e-03 -3.71049926e+01] [-6.93147798e-03 -4.96819789e-05 9.99975976e-01 -8.24022462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.73420382200004 meters Centerline goodness [0,1] 0.9998925054822204 Centerline is valid? [True, True] Translation: X:258.49, Y:-37.11, Z:-8.24 [[ 9.81275669e-01 1.92473505e-01 7.21186260e-03 2.58487427e+02] [-1.92468672e-01 9.81302169e-01 -1.36489570e-03 -3.71114609e+01] [-7.33972267e-03 -4.87186806e-05 9.99973063e-01 -8.24387833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.76420382200007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.52, Y:-37.12, Z:-8.24 [[ 9.81793639e-01 1.89820047e-01 7.04266595e-03 2.58518407e+02] [-1.89815362e-01 9.81818898e-01 -1.33401205e-03 -3.71223486e+01] [-7.16784475e-03 -2.70816330e-05 9.99974310e-01 -8.24063163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.79420382200004 meters Centerline goodness [0,1] 0.9999783807155983 Centerline is valid? [True, True] Translation: X:258.55, Y:-37.13, Z:-8.24 [[ 9.82084999e-01 1.88314568e-01 6.83217466e-03 2.58550469e+02] [-1.88310118e-01 9.82108763e-01 -1.29461804e-03 -3.71316997e+01] [-6.95373404e-03 -1.51426603e-05 9.99975822e-01 -8.24299796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.824203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.58, Y:-37.14, Z:-8.25 [[ 9.82646436e-01 1.85386691e-01 6.14462591e-03 2.58580496e+02] [-1.85383025e-01 9.82665648e-01 -1.16589653e-03 -3.71421015e+01] [-6.25425449e-03 6.55472952e-06 9.99980442e-01 -8.24633834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.85420382200004 meters Centerline goodness [0,1] 0.9999129734786676 Centerline is valid? [True, True] Translation: X:258.61, Y:-37.15, Z:-8.25 [[ 9.82790182e-01 1.84631088e-01 5.90084000e-03 2.58612445e+02] [-1.84627694e-01 9.82807896e-01 -1.11953011e-03 -3.71496328e+01] [-6.00609221e-03 1.08047171e-05 9.99981963e-01 -8.25112647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.884203822 meters Centerline goodness [0,1] 0.9999566546021976 Centerline is valid? [True, True] Translation: X:258.64, Y:-37.16, Z:-8.25 [[ 9.83162301e-01 1.82625916e-01 6.29792635e-03 2.58642806e+02] [-1.82621996e-01 9.83182472e-01 -1.19685932e-03 -3.71620230e+01] [-6.41058833e-03 2.65670800e-05 9.99979452e-01 -8.25107888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.91420382200005 meters Centerline goodness [0,1] 0.9999348817017581 Centerline is valid? [True, True] Translation: X:258.67, Y:-37.17, Z:-8.25 [[ 9.83175295e-01 1.82570784e-01 5.85217057e-03 2.58673952e+02] [-1.82567392e-01 9.83192712e-01 -1.11317752e-03 -3.71700851e+01] [-5.95704514e-03 2.60331215e-05 9.99982256e-01 -8.25369083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.944203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.70, Y:-37.18, Z:-8.25 [[ 9.83157952e-01 1.82694488e-01 4.81308000e-03 2.58704281e+02] [-1.82692194e-01 9.83169733e-01 -9.15752823e-04 -3.71773036e+01] [-4.89937757e-03 2.10175260e-05 9.99987998e-01 -8.25353981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.97420382200005 meters Centerline goodness [0,1] 0.9999138673557278 Centerline is valid? [True, True] Translation: X:258.74, Y:-37.18, Z:-8.26 [[ 9.82768690e-01 1.84832245e-01 1.65643141e-03 2.58735230e+02] [-1.84831981e-01 9.82770086e-01 -3.12294746e-04 -3.71814711e+01] [-1.68561337e-03 7.52000799e-07 9.99998579e-01 -8.26380254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.004203822 meters Centerline goodness [0,1] 0.999803682052177 Centerline is valid? [True, True] Translation: X:258.77, Y:-37.19, Z:-8.27 [[ 9.82581799e-01 1.85828101e-01 9.61410732e-04 2.58766349e+02] [-1.85828011e-01 9.82582270e-01 -1.83326198e-04 -3.71858744e+01] [-9.78732299e-04 1.47594200e-06 9.99999521e-01 -8.26640631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.03420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.80, Y:-37.19, Z:-8.27 [[ 9.82150324e-01 1.88079449e-01 2.61942603e-03 2.58797566e+02] [-1.88083212e-01 9.82152274e-01 1.27105703e-03 -3.71922533e+01] [-2.33361552e-03 -1.74103913e-03 9.99995762e-01 -8.26609496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.064203822 meters Centerline goodness [0,1] 0.999892048276011 Centerline is valid? [True, True] Translation: X:258.83, Y:-37.20, Z:-8.27 [[ 9.82179193e-01 1.87946596e-01 3.32775328e-04 2.58826917e+02] [-1.87945687e-01 9.82177701e-01 -1.83921732e-03 -3.71971869e+01] [-6.72519141e-04 1.74389729e-03 9.99998253e-01 -8.26972509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.09420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.86, Y:-37.21, Z:-8.26 [[ 9.82399358e-01 1.86769740e-01 2.92664497e-03 2.58856979e+02] [-1.86768900e-01 9.82403718e-01 -5.60125412e-04 -3.72101556e+01] [-2.97976138e-03 3.66058323e-06 9.99995560e-01 -8.25752644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.124203822 meters Centerline goodness [0,1] 0.9999783605989786 Centerline is valid? [True, True] Translation: X:258.89, Y:-37.22, Z:-8.26 [[ 9.82473178e-01 1.86342185e-01 4.80049456e-03 2.58887176e+02] [-1.86339935e-01 9.82484906e-01 -9.15848224e-04 -3.72174531e+01] [-4.88707460e-03 5.27247195e-06 9.99988058e-01 -8.25897549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.15420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.92, Y:-37.23, Z:-8.25 [[ 9.82578068e-01 1.85773287e-01 5.35042637e-03 2.58918530e+02] [-1.85770476e-01 9.82592635e-01 -1.02190415e-03 -3.72254706e+01] [-5.44713204e-03 1.01493508e-05 9.99985164e-01 -8.25494865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.18420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.95, Y:-37.24, Z:-8.26 [[ 9.82890610e-01 1.84124513e-01 4.92056856e-03 2.58948007e+02] [-1.84122111e-01 9.82902927e-01 -9.40600754e-04 -3.72381769e+01] [-5.00962890e-03 1.85221760e-05 9.99987452e-01 -8.26106877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.21420382200006 meters Centerline goodness [0,1] 0.9998934583422118 Centerline is valid? [True, True] Translation: X:258.98, Y:-37.25, Z:-8.27 [[ 9.82901482e-01 1.84048367e-01 5.55646595e-03 2.58977522e+02] [-1.84045285e-01 9.82917188e-01 -1.06537316e-03 -3.72477196e+01] [-5.65762608e-03 2.45155016e-05 9.99983995e-01 -8.26531760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.24420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.01, Y:-37.26, Z:-8.26 [[ 9.82860554e-01 1.84286127e-01 4.87389346e-03 2.59008004e+02] [-1.84283768e-01 9.82872638e-01 -9.32653654e-04 -3.72608143e+01] [-4.96229166e-03 1.84890362e-05 9.99987688e-01 -8.26017757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.27420382200006 meters Centerline goodness [0,1] 0.9997614141633229 Centerline is valid? [True, True] Translation: X:259.04, Y:-37.27, Z:-8.26 [[ 9.82625951e-01 1.85529949e-01 4.98776875e-03 2.59040068e+02] [-1.85527475e-01 9.82638610e-01 -9.58165488e-04 -3.72667371e+01] [-5.07894255e-03 1.61501303e-05 9.99987102e-01 -8.26185588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.30420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.07, Y:-37.27, Z:-8.26 [[ 9.82405983e-01 1.86708579e-01 4.28856052e-03 2.59071050e+02] [-1.86706773e-01 9.82415343e-01 -8.21189807e-04 -3.72725274e+01] [-4.36647084e-03 6.03848134e-06 9.99990467e-01 -8.26199818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.33420382200006 meters Centerline goodness [0,1] 0.9999782971981683 Centerline is valid? [True, True] Translation: X:259.10, Y:-37.28, Z:-8.27 [[ 9.81574793e-01 1.91064287e-01 2.31608042e-03 2.59102826e+02] [-1.91063777e-01 9.81577525e-01 -4.41285846e-04 -3.72768945e+01] [-2.35772646e-03 -9.36401121e-06 9.99997221e-01 -8.26614316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.36420382200004 meters Centerline goodness [0,1] 0.9999785734181826 Centerline is valid? [True, True] Translation: X:259.13, Y:-37.28, Z:-8.27 [[ 9.80704471e-01 1.95468661e-01 3.27777746e-03 2.59133735e+02] [-1.95467655e-01 9.80709948e-01 -6.27573334e-04 -3.72803215e+01] [-3.33721988e-03 -2.52355002e-05 9.99994431e-01 -8.27114136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.39420382200007 meters Centerline goodness [0,1] 0.9999566188751274 Centerline is valid? [True, True] Translation: X:259.16, Y:-37.28, Z:-8.27 [[ 9.80313785e-01 1.97410423e-01 3.74265014e-03 2.59164782e+02] [-1.97409106e-01 9.80320929e-01 -7.21769677e-04 -3.72839949e+01] [-3.81148312e-03 -3.12724538e-05 9.99992736e-01 -8.27045178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.42420382200004 meters Centerline goodness [0,1] 0.9999784566332026 Centerline is valid? [True, True] Translation: X:259.20, Y:-37.29, Z:-8.27 [[ 9.79974028e-01 1.99075559e-01 4.45272611e-03 2.59196771e+02] [-1.99073727e-01 9.79984142e-01 -8.55383268e-04 -3.72888219e+01] [-4.53388689e-03 -4.81673973e-05 9.99989721e-01 -8.27096569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.45420382200007 meters Centerline goodness [0,1] 0.9999784566332026 Centerline is valid? [True, True] Translation: X:259.23, Y:-37.29, Z:-8.27 [[ 9.79942905e-01 1.99228708e-01 4.45259021e-03 2.59227825e+02] [-1.99226875e-01 9.79953019e-01 -8.56088404e-04 -3.72949829e+01] [-4.53388660e-03 -4.81578753e-05 9.99989721e-01 -8.27193541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.48420382200004 meters Centerline goodness [0,1] 0.9999784352626585 Centerline is valid? [True, True] Translation: X:259.26, Y:-37.31, Z:-8.27 [[ 9.79613961e-01 2.00846521e-01 4.14282256e-03 2.59259019e+02] [-2.00844948e-01 9.79622719e-01 -7.96664419e-04 -3.73050627e+01] [-4.21841038e-03 -5.16413927e-05 9.99991101e-01 -8.27036552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.51420382200007 meters Centerline goodness [0,1] 0.9998715010815326 Centerline is valid? [True, True] Translation: X:259.29, Y:-37.31, Z:-8.28 [[ 9.79603025e-01 2.00916762e-01 3.22003073e-03 2.59288466e+02] [-2.00915813e-01 9.79608316e-01 -6.18971397e-04 -3.73145622e+01] [-3.27873061e-03 -4.06088392e-05 9.99994624e-01 -8.27947620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.54420382200004 meters Centerline goodness [0,1] 0.9999783877242273 Centerline is valid? [True, True] Translation: X:259.32, Y:-37.33, Z:-8.27 [[ 9.79558046e-01 2.01136950e-01 3.15622603e-03 2.59320317e+02] [-2.01136042e-01 9.79563130e-01 -6.05878904e-04 -3.73261386e+01] [-3.21358728e-03 -4.13372551e-05 9.99994836e-01 -8.27102637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.574203822 meters Centerline goodness [0,1] 0.9999568714553727 Centerline is valid? [True, True] Translation: X:259.35, Y:-37.33, Z:-8.27 [[ 9.79485765e-01 2.01487917e-01 3.20249424e-03 2.59351719e+02] [-2.01486974e-01 9.79490999e-01 -6.17553023e-04 -3.73317685e+01] [-3.26124376e-03 -4.03764795e-05 9.99994681e-01 -8.27394553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.60420382200004 meters Centerline goodness [0,1] 0.9998271354177921 Centerline is valid? [True, True] Translation: X:259.38, Y:-37.34, Z:-8.28 [[ 9.79168459e-01 2.03047201e-01 9.81826714e-04 2.59382839e+02] [-2.03047117e-01 9.79168951e-01 -1.85773861e-04 -3.73355793e+01] [-9.99095096e-04 -1.74531783e-05 9.99999501e-01 -8.28144155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.634203822 meters Centerline goodness [0,1] 0.9999142091152815 Centerline is valid? [True, True] Translation: X:259.41, Y:-37.34, Z:-8.28 [[ 9.79058583e-01 2.03578356e-01 -3.78927710e-04 2.59413113e+02] [-2.03578343e-01 9.79058657e-01 7.43401419e-05 -3.73403854e+01] [ 3.86126498e-04 4.35812111e-06 9.99999925e-01 -8.28215626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.66420382200005 meters Centerline goodness [0,1] 0.9992503427004797 Centerline is valid? [True, True] Translation: X:259.44, Y:-37.34, Z:-8.29 [[ 9.78658028e-01 2.05495510e-01 2.44333196e-04 2.59444060e+02] [-2.05495505e-01 9.78658058e-01 -4.70854261e-05 -3.73392080e+01] [-2.48794496e-04 -4.12884325e-06 9.99999969e-01 -8.29022133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.694203822 meters Centerline goodness [0,1] 0.999956903982072 Centerline is valid? [True, True] Translation: X:259.48, Y:-37.35, Z:-8.28 [[ 9.78530839e-01 2.06100359e-01 1.96603315e-04 2.59475559e+02] [-2.06100357e-01 9.78530859e-01 -3.20345274e-05 -3.73522840e+01] [-1.98984738e-04 -9.17324034e-06 9.99999980e-01 -8.27799117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.72420382200005 meters Centerline goodness [0,1] 0.9999349875392783 Centerline is valid? [True, True] Translation: X:259.51, Y:-37.36, Z:-8.28 [[ 9.78589200e-01 2.05822893e-01 3.38460717e-04 2.59505703e+02] [-2.05822884e-01 9.78589258e-01 -6.08541116e-05 -3.73577707e+01] [-3.43739191e-04 -1.01117846e-05 9.99999941e-01 -8.28044315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.754203822 meters Centerline goodness [0,1] 0.9999354547214871 Centerline is valid? [True, True] Translation: X:259.54, Y:-37.36, Z:-8.28 [[ 9.78678208e-01 2.05396718e-01 1.07355784e-03 2.59537943e+02] [-2.05396615e-01 9.78678797e-01 -2.06149898e-04 -3.73633429e+01] [-1.09301081e-03 -1.87507353e-05 9.99999402e-01 -8.27926808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.78420382200005 meters Centerline goodness [0,1] 0.9999138135355843 Centerline is valid? [True, True] Translation: X:259.57, Y:-37.37, Z:-8.28 [[ 9.78826410e-01 2.04687789e-01 1.32964531e-03 2.59569239e+02] [-2.04687632e-01 9.78827313e-01 -2.54253461e-04 -3.73675208e+01] [-1.35353572e-03 -2.32919467e-05 9.99999084e-01 -8.28129332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.814203822 meters Centerline goodness [0,1] 0.9999783070849061 Centerline is valid? [True, True] Translation: X:259.60, Y:-37.37, Z:-8.28 [[ 9.79215042e-01 2.02824282e-01 4.60556557e-04 2.59601526e+02] [-2.02824265e-01 9.79215150e-01 -8.39550613e-05 -3.73741009e+01] [-4.68012084e-04 -1.12019862e-05 9.99999890e-01 -8.28483315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.84420382200005 meters Centerline goodness [0,1] 0.9999564042200715 Centerline is valid? [True, True] Translation: X:259.63, Y:-37.38, Z:-8.28 [[ 9.79461006e-01 2.01633408e-01 3.25714814e-04 2.59632960e+02] [-2.01633400e-01 9.79461060e-01 -5.82829941e-05 -3.73817064e+01] [-3.30776776e-04 -8.58906531e-06 9.99999945e-01 -8.28393496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.874203822 meters Centerline goodness [0,1] 0.999956648964994 Centerline is valid? [True, True] Translation: X:259.66, Y:-37.39, Z:-8.28 [[ 9.79413726e-01 2.01863177e-01 -1.08707793e-04 2.59664190e+02] [-2.01863175e-01 9.79413732e-01 2.62225329e-05 -3.73871338e+01] [ 1.11763269e-04 -3.73860823e-06 9.99999994e-01 -8.28461236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.90420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.69, Y:-37.39, Z:-8.29 [[ 9.79193972e-01 2.02925236e-01 -7.16863384e-04 2.59694677e+02] [-2.02925185e-01 9.79194234e-01 1.45135270e-04 -3.73914481e+01] [ 7.31400101e-04 3.35405257e-06 9.99999733e-01 -8.28633528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.93420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.73, Y:-37.40, Z:-8.29 [[ 9.79034787e-01 2.03692621e-01 -4.50199746e-04 2.59726622e+02] [-2.03692600e-01 9.79034890e-01 9.34290232e-05 -3.73960151e+01] [ 4.59792062e-04 2.32092905e-07 9.99999894e-01 -8.28606236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.96420382200006 meters Centerline goodness [0,1] 0.9998927406898919 Centerline is valid? [True, True] Translation: X:259.76, Y:-37.40, Z:-8.29 [[ 9.78894958e-01 2.04363710e-01 3.68135145e-04 2.59758119e+02] [-2.04363699e-01 9.78895027e-01 -6.71894680e-05 -3.73973233e+01] [-3.74096752e-04 -9.46202865e-06 9.99999930e-01 -8.28953997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.99420382200003 meters Centerline goodness [0,1] 0.9999565264645147 Centerline is valid? [True, True] Translation: X:259.79, Y:-37.40, Z:-8.29 [[ 9.78722482e-01 2.05188347e-01 2.13012546e-04 2.59790047e+02] [-2.05188343e-01 9.78722505e-01 -4.09729401e-05 -3.73952470e+01] [-2.16887343e-04 -3.60655385e-06 9.99999976e-01 -8.28840469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.02420382200006 meters Centerline goodness [0,1] 0.9998043690903162 Centerline is valid? [True, True] Translation: X:259.82, Y:-37.40, Z:-8.29 [[ 9.78636682e-01 2.05594351e-01 1.09918519e-03 2.59821070e+02] [-2.05594240e-01 9.78637299e-01 -2.14590770e-04 -3.73985475e+01] [-1.11982228e-03 -1.59797443e-05 9.99999373e-01 -8.28764048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.05420382200003 meters Centerline goodness [0,1] 0.9999784973981852 Centerline is valid? [True, True] Translation: X:259.85, Y:-37.40, Z:-8.29 [[ 9.78647047e-01 2.05542897e-01 1.44050613e-03 2.59852265e+02] [-2.05542711e-01 9.78648107e-01 -2.77440542e-04 -3.74026282e+01] [-1.46677453e-03 -2.45691679e-05 9.99998924e-01 -8.28524668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.08420382200006 meters Centerline goodness [0,1] 0.9998488447419563 Centerline is valid? [True, True] Translation: X:259.88, Y:-37.40, Z:-8.29 [[ 9.79004789e-01 2.03817849e-01 2.81202594e-03 2.59883188e+02] [-2.03817108e-01 9.79008827e-01 -5.50770544e-04 -3.74049649e+01] [-2.86525509e-03 -3.39319942e-05 9.99995895e-01 -8.28871663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.11420382200004 meters Centerline goodness [0,1] 0.999913462994613 Centerline is valid? [True, True] Translation: X:259.91, Y:-37.41, Z:-8.29 [[ 9.79240664e-01 2.02671966e-01 3.43461634e-03 2.59912917e+02] [-2.02670851e-01 9.79246686e-01 -6.73318556e-04 -3.74091634e+01] [-3.49979947e-03 -3.67557058e-05 9.99993875e-01 -8.28985819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.14420382200007 meters Centerline goodness [0,1] 0.9998489719303545 Centerline is valid? [True, True] Translation: X:259.94, Y:-37.41, Z:-8.29 [[ 9.79761054e-01 2.00155235e-01 2.48189038e-03 2.59943706e+02] [-2.00154646e-01 9.79764197e-01 -4.86120591e-04 -3.74140908e+01] [-2.52896692e-03 -2.04798675e-05 9.99996802e-01 -8.28972738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.17420382200004 meters Centerline goodness [0,1] 0.999978427819484 Centerline is valid? [True, True] Translation: X:259.97, Y:-37.42, Z:-8.29 [[ 9.80097820e-01 1.98504175e-01 2.08726057e-03 2.59974171e+02] [-1.98503754e-01 9.80100042e-01 -4.08753648e-04 -3.74191390e+01] [-2.12686348e-03 -1.37105011e-05 9.99997738e-01 -8.28973396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.20420382200007 meters Centerline goodness [0,1] 0.9999146739478231 Centerline is valid? [True, True] Translation: X:260.00, Y:-37.43, Z:-8.29 [[ 9.80943163e-01 1.94275443e-01 2.75008597e-03 2.60004226e+02] [-1.94274706e-01 9.80947018e-01 -5.35106462e-04 -3.74290006e+01] [-2.80164668e-03 -9.36311836e-06 9.99996075e-01 -8.29237767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.23420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.03, Y:-37.44, Z:-8.29 [[ 9.81489524e-01 1.91502469e-01 2.26230368e-03 2.60034635e+02] [-1.91501965e-01 9.81492132e-01 -4.39339041e-04 -3.74413061e+01] [-2.30456777e-03 -2.02893250e-06 9.99997344e-01 -8.29073652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.26420382200007 meters Centerline goodness [0,1] 0.9998472349526428 Centerline is valid? [True, True] Translation: X:260.07, Y:-37.45, Z:-8.30 [[ 9.82439413e-01 1.86564750e-01 2.52867854e-03 2.60065015e+02] [-1.86564101e-01 9.82442667e-01 -4.92135778e-04 -3.74513421e+01] [-2.57609687e-03 1.17329474e-05 9.99996682e-01 -8.29543426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.29420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.09, Y:-37.46, Z:-8.30 [[ 9.82760693e-01 1.84870792e-01 2.05180816e-03 2.60094910e+02] [-1.84870362e-01 9.82762835e-01 -3.99048147e-04 -3.74594142e+01] [-2.09021315e-03 1.28503169e-05 9.99997815e-01 -8.29637397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.324203822 meters Centerline goodness [0,1] 0.9998485798957364 Centerline is valid? [True, True] Translation: X:260.13, Y:-37.47, Z:-8.30 [[ 9.83233595e-01 1.82346486e-01 1.20658395e-03 2.60125459e+02] [-1.82346338e-01 9.83234336e-01 -2.32603897e-04 -3.74712578e+01] [-1.22876927e-03 8.68780206e-06 9.99999245e-01 -8.30068194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.35420382200004 meters Centerline goodness [0,1] 0.9998480012159903 Centerline is valid? [True, True] Translation: X:260.16, Y:-37.48, Z:-8.30 [[ 9.83313106e-01 1.81914493e-01 1.56624144e-03 2.60157790e+02] [-1.81914242e-01 9.83314353e-01 -3.02625333e-04 -3.74786772e+01] [-1.59515962e-03 1.26538319e-05 9.99998728e-01 -8.29691756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.384203822 meters Centerline goodness [0,1] 0.9999351281219592 Centerline is valid? [True, True] Translation: X:260.19, Y:-37.49, Z:-8.30 [[ 9.83317910e-01 1.81880689e-01 2.30261491e-03 2.60187759e+02] [-1.81880135e-01 9.83320606e-01 -4.49488257e-04 -3.74870580e+01] [-2.34596192e-03 2.31899433e-05 9.99997248e-01 -8.30137318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.41420382200005 meters Centerline goodness [0,1] 0.9999139007275388 Centerline is valid? [True, True] Translation: X:260.22, Y:-37.49, Z:-8.30 [[ 9.83239926e-01 1.82311430e-01 1.33806685e-03 2.60219242e+02] [-1.82311247e-01 9.83240836e-01 -2.58982930e-04 -3.74923194e+01] [-1.36285752e-03 1.06977211e-05 9.99999071e-01 -8.30019802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.444203822 meters Centerline goodness [0,1] 0.9999132302219137 Centerline is valid? [True, True] Translation: X:260.25, Y:-37.50, Z:-8.30 [[ 9.83103352e-01 1.83049774e-01 7.61268490e-04 2.60249695e+02] [-1.83049715e-01 9.83103647e-01 -1.47536560e-04 -3.74989366e+01] [-7.75412363e-04 5.69370616e-06 9.99999699e-01 -8.30158059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.47420382200005 meters Centerline goodness [0,1] 0.999956457371767 Centerline is valid? [True, True] Translation: X:260.28, Y:-37.50, Z:-8.30 [[ 9.82604781e-01 1.85708933e-01 1.93222892e-04 2.60281479e+02] [-1.85708930e-01 9.82604800e-01 -3.27256059e-05 -3.75023670e+01] [-1.95939178e-04 -3.72687978e-06 9.99999981e-01 -8.30107190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.504203822 meters Centerline goodness [0,1] 0.9999349170191995 Centerline is valid? [True, True] Translation: X:260.31, Y:-37.51, Z:-8.30 [[ 9.82190606e-01 1.87887040e-01 -2.72504883e-04 2.60312843e+02] [-1.87887031e-01 9.82190643e-01 5.98628619e-05 -3.75057072e+01] [ 2.78899202e-04 -7.59660740e-06 9.99999961e-01 -8.30494754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.53420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.35, Y:-37.51, Z:-8.30 [[ 9.81368555e-01 1.92133505e-01 6.89950516e-04 2.60345942e+02] [-1.92133461e-01 9.81368797e-01 -1.31265944e-04 -3.75063757e+01] [-7.02316494e-04 -3.74231057e-06 9.99999753e-01 -8.29950589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.564203822 meters Centerline goodness [0,1] 0.9999783136710617 Centerline is valid? [True, True] Translation: X:260.38, Y:-37.51, Z:-8.30 [[ 9.80951709e-01 1.94248936e-01 1.04706568e-03 2.60376787e+02] [-1.94248830e-01 9.80952267e-01 -2.02686062e-04 -3.75101303e+01] [-1.06649301e-03 -4.56604539e-06 9.99999431e-01 -8.30316375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.59420382200005 meters Centerline goodness [0,1] 0.9999355019026939 Centerline is valid? [True, True] Translation: X:260.41, Y:-37.51, Z:-8.31 [[ 9.80184364e-01 1.98072826e-01 2.40173722e-03 2.60407410e+02] [-1.98072253e-01 9.80187306e-01 -4.76608082e-04 -3.75096109e+01] [-2.44855544e-03 -8.55371260e-06 9.99997002e-01 -8.30595375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.624203822 meters Centerline goodness [0,1] 0.9999783193131558 Centerline is valid? [True, True] Translation: X:260.44, Y:-37.51, Z:-8.30 [[ 9.79878758e-01 1.99562035e-01 3.55149040e-03 2.60438234e+02] [-1.99560791e-01 9.79885194e-01 -7.04768620e-04 -3.75128251e+01] [-3.62069792e-03 -1.81504322e-05 9.99993445e-01 -8.29930121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.65420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.47, Y:-37.52, Z:-8.30 [[ 9.79612590e-01 2.00854132e-01 4.09775545e-03 2.60468398e+02] [-2.00852488e-01 9.79621160e-01 -8.13171128e-04 -3.75162311e+01] [-4.17757673e-03 -2.64517025e-05 9.99991274e-01 -8.29883083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.68420382200003 meters Centerline goodness [0,1] 0.9999566009894975 Centerline is valid? [True, True] Translation: X:260.50, Y:-37.52, Z:-8.30 [[ 9.79191998e-01 2.02896306e-01 4.01488814e-03 2.60497979e+02] [-2.02894743e-01 9.79200229e-01 -7.97054959e-04 -3.75163308e+01] [-4.09309889e-03 -3.41298592e-05 9.99991623e-01 -8.30292410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.71420382200006 meters Centerline goodness [0,1] 0.9998275750587322 Centerline is valid? [True, True] Translation: X:260.53, Y:-37.52, Z:-8.30 [[ 9.78932466e-01 2.04140538e-01 4.22701052e-03 2.60527769e+02] [-2.04138816e-01 9.78941591e-01 -8.39412662e-04 -3.75190289e+01] [-4.30935456e-03 -4.11686166e-05 9.99990714e-01 -8.30480620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.74420382200003 meters Centerline goodness [0,1] 0.9999352387531302 Centerline is valid? [True, True] Translation: X:260.56, Y:-37.52, Z:-8.30 [[ 9.78576926e-01 2.05812535e-01 5.32911064e-03 2.60556984e+02] [-2.05809824e-01 9.78591435e-01 -1.05824624e-03 -3.75200204e+01] [-5.43282237e-03 -6.12079694e-05 9.99985240e-01 -8.30231212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.77420382200006 meters Centerline goodness [0,1] 0.9998041264037608 Centerline is valid? [True, True] Translation: X:260.59, Y:-37.52, Z:-8.31 [[ 9.78419857e-01 2.06590386e-01 3.87253443e-03 2.60586570e+02] [-2.06588961e-01 9.78427519e-01 -7.68850376e-04 -3.75222077e+01] [-3.94783135e-03 -4.77643901e-05 9.99992206e-01 -8.30573367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.80420382200003 meters Centerline goodness [0,1] 0.9999347443064407 Centerline is valid? [True, True] Translation: X:260.62, Y:-37.52, Z:-8.31 [[ 9.78214806e-01 2.07580897e-01 2.44226846e-03 2.60615475e+02] [-2.07580331e-01 9.78217854e-01 -4.85797175e-04 -3.75201271e+01] [-2.48991282e-03 -3.17529069e-05 9.99996900e-01 -8.31063807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.83420382200006 meters Centerline goodness [0,1] 0.9998910888932453 Centerline is valid? [True, True] Translation: X:260.64, Y:-37.53, Z:-8.31 [[ 9.78209848e-01 2.07603295e-01 2.52286732e-03 2.60643837e+02] [-2.07602692e-01 9.78213101e-01 -5.01626589e-04 -3.75253801e+01] [-2.57204120e-03 -3.30579771e-05 9.99996692e-01 -8.30977698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.86420382200004 meters Centerline goodness [0,1] 0.9998057917224117 Centerline is valid? [True, True] Translation: X:260.67, Y:-37.53, Z:-8.32 [[ 9.78270000e-01 2.07326124e-01 1.91958291e-03 2.60671772e+02] [-2.07325773e-01 9.78271883e-01 -3.82273895e-04 -3.75289140e+01] [-1.95712935e-03 -2.40119267e-05 9.99998085e-01 -8.31594744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.89420382200007 meters Centerline goodness [0,1] 0.9997833809895157 Centerline is valid? [True, True] Translation: X:260.70, Y:-37.54, Z:-8.32 [[ 9.78671533e-01 2.05427454e-01 1.26196893e-03 2.60700347e+02] [-2.05427300e-01 9.78672346e-01 -2.51547063e-04 -3.75353209e+01] [-1.28672877e-03 -1.30609204e-05 9.99999172e-01 -8.31507593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.92420382200004 meters Centerline goodness [0,1] 0.9999564895792542 Centerline is valid? [True, True] Translation: X:260.73, Y:-37.55, Z:-8.32 [[ 9.79541108e-01 2.01230314e-01 2.36171821e-03 2.60727825e+02] [-2.01229769e-01 9.79543955e-01 -4.68623032e-04 -3.75462417e+01] [-2.40770796e-03 -1.62124868e-05 9.99997101e-01 -8.31555667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.95420382200007 meters Centerline goodness [0,1] 0.9999782144568864 Centerline is valid? [True, True] Translation: X:260.76, Y:-37.56, Z:-8.31 [[ 9.80034769e-01 1.98803924e-01 2.97522085e-03 2.60755942e+02] [-1.98803049e-01 9.80039285e-01 -5.90087773e-04 -3.75560639e+01] [-3.03314508e-03 -1.31764413e-05 9.99995400e-01 -8.31154152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.98420382200004 meters Centerline goodness [0,1] 0.9999568034557236 Centerline is valid? [True, True] Translation: X:260.78, Y:-37.56, Z:-8.31 [[ 9.80480319e-01 1.96594700e-01 2.97794333e-03 2.60784989e+02] [-1.96593813e-01 9.80484841e-01 -5.90554153e-04 -3.75629009e+01] [-3.03592811e-03 -6.41851021e-06 9.99995392e-01 -8.31461044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.01420382200007 meters Centerline goodness [0,1] 0.9999124093984716 Centerline is valid? [True, True] Translation: X:260.81, Y:-37.57, Z:-8.32 [[ 9.81231539e-01 1.92809795e-01 3.00836996e-03 2.60813014e+02] [-1.92808874e-01 9.81236150e-01 -5.96162782e-04 -3.75720161e+01] [-3.06686739e-03 4.93329986e-06 9.99995297e-01 -8.31639984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.04420382200004 meters Centerline goodness [0,1] 0.9999784334023465 Centerline is valid? [True, True] Translation: X:260.84, Y:-37.58, Z:-8.31 [[ 9.81492991e-01 1.91468617e-01 3.35824817e-03 2.60842507e+02] [-1.91467462e-01 9.81498736e-01 -6.65075458e-04 -3.75807228e+01] [-3.42345741e-03 9.77164741e-06 9.99994140e-01 -8.31352419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.074203822 meters Centerline goodness [0,1] 0.9998691955526487 Centerline is valid? [True, True] Translation: X:260.87, Y:-37.59, Z:-8.32 [[ 9.81828301e-01 1.89751984e-01 2.71526737e-03 2.60871522e+02] [-1.89751224e-01 9.81832055e-01 -5.37389414e-04 -3.75907433e+01] [-2.76790725e-03 1.23988300e-05 9.99996169e-01 -8.31784609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.10420382200004 meters Centerline goodness [0,1] 0.9999129204310439 Centerline is valid? [True, True] Translation: X:260.90, Y:-37.60, Z:-8.32 [[ 9.81977073e-01 1.88975752e-01 3.03189457e-03 2.60902307e+02] [-1.88974814e-01 9.81981754e-01 -5.95567915e-04 -3.75997609e+01] [-3.08981304e-03 1.18823246e-05 9.99995226e-01 -8.31670660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.134203822 meters Centerline goodness [0,1] 0.999978217778649 Centerline is valid? [True, True] Translation: X:260.93, Y:-37.61, Z:-8.32 [[ 9.82200126e-01 1.87814343e-01 2.94700822e-03 2.60932052e+02] [-1.87813450e-01 9.82204547e-01 -5.79660150e-04 -3.76102422e+01] [-3.00343336e-03 1.58544927e-05 9.99995490e-01 -8.31851653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.16420382200005 meters Centerline goodness [0,1] 0.9998485995457986 Centerline is valid? [True, True] Translation: X:260.96, Y:-37.62, Z:-8.32 [[ 9.82214644e-01 1.87739013e-01 2.90780241e-03 2.60963195e+02] [-1.87738142e-01 9.82218948e-01 -5.72070839e-04 -3.76180228e+01] [-2.96349864e-03 1.59909336e-05 9.99995609e-01 -8.32075981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.194203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.99, Y:-37.63, Z:-8.32 [[ 9.82194599e-01 1.87851636e-01 2.35204804e-03 2.60992826e+02] [-1.87851068e-01 9.82197415e-01 -4.62502173e-04 -3.76284378e+01] [-2.39705730e-03 1.24324000e-05 9.99997127e-01 -8.32004347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.22420382200005 meters Centerline goodness [0,1] 0.9999133448873484 Centerline is valid? [True, True] Translation: X:261.02, Y:-37.64, Z:-8.32 [[ 9.81893456e-01 1.89426092e-01 1.73106932e-03 2.61023842e+02] [-1.89425789e-01 9.81894982e-01 -3.38986422e-04 -3.76360196e+01] [-1.76394115e-03 4.93937697e-06 9.99998444e-01 -8.32421537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.254203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.05, Y:-37.64, Z:-8.32 [[ 9.81729734e-01 1.90274448e-01 1.53752662e-03 2.61054233e+02] [-1.90274210e-01 9.81730938e-01 -3.01159665e-04 -3.76444253e+01] [-1.56674044e-03 3.10573522e-06 9.99998773e-01 -8.32485022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.28420382200005 meters Centerline goodness [0,1] 0.9998483206933911 Centerline is valid? [True, True] Translation: X:261.09, Y:-37.65, Z:-8.33 [[ 9.81504345e-01 1.91438146e-01 8.10268957e-04 2.61086134e+02] [-1.91438082e-01 9.81504680e-01 -1.56091811e-04 -3.76507225e+01] [-8.25164700e-04 -1.91154425e-06 9.99999660e-01 -8.32708101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.314203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.12, Y:-37.66, Z:-8.32 [[ 9.81246708e-01 1.92735107e-01 2.84180651e-03 2.61116862e+02] [-1.92734277e-01 9.81250823e-01 -5.65585645e-04 -3.76573959e+01] [-2.89753318e-03 7.26552894e-06 9.99995802e-01 -8.32121248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.34420382200005 meters Centerline goodness [0,1] 0.9999564725341691 Centerline is valid? [True, True] Translation: X:261.15, Y:-37.67, Z:-8.33 [[ 9.81156709e-01 1.93190881e-01 2.96590845e-03 2.61147912e+02] [-1.93189993e-01 9.81161191e-01 -5.85862531e-04 -3.76650229e+01] [-3.02321757e-03 1.83912002e-06 9.99995430e-01 -8.32650814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.374203822 meters Centerline goodness [0,1] 0.9999564725341691 Centerline is valid? [True, True] Translation: X:261.18, Y:-37.67, Z:-8.33 [[ 9.81123921e-01 1.93357329e-01 2.96570730e-03 2.61178931e+02] [-1.93356438e-01 9.81128403e-01 -5.86872851e-04 -3.76713610e+01] [-3.02321584e-03 2.35639150e-06 9.99995430e-01 -8.32747792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.40420382200006 meters Centerline goodness [0,1] 0.9998909154376473 Centerline is valid? [True, True] Translation: X:261.21, Y:-37.68, Z:-8.33 [[ 9.81111480e-01 1.93424328e-01 2.70055800e-03 2.61210205e+02] [-1.93423592e-01 9.81115197e-01 -5.33605763e-04 -3.76838627e+01] [-2.75277083e-03 1.17511108e-06 9.99996211e-01 -8.32758450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.43420382200003 meters Centerline goodness [0,1] 0.9999139692440048 Centerline is valid? [True, True] Translation: X:261.24, Y:-37.69, Z:-8.33 [[ 9.81135562e-01 1.93290499e-01 3.43402294e-03 2.61240480e+02] [-1.93289296e-01 9.81141571e-01 -6.81969405e-04 -3.76933876e+01] [-3.50108087e-03 5.34455811e-06 9.99993871e-01 -8.32946226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.46420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.27, Y:-37.70, Z:-8.33 [[ 9.81016233e-01 1.93892032e-01 3.60975102e-03 2.61272019e+02] [-1.93890707e-01 9.81022874e-01 -7.16600613e-04 -3.77030286e+01] [-3.68019148e-03 3.09965432e-06 9.99993228e-01 -8.32541797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.49420382200003 meters Centerline goodness [0,1] 0.999826772335542 Centerline is valid? [True, True] Translation: X:261.30, Y:-37.71, Z:-8.33 [[ 9.80806872e-01 1.94971978e-01 1.95116701e-03 2.61302336e+02] [-1.94971592e-01 9.80808813e-01 -3.88056416e-04 -3.77121940e+01] [-1.98938192e-03 1.86261365e-07 9.99998021e-01 -8.33206527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.52420382200006 meters Centerline goodness [0,1] 0.9999783610672321 Centerline is valid? [True, True] Translation: X:261.33, Y:-37.72, Z:-8.34 [[ 9.80597326e-01 1.96021525e-01 2.10872686e-03 2.61333592e+02] [-1.96021082e-01 9.80599593e-01 -4.17080653e-04 -3.77198402e+01] [-2.14957349e-03 -4.36674754e-06 9.99997690e-01 -8.33788112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.55420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.37, Y:-37.73, Z:-8.33 [[ 9.80289320e-01 1.97550760e-01 2.55850872e-03 2.61365668e+02] [-1.97550106e-01 9.80292659e-01 -5.08349515e-04 -3.77251290e+01] [-2.60851215e-03 -7.10406740e-06 9.99996598e-01 -8.33362466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.58420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.40, Y:-37.73, Z:-8.33 [[ 9.79593848e-01 2.00980030e-01 1.70908096e-03 2.61397885e+02] [-2.00979746e-01 9.79595339e-01 -3.37961755e-04 -3.77284678e+01] [-1.74213131e-03 -1.24254028e-05 9.99998482e-01 -8.33243628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.61420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.43, Y:-37.73, Z:-8.34 [[ 9.79219239e-01 2.02801804e-01 1.05327892e-03 2.61428288e+02] [-2.02801697e-01 9.79219806e-01 -2.09017648e-04 -3.77320423e+01] [-1.07378073e-03 -8.93264882e-06 9.99999423e-01 -8.33921435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.64420382200007 meters Centerline goodness [0,1] 0.9999571642750054 Centerline is valid? [True, True] Translation: X:261.46, Y:-37.73, Z:-8.34 [[ 9.78703740e-01 2.05274201e-01 1.22158952e-03 2.61459599e+02] [-2.05274054e-01 9.78704502e-01 -2.45514907e-04 -3.77324517e+01] [-1.24597304e-03 -1.04742759e-05 9.99999224e-01 -8.34008374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.67420382200004 meters Centerline goodness [0,1] 0.9999784492047756 Centerline is valid? [True, True] Translation: X:261.49, Y:-37.74, Z:-8.34 [[ 9.78563954e-01 2.05941269e-01 8.84409919e-04 2.61490110e+02] [-2.05941193e-01 9.78564353e-01 -1.77030671e-04 -3.77377000e+01] [-9.01909942e-04 -8.90060062e-06 9.99999593e-01 -8.33951490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.70420382200007 meters Centerline goodness [0,1] 0.9999782684283728 Centerline is valid? [True, True] Translation: X:261.52, Y:-37.75, Z:-8.34 [[ 9.78745547e-01 2.05078226e-01 2.73614050e-04 2.61520526e+02] [-2.05078220e-01 9.78745586e-01 -4.95589440e-05 -3.77498253e+01] [-2.77962004e-04 -7.60668660e-06 9.99999961e-01 -8.33710335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.73420382200004 meters Centerline goodness [0,1] 0.9999783141413484 Centerline is valid? [True, True] Translation: X:261.55, Y:-37.76, Z:-8.34 [[ 9.78956552e-01 2.04066273e-01 1.01257274e-03 2.61550659e+02] [-2.04066177e-01 9.78957076e-01 -1.98798335e-04 -3.77580425e+01] [-1.03183329e-03 -1.20169155e-05 9.99999468e-01 -8.33818700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.76420382200007 meters Centerline goodness [0,1] 0.999870261854823 Centerline is valid? [True, True] Translation: X:261.58, Y:-37.77, Z:-8.34 [[ 9.79456308e-01 2.01628549e-01 3.35707137e-03 2.61580466e+02] [-2.01627418e-01 9.79462061e-01 -6.75283306e-04 -3.77660870e+01] [-3.42428043e-03 -1.54671390e-05 9.99994137e-01 -8.33960374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.79420382200004 meters Centerline goodness [0,1] 0.9999126561271727 Centerline is valid? [True, True] Translation: X:261.61, Y:-37.77, Z:-8.34 [[ 9.79691044e-01 2.00480325e-01 3.61910163e-03 2.61611925e+02] [-2.00479018e-01 9.79697728e-01 -7.24116096e-04 -3.77748965e+01] [-3.69079668e-03 -1.61438881e-05 9.99993189e-01 -8.33984230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.824203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.64, Y:-37.78, Z:-8.34 [[ 9.80124187e-01 1.98345477e-01 3.95594686e-03 2.61642955e+02] [-1.98343893e-01 9.80132170e-01 -7.92740974e-04 -3.77848208e+01] [-4.03458737e-03 -7.65330015e-06 9.99991861e-01 -8.33850653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.85420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.67, Y:-37.79, Z:-8.34 [[ 9.80255015e-01 1.97704642e-01 3.60276782e-03 2.61673264e+02] [-1.97703315e-01 9.80261636e-01 -7.24250000e-04 -3.77927961e+01] [-3.67484267e-03 -2.32944893e-06 9.99993248e-01 -8.34254338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.884203822 meters Centerline goodness [0,1] 0.9999566151109569 Centerline is valid? [True, True] Translation: X:261.70, Y:-37.80, Z:-8.34 [[ 9.80462366e-01 1.96679643e-01 3.26596348e-03 2.61704089e+02] [-1.96678555e-01 9.80467806e-01 -6.54461947e-04 -3.78028886e+01] [-3.33089139e-03 -6.69667331e-07 9.99994453e-01 -8.34173116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.91420382200005 meters Centerline goodness [0,1] 0.9998495335540174 Centerline is valid? [True, True] Translation: X:261.74, Y:-37.81, Z:-8.35 [[ 9.80480607e-01 1.96587066e-01 3.36223496e-03 2.61735253e+02] [-1.96585904e-01 9.80486372e-01 -6.75865567e-04 -3.78092610e+01] [-3.42949199e-03 1.70508141e-06 9.99994119e-01 -8.34665302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.944203822 meters Centerline goodness [0,1] 0.9998909463674235 Centerline is valid? [True, True] Translation: X:261.77, Y:-37.82, Z:-8.35 [[ 9.80528124e-01 1.96361366e-01 2.61003159e-03 2.61766292e+02] [-1.96360670e-01 9.80531598e-01 -5.22621473e-04 -3.78169732e+01] [-2.66184111e-03 -6.24992680e-08 9.99996457e-01 -8.34570804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.97420382200005 meters Centerline goodness [0,1] 0.9999784538481428 Centerline is valid? [True, True] Translation: X:261.80, Y:-37.82, Z:-8.35 [[ 9.80495257e-01 1.96525947e-01 2.56967040e-03 2.61797293e+02] [-1.96525269e-01 9.80498624e-01 -5.16358368e-04 -3.78245395e+01] [-2.62103611e-03 1.28176611e-06 9.99996565e-01 -8.34561691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.004203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.83, Y:-37.83, Z:-8.34 [[ 9.80154234e-01 1.98211246e-01 3.15899977e-03 2.61829369e+02] [-1.98210230e-01 9.80159325e-01 -6.34789157e-04 -3.78282557e+01] [-3.22214543e-03 -3.95479123e-06 9.99994809e-01 -8.34418848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.03420382200005 meters Centerline goodness [0,1] 0.9998911860718172 Centerline is valid? [True, True] Translation: X:261.86, Y:-37.83, Z:-8.35 [[ 9.79821307e-01 1.99840910e-01 3.71724006e-03 2.61861577e+02] [-1.99839509e-01 9.79828358e-01 -7.48440455e-04 -3.78324411e+01] [-3.79182624e-03 -9.51352331e-06 9.99992811e-01 -8.34576638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.064203822 meters Centerline goodness [0,1] 0.9999136963838785 Centerline is valid? [True, True] Translation: X:261.89, Y:-37.84, Z:-8.35 [[ 9.79520609e-01 2.01292614e-01 4.54527287e-03 2.61892943e+02] [-2.01290523e-01 9.79531155e-01 -9.17561802e-04 -3.78366574e+01] [-4.63693480e-03 -1.61496572e-05 9.99989249e-01 -8.34576290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.09420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.93, Y:-37.84, Z:-8.34 [[ 9.78951480e-01 2.04040834e-01 4.61935035e-03 2.61925248e+02] [-2.04038704e-01 9.78962378e-01 -9.32782521e-04 -3.78363315e+01] [-4.71249592e-03 -2.93774285e-05 9.99988896e-01 -8.34382201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.124203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.96, Y:-37.84, Z:-8.34 [[ 9.78645336e-01 2.05524777e-01 3.58770124e-03 2.61957114e+02] [-2.05523503e-01 9.78651912e-01 -7.24110820e-04 -3.78397987e+01] [-3.65993340e-03 -2.87092509e-05 9.99993302e-01 -8.34438619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.15420382200006 meters Centerline goodness [0,1] 0.9998497273625006 Centerline is valid? [True, True] Translation: X:261.99, Y:-37.84, Z:-8.35 [[ 9.78159142e-01 2.07838262e-01 2.81942304e-03 2.61988535e+02] [-2.07837474e-01 9.78163205e-01 -5.72626089e-04 -3.78381895e+01] [-2.87686949e-03 -2.58623205e-05 9.99995861e-01 -8.35295941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.18420382200003 meters Centerline goodness [0,1] 0.999935093033319 Centerline is valid? [True, True] Translation: X:262.02, Y:-37.84, Z:-8.35 [[ 9.77947969e-01 2.08828647e-01 2.89254196e-03 2.62020161e+02] [-2.08827823e-01 9.77952246e-01 -5.87582742e-04 -3.78408617e+01] [-2.95147201e-03 -2.94178900e-05 9.99995644e-01 -8.35100691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.21420382200006 meters Centerline goodness [0,1] 0.9998697238144867 Centerline is valid? [True, True] Translation: X:262.05, Y:-37.84, Z:-8.35 [[ 9.77856025e-01 2.09256373e-01 3.06026702e-03 2.62051547e+02] [-2.09255451e-01 9.77860813e-01 -6.22122461e-04 -3.78398818e+01] [-3.12269828e-03 -3.20313585e-05 9.99995124e-01 -8.35493203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.24420382200003 meters Centerline goodness [0,1] 0.9998486715524136 Centerline is valid? [True, True] Translation: X:262.08, Y:-37.85, Z:-8.35 [[ 9.78122592e-01 2.07995848e-01 3.73130195e-03 2.62081742e+02] [-2.07994469e-01 9.78129708e-01 -7.58338452e-04 -3.78476652e+01] [-3.80742854e-03 -3.43421950e-05 9.99992751e-01 -8.35420159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.27420382200006 meters Centerline goodness [0,1] 0.9999783432593394 Centerline is valid? [True, True] Translation: X:262.11, Y:-37.86, Z:-8.35 [[ 9.78567284e-01 2.05869447e-01 4.88283824e-03 2.62112518e+02] [-2.05867075e-01 9.78579465e-01 -9.88878665e-04 -3.78574137e+01] [-4.98182513e-03 -3.75313183e-05 9.99987590e-01 -8.35135394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.30420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.14, Y:-37.87, Z:-8.35 [[ 9.79653965e-01 2.00643393e-01 4.50967118e-03 2.62142581e+02] [-2.00641313e-01 9.79664345e-01 -9.13655488e-04 -3.78690706e+01] [-4.60128300e-03 -9.76012785e-06 9.99989414e-01 -8.35005343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.33420382200006 meters Centerline goodness [0,1] 0.99986925825852 Centerline is valid? [True, True] Translation: X:262.17, Y:-37.88, Z:-8.36 [[ 9.80557585e-01 1.96211033e-01 2.83768948e-03 2.62171650e+02] [-1.96210183e-01 9.80561691e-01 -5.77620519e-04 -3.78787432e+01] [-2.89586512e-03 9.60660837e-06 9.99995807e-01 -8.35898256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.36420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.20, Y:-37.89, Z:-8.36 [[ 9.80852296e-01 1.94743245e-01 1.96004120e-03 2.62203019e+02] [-1.94742846e-01 9.80854254e-01 -3.94331294e-04 -3.78885445e+01] [-1.99930810e-03 5.07675320e-06 9.99998001e-01 -8.35588979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.39420382200007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.23, Y:-37.90, Z:-8.36 [[ 9.81021568e-01 1.93893976e-01 1.34469888e-03 2.62233032e+02] [-1.93893789e-01 9.81022490e-01 -2.69429148e-04 -3.78970428e+01] [-1.37142053e-03 3.58704542e-06 9.99999060e-01 -8.35840396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.42420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.26, Y:-37.91, Z:-8.36 [[ 9.81191747e-01 1.93034677e-01 6.08213072e-04 2.62263347e+02] [-1.93034640e-01 9.81191935e-01 -1.19236025e-04 -3.79050732e+01] [-6.19790449e-04 -4.12787635e-07 9.99999808e-01 -8.36234662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.45420382200007 meters Centerline goodness [0,1] 0.999783084965619 Centerline is valid? [True, True] Translation: X:262.30, Y:-37.91, Z:-8.37 [[ 9.81129830e-01 1.93349292e-01 5.54638316e-04 2.62295958e+02] [-1.93349262e-01 9.81129987e-01 -1.07289984e-04 -3.79117134e+01] [-5.64916726e-04 -1.97350509e-06 9.99999840e-01 -8.36786819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.48420382200004 meters Centerline goodness [0,1] 0.9999565028273162 Centerline is valid? [True, True] Translation: X:262.33, Y:-37.92, Z:-8.36 [[ 9.80979259e-01 1.94110483e-01 9.02419435e-04 2.62327426e+02] [-1.94110400e-01 9.80979674e-01 -1.79279540e-04 -3.79205857e+01] [-9.20055161e-04 7.00513086e-07 9.99999577e-01 -8.36265815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.51420382200007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.36, Y:-37.93, Z:-8.37 [[ 9.80563011e-01 1.96204387e-01 -1.43532098e-04 2.62358262e+02] [-1.96204384e-01 9.80563021e-01 3.44711438e-05 -3.79254004e+01] [ 1.47505657e-04 -5.63950158e-06 9.99999989e-01 -8.36927630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.54420382200004 meters Centerline goodness [0,1] 0.99989166233316 Centerline is valid? [True, True] Translation: X:262.39, Y:-37.93, Z:-8.37 [[ 9.80328115e-01 1.97373870e-01 -5.85447442e-04 2.62390320e+02] [-1.97373830e-01 9.80328290e-01 1.25411326e-04 -3.79300363e+01] [ 5.98683608e-04 -7.39224497e-06 9.99999821e-01 -8.37341884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.574203822 meters Centerline goodness [0,1] 0.9999347556599465 Centerline is valid? [True, True] Translation: X:262.42, Y:-37.94, Z:-8.37 [[ 9.80164052e-01 1.98186248e-01 -8.00698122e-04 2.62421336e+02] [-1.98186180e-01 9.80164380e-01 1.64995124e-04 -3.79355266e+01] [ 8.17515542e-04 -3.03498726e-06 9.99999666e-01 -8.37451465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.60420382200004 meters Centerline goodness [0,1] 0.9996538145311351 Centerline is valid? [True, True] Translation: X:262.45, Y:-37.94, Z:-8.37 [[ 9.80021189e-01 1.98893110e-01 2.72571652e-05 2.62452664e+02] [-1.98893110e-01 9.80021189e-01 -4.44010239e-06 -3.79415010e+01] [-2.75957054e-05 -1.06986792e-06 1.00000000e+00 -8.37412601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.634203822 meters Centerline goodness [0,1] 0.9998475443754764 Centerline is valid? [True, True] Translation: X:262.48, Y:-37.95, Z:-8.37 [[ 9.80083568e-01 1.98585474e-01 9.18537292e-05 2.62484441e+02] [-1.98585474e-01 9.80083573e-01 -1.25811168e-05 -3.79499829e+01] [-9.25227583e-05 -5.91027054e-06 9.99999996e-01 -8.37297451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.66420382200005 meters Centerline goodness [0,1] 0.9998916740689386 Centerline is valid? [True, True] Translation: X:262.51, Y:-37.96, Z:-8.38 [[ 9.80159534e-01 1.98208893e-01 7.22726934e-04 2.62513606e+02] [-1.98208842e-01 9.80159801e-01 -1.43455187e-04 -3.79604107e+01] [-7.36821982e-04 -2.64189929e-06 9.99999729e-01 -8.37535964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.694203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.54, Y:-37.97, Z:-8.37 [[ 9.80084171e-01 1.98579660e-01 1.06625278e-03 2.62544875e+02] [-1.98579545e-01 9.80084751e-01 -2.13908487e-04 -3.79674252e+01] [-1.08749596e-03 -2.08766843e-06 9.99999409e-01 -8.36912639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.72420382200005 meters Centerline goodness [0,1] 0.9998909320943219 Centerline is valid? [True, True] Translation: X:262.58, Y:-37.97, Z:-8.37 [[ 9.79611773e-01 2.00883894e-01 2.53698565e-03 2.62577289e+02] [-2.00883220e-01 9.79615058e-01 -5.20120056e-04 -3.79713001e+01] [-2.58975308e-03 -1.22116426e-07 9.99996647e-01 -8.37166006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.754203822 meters Centerline goodness [0,1] 0.9999781968821542 Centerline is valid? [True, True] Translation: X:262.61, Y:-37.98, Z:-8.37 [[ 9.79322934e-01 2.02287176e-01 2.54728680e-03 2.62608396e+02] [-2.02286511e-01 9.79326247e-01 -5.18913111e-04 -3.79767020e+01] [-2.59959429e-03 -7.09824844e-06 9.99996621e-01 -8.37310063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.78420382200005 meters Centerline goodness [0,1] 0.9999564336593548 Centerline is valid? [True, True] Translation: X:262.64, Y:-37.98, Z:-8.37 [[ 9.78714153e-01 2.05207588e-01 2.90739963e-03 2.62641164e+02] [-2.05206731e-01 9.78718471e-01 -5.93112592e-04 -3.79810235e+01] [-2.96723693e-03 -1.61302871e-05 9.99995598e-01 -8.37075541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.814203822 meters Centerline goodness [0,1] 0.999978369492332 Centerline is valid? [True, True] Translation: X:262.67, Y:-37.99, Z:-8.37 [[ 9.78501350e-01 2.06207455e-01 3.68697744e-03 2.62671885e+02] [-2.06206071e-01 9.78508296e-01 -7.55696376e-04 -3.79870440e+01] [-3.76356823e-03 -2.08272079e-05 9.99992918e-01 -8.36971733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.84420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.70, Y:-37.99, Z:-8.37 [[ 9.78285263e-01 2.07224695e-01 3.98377790e-03 2.62703882e+02] [-2.07223084e-01 9.78293374e-01 -8.17475353e-04 -3.79934728e+01] [-4.06670460e-03 -2.58066540e-05 9.99991731e-01 -8.36937001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.874203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.73, Y:-38.00, Z:-8.37 [[ 9.78166019e-01 2.07804391e-01 2.92829221e-03 2.62734423e+02] [-2.07803524e-01 9.78170402e-01 -6.00371106e-04 -3.80003300e+01] [-2.98912852e-03 -2.12468270e-05 9.99995532e-01 -8.37363497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.90420382200006 meters Centerline goodness [0,1] 0.9998481364168872 Centerline is valid? [True, True] Translation: X:262.77, Y:-38.01, Z:-8.37 [[ 9.78072388e-01 2.08234799e-01 3.55992575e-03 2.62765969e+02] [-2.08233517e-01 9.78078866e-01 -7.31013304e-04 -3.80068586e+01] [-3.63411055e-03 -2.63119327e-05 9.99993396e-01 -8.37392904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.93420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.80, Y:-38.01, Z:-8.37 [[ 9.78031892e-01 2.08418341e-01 3.92596359e-03 2.62796711e+02] [-2.08416778e-01 9.78039771e-01 -8.07806428e-04 -3.80131964e+01] [-4.00811021e-03 -2.81762324e-05 9.99991967e-01 -8.37055696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.96420382200006 meters Centerline goodness [0,1] 0.9998917912870344 Centerline is valid? [True, True] Translation: X:262.83, Y:-38.02, Z:-8.37 [[ 9.77814233e-01 2.09401775e-01 5.49749808e-03 2.62828529e+02] [-2.09398694e-01 9.77829686e-01 -1.13660220e-03 -3.80200883e+01] [-5.61362334e-03 -3.97831116e-05 9.99984243e-01 -8.37217128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.99420382200003 meters Centerline goodness [0,1] 0.9999570649607145 Centerline is valid? [True, True] Translation: X:262.86, Y:-38.03, Z:-8.37 [[ 9.77643364e-01 2.10169523e-01 6.49801419e-03 2.62858876e+02] [-2.10165237e-01 9.77664957e-01 -1.34332585e-03 -3.80252656e+01] [-6.63520692e-03 -5.23630842e-05 9.99977985e-01 -8.37307801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.02420382200006 meters Centerline goodness [0,1] 0.9999569049106855 Centerline is valid? [True, True] Translation: X:262.89, Y:-38.03, Z:-8.37 [[ 9.77207433e-01 2.12145352e-01 7.74479154e-03 2.62890235e+02] [-2.12139313e-01 9.77238120e-01 -1.60256434e-03 -3.80276174e+01] [-7.90848211e-03 -7.69369705e-05 9.99968725e-01 -8.36959545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.05420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.92, Y:-38.03, Z:-8.37 [[ 9.77047046e-01 2.12911014e-01 6.92596129e-03 2.62921481e+02] [-2.12906215e-01 9.77071591e-01 -1.43162457e-03 -3.80345055e+01] [-7.07196866e-03 -7.58156466e-05 9.99974990e-01 -8.36931658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.08420382200006 meters Centerline goodness [0,1] 0.999978454776576 Centerline is valid? [True, True] Translation: X:262.95, Y:-38.04, Z:-8.37 [[ 9.76741124e-01 2.14359160e-01 5.18917117e-03 2.62952667e+02] [-2.14356486e-01 9.76754906e-01 -1.07256100e-03 -3.80379234e+01] [-5.29846167e-03 -6.47180602e-05 9.99985961e-01 -8.37447519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.11420382200004 meters Centerline goodness [0,1] 0.9999572146753664 Centerline is valid? [True, True] Translation: X:262.98, Y:-38.04, Z:-8.38 [[ 9.76395185e-01 2.15963142e-01 3.51637635e-03 2.62983272e+02] [-2.15961914e-01 9.76401515e-01 -7.29875160e-04 -3.80401696e+01] [-3.59102133e-03 -4.67567748e-05 9.99993551e-01 -8.38253304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.14420382200007 meters Centerline goodness [0,1] 0.9998472616190268 Centerline is valid? [True, True] Translation: X:263.01, Y:-38.05, Z:-8.38 [[ 9.76173419e-01 2.16970889e-01 3.01477441e-03 2.63013976e+02] [-2.16970005e-01 9.76178073e-01 -6.21077893e-04 -3.80491155e+01] [-3.07771250e-03 -4.78358889e-05 9.99995263e-01 -8.38017861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.17420382200004 meters Centerline goodness [0,1] 0.9999567183881928 Centerline is valid? [True, True] Translation: X:263.04, Y:-38.05, Z:-8.38 [[ 9.75904447e-01 2.18176045e-01 3.11826870e-03 2.63044850e+02] [-2.18175088e-01 9.75909428e-01 -6.47804252e-04 -3.80505820e+01] [-3.18448319e-03 -4.81334981e-05 9.99994928e-01 -8.37993627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.20420382200007 meters Centerline goodness [0,1] 0.999762069562208 Centerline is valid? [True, True] Translation: X:263.08, Y:-38.05, Z:-8.38 [[ 9.75316586e-01 2.20768679e-01 4.32977183e-03 2.63075071e+02] [-2.20766855e-01 9.75326194e-01 -9.00677170e-04 -3.80491400e+01] [-4.42178119e-03 -7.74247278e-05 9.99990221e-01 -8.38264606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.23420382200004 meters Centerline goodness [0,1] 0.9999351813840935 Centerline is valid? [True, True] Translation: X:263.10, Y:-38.05, Z:-8.38 [[ 9.75140624e-01 2.21539074e-01 4.60446293e-03 2.63104328e+02] [-2.21537021e-01 9.75151491e-01 -9.57652874e-04 -3.80526698e+01] [-4.70220642e-03 -8.62127796e-05 9.99988941e-01 -8.37897144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.26420382200007 meters Centerline goodness [0,1] 0.9999351813840935 Centerline is valid? [True, True] Translation: X:263.13, Y:-38.06, Z:-8.38 [[ 9.75145932e-01 2.21515710e-01 4.60448599e-03 2.63132895e+02] [-2.21513657e-01 9.75156799e-01 -9.57541941e-04 -3.80585617e+01] [-4.70220640e-03 -8.62134007e-05 9.99988941e-01 -8.37986422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.29420382200004 meters Centerline goodness [0,1] 0.999765173024785 Centerline is valid? [True, True] Translation: X:263.16, Y:-38.06, Z:-8.38 [[ 9.74826624e-01 2.22898941e-01 5.39585253e-03 2.63162082e+02] [-2.22896140e-01 9.74841551e-01 -1.12276245e-03 -3.80560278e+01] [-5.51036381e-03 -1.08215971e-04 9.99984812e-01 -8.38177554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.324203822 meters Centerline goodness [0,1] 0.9998697747102487 Centerline is valid? [True, True] Translation: X:263.19, Y:-38.06, Z:-8.38 [[ 9.74808066e-01 2.22990626e-01 4.94120424e-03 2.63190856e+02] [-2.22988280e-01 9.74820584e-01 -1.02768063e-03 -3.80592915e+01] [-5.04595075e-03 -1.00039269e-04 9.99987264e-01 -8.38246920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.35420382200004 meters Centerline goodness [0,1] 0.9999352191751242 Centerline is valid? [True, True] Translation: X:263.22, Y:-38.06, Z:-8.38 [[ 9.74949079e-01 2.22387688e-01 4.24370785e-03 2.63219271e+02] [-2.22385952e-01 9.74958312e-01 -8.82663387e-04 -3.80640810e+01] [-4.33373171e-03 -8.31891533e-05 9.99990606e-01 -8.38266336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.384203822 meters Centerline goodness [0,1] 0.9999346917450366 Centerline is valid? [True, True] Translation: X:263.25, Y:-38.07, Z:-8.38 [[ 9.75170871e-01 2.21421427e-01 3.78462448e-03 2.63247592e+02] [-2.21420040e-01 9.75178213e-01 -7.87153857e-04 -3.80693393e+01] [-3.86497607e-03 -7.03821899e-05 9.99992528e-01 -8.38458359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.41420382200005 meters Centerline goodness [0,1] 0.9999354838709678 Centerline is valid? [True, True] Translation: X:263.28, Y:-38.07, Z:-8.39 [[ 9.75712347e-01 2.19044773e-01 2.19179605e-03 2.63275378e+02] [-2.19044300e-01 9.75714808e-01 -4.56742034e-04 -3.80725149e+01] [-2.23861482e-03 -3.44515891e-05 9.99997494e-01 -8.39230004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.444203822 meters Centerline goodness [0,1] 0.9998500781735238 Centerline is valid? [True, True] Translation: X:263.30, Y:-38.08, Z:-8.39 [[ 9.76102917e-01 2.17303400e-01 1.52563920e-03 2.63302155e+02] [-2.17303168e-01 9.76104109e-01 -3.18318420e-04 -3.80787329e+01] [-1.55835437e-03 -2.08146933e-05 9.99998786e-01 -8.39489910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.47420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.33, Y:-38.09, Z:-8.39 [[ 9.76989961e-01 2.13279397e-01 1.58584598e-03 2.63329833e+02] [-2.13279142e-01 9.76991248e-01 -3.29738703e-04 -3.80906346e+01] [-1.61968411e-03 -1.60764676e-05 9.99998688e-01 -8.38869914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.504203822 meters Centerline goodness [0,1] 0.9999567931906068 Centerline is valid? [True, True] Translation: X:263.36, Y:-38.10, Z:-8.39 [[ 9.77427991e-01 2.11262116e-01 1.68550558e-03 2.63357904e+02] [-2.11261826e-01 9.77429444e-01 -3.50734898e-04 -3.80973819e+01] [-1.72155978e-03 -1.32648782e-05 9.99998518e-01 -8.39190766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.53420382200005 meters Centerline goodness [0,1] 0.9998039898945901 Centerline is valid? [True, True] Translation: X:263.39, Y:-38.10, Z:-8.40 [[ 9.77798746e-01 2.09543596e-01 1.04561356e-03 2.63386141e+02] [-2.09543483e-01 9.77799305e-01 -2.17595129e-04 -3.81043605e+01] [-1.06799588e-03 -6.33726254e-06 9.99999430e-01 -8.39759023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.564203822 meters Centerline goodness [0,1] 0.999978286359491 Centerline is valid? [True, True] Translation: X:263.42, Y:-38.11, Z:-8.39 [[ 9.78351690e-01 2.06946789e-01 9.98999006e-04 2.63415153e+02] [-2.06946685e-01 9.78352200e-01 -2.07910671e-04 -3.81132921e+01] [-1.02039932e-03 -3.32977630e-06 9.99999479e-01 -8.39365234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.59420382200005 meters Centerline goodness [0,1] 0.9998911908077994 Centerline is valid? [True, True] Translation: X:263.44, Y:-38.12, Z:-8.40 [[ 9.78443536e-01 2.06507355e-01 1.72028349e-03 2.63443426e+02] [-2.06507046e-01 9.78445048e-01 -3.57296343e-04 -3.81188515e+01] [-1.75698718e-03 -5.65636464e-06 9.99998456e-01 -8.40115771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.624203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.47, Y:-38.12, Z:-8.40 [[ 9.78387510e-01 2.06773013e-01 1.67350614e-03 2.63471251e+02] [-2.06772721e-01 9.78388942e-01 -3.48003001e-04 -3.81240803e+01] [-1.70929753e-03 -5.55362717e-06 9.99998539e-01 -8.39799050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.65420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.50, Y:-38.13, Z:-8.40 [[ 9.78239090e-01 2.07475954e-01 1.41845423e-03 2.63500300e+02] [-2.07475745e-01 9.78240118e-01 -2.94752732e-04 -3.81287975e+01] [-1.44874294e-03 -5.95620448e-06 9.99998951e-01 -8.39621660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.68420382200003 meters Centerline goodness [0,1] 0.9998479781088476 Centerline is valid? [True, True] Translation: X:263.53, Y:-38.13, Z:-8.40 [[ 9.77685516e-01 2.10072294e-01 8.14625612e-04 2.63530294e+02] [-2.10072226e-01 9.77685855e-01 -1.69591291e-04 -3.81304930e+01] [-8.32074370e-04 -5.32326734e-06 9.99999654e-01 -8.40146608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.71420382200006 meters Centerline goodness [0,1] 0.9999783084965619 Centerline is valid? [True, True] Translation: X:263.56, Y:-38.13, Z:-8.40 [[ 9.77467358e-01 2.11083639e-01 1.12269796e-03 2.63559410e+02] [-2.11083509e-01 9.77468003e-01 -2.34149331e-04 -3.81344076e+01] [-1.14682642e-03 -8.10969655e-06 9.99999342e-01 -8.39719445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.74420382200003 meters Centerline goodness [0,1] 0.9999564355572982 Centerline is valid? [True, True] Translation: X:263.59, Y:-38.13, Z:-8.40 [[ 9.76851490e-01 2.13917669e-01 6.29580245e-04 2.63588981e+02] [-2.13917629e-01 9.76851693e-01 -1.31968265e-04 -3.81343259e+01] [-6.43236872e-04 -5.76491644e-06 9.99999793e-01 -8.39831299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.77420382200006 meters Centerline goodness [0,1] 0.9999781716580809 Centerline is valid? [True, True] Translation: X:263.62, Y:-38.14, Z:-8.40 [[ 9.76621898e-01 2.14964287e-01 -1.52703945e-04 2.63617929e+02] [-2.14964285e-01 9.76621910e-01 3.00375766e-05 -3.81383831e+01] [ 1.55591025e-04 3.49053928e-06 9.99999988e-01 -8.39948246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.80420382200003 meters Centerline goodness [0,1] 0.999935368507228 Centerline is valid? [True, True] Translation: X:263.65, Y:-38.14, Z:-8.41 [[ 9.76366538e-01 2.16121216e-01 -6.58242856e-05 2.63645906e+02] [-2.16121215e-01 9.76366540e-01 1.16550729e-05 -3.81382236e+01] [ 6.67875382e-05 2.84640147e-06 9.99999998e-01 -8.40529538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.83420382200006 meters Centerline goodness [0,1] 0.9998062224136075 Centerline is valid? [True, True] Translation: X:263.67, Y:-38.14, Z:-8.41 [[ 9.76328223e-01 2.16293756e-01 4.60673855e-04 2.63674609e+02] [-2.16293734e-01 9.76328332e-01 -9.68392615e-05 -3.81435661e+01] [-4.70714664e-04 -5.09396410e-06 9.99999889e-01 -8.40844731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.86420382200004 meters Centerline goodness [0,1] 0.9999134966804352 Centerline is valid? [True, True] Translation: X:263.70, Y:-38.15, Z:-8.40 [[ 9.76149073e-01 2.17099781e-01 -8.19845829e-04 2.63702438e+02] [-2.17099717e-01 9.76149417e-01 1.67693706e-04 -3.81501917e+01] [ 8.36698295e-04 1.42942421e-05 9.99999650e-01 -8.40434244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.89420382200007 meters Centerline goodness [0,1] 0.9998704271584676 Centerline is valid? [True, True] Translation: X:263.73, Y:-38.15, Z:-8.41 [[ 9.76063764e-01 2.17479543e-01 -1.47534004e-03 2.63730996e+02] [-2.17479332e-01 9.76064879e-01 3.03622368e-04 -3.81541749e+01] [ 1.50605926e-03 2.45011772e-05 9.99998866e-01 -8.40940788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.92420382200004 meters Centerline goodness [0,1] 0.999978301436445 Centerline is valid? [True, True] Translation: X:263.76, Y:-38.16, Z:-8.40 [[ 9.76081839e-01 2.17402947e-01 4.50172140e-04 2.63759454e+02] [-2.17402927e-01 9.76081943e-01 -9.46205099e-05 -3.81570219e+01] [-4.59975675e-04 -5.51137941e-06 9.99999894e-01 -8.40479650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.95420382200007 meters Centerline goodness [0,1] 0.9997615279554274 Centerline is valid? [True, True] Translation: X:263.79, Y:-38.16, Z:-8.41 [[ 9.76208282e-01 2.16831492e-01 1.22257384e-03 2.63787673e+02] [-2.16831344e-01 9.76209047e-01 -2.54274100e-04 -3.81620692e+01] [-1.24862228e-03 -1.68678468e-05 9.99999220e-01 -8.40979615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.98420382200004 meters Centerline goodness [0,1] 0.9999782788131544 Centerline is valid? [True, True] Translation: X:263.81, Y:-38.17, Z:-8.40 [[ 9.76748870e-01 2.14384251e-01 1.01877899e-03 2.63814813e+02] [-2.14384146e-01 9.76749401e-01 -2.12112734e-04 -3.81730016e+01] [-1.04056540e-03 -1.12291907e-05 9.99999459e-01 -8.40488293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.01420382200007 meters Centerline goodness [0,1] 0.9998701411133235 Centerline is valid? [True, True] Translation: X:263.84, Y:-38.18, Z:-8.41 [[ 9.77022763e-01 2.13131579e-01 1.20406878e-03 2.63842736e+02] [-2.13131432e-01 9.77023505e-01 -2.50359363e-04 -3.81801977e+01] [-1.22976298e-03 -1.20181066e-05 9.99999244e-01 -8.40881856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.04420382200004 meters Centerline goodness [0,1] 0.9998485176368751 Centerline is valid? [True, True] Translation: X:263.87, Y:-38.19, Z:-8.41 [[ 9.77281725e-01 2.11940608e-01 1.26831481e-03 2.63871040e+02] [-2.11940444e-01 9.77282548e-01 -2.63566515e-04 -3.81868635e+01] [-1.29536238e-03 -1.12284660e-05 9.99999161e-01 -8.40970811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.074203822 meters Centerline goodness [0,1] 0.9998910699113309 Centerline is valid? [True, True] Translation: X:263.90, Y:-38.19, Z:-8.41 [[ 9.77576731e-01 2.10579133e-01 -4.05359416e-04 2.63899598e+02] [-2.10579117e-01 9.77576815e-01 8.29415985e-05 -3.81934486e+01] [ 4.13735736e-04 4.27845096e-06 9.99999914e-01 -8.41140863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.10420382200004 meters Centerline goodness [0,1] 0.9998915730580735 Centerline is valid? [True, True] Translation: X:263.93, Y:-38.20, Z:-8.42 [[ 9.77731942e-01 2.09857637e-01 -1.45901658e-04 2.63927501e+02] [-2.09857635e-01 9.77731953e-01 2.81619967e-05 -3.81975392e+01] [ 1.48562723e-04 3.08369310e-06 9.99999989e-01 -8.41534403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.134203822 meters Centerline goodness [0,1] 0.9998046620653731 Centerline is valid? [True, True] Translation: X:263.96, Y:-38.20, Z:-8.41 [[ 9.77891246e-01 2.09113112e-01 -6.45595134e-04 2.63955840e+02] [-2.09113071e-01 9.77891459e-01 1.31704988e-04 -3.82039705e+01] [ 6.58863208e-04 6.20922630e-06 9.99999783e-01 -8.41487891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.16420382200005 meters Centerline goodness [0,1] 0.999868285294053 Centerline is valid? [True, True] Translation: X:263.98, Y:-38.21, Z:-8.42 [[ 9.78375811e-01 2.06822940e-01 -2.24571982e-03 2.63983874e+02] [-2.06822423e-01 9.78378389e-01 4.62764066e-04 -3.82128086e+01] [ 2.29287396e-03 1.17080456e-05 9.99997371e-01 -8.41811443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.194203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.01, Y:-38.22, Z:-8.41 [[ 9.78644164e-01 2.05551007e-01 -2.09377377e-03 2.64011686e+02] [-2.05550556e-01 9.78646404e-01 4.30489756e-04 -3.82209576e+01] [ 2.13755177e-03 9.08007567e-06 9.99997715e-01 -8.41375654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.22420382200005 meters Centerline goodness [0,1] 0.9998469510461989 Centerline is valid? [True, True] Translation: X:264.04, Y:-38.23, Z:-8.42 [[ 9.79163637e-01 2.03072735e-01 1.91924498e-04 2.64039567e+02] [-2.03072731e-01 9.79163655e-01 -4.03920074e-05 -3.82288061e+01] [-1.96128009e-04 5.75752824e-07 9.99999981e-01 -8.41663588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.254203822 meters Centerline goodness [0,1] 0.9999563966163775 Centerline is valid? [True, True] Translation: X:264.07, Y:-38.24, Z:-8.42 [[ 9.79246079e-01 2.02673259e-01 8.16333503e-04 2.64068058e+02] [-2.02673187e-01 9.79246420e-01 -1.69943635e-04 -3.82352515e+01] [-8.33834691e-04 9.67724803e-07 9.99999652e-01 -8.41559235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.28420382200005 meters Centerline goodness [0,1] 0.9999569002672184 Centerline is valid? [True, True] Translation: X:264.10, Y:-38.24, Z:-8.42 [[ 9.79301446e-01 2.02405975e-01 7.07102186e-04 2.64096732e+02] [-2.02405922e-01 9.79301701e-01 -1.46617931e-04 -3.82423168e+01] [-7.22142718e-04 4.61481664e-07 9.99999739e-01 -8.41615641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.314203822 meters Centerline goodness [0,1] 0.9999133561495472 Centerline is valid? [True, True] Translation: X:264.12, Y:-38.25, Z:-8.42 [[ 9.79253610e-01 2.02637390e-01 6.74300898e-04 2.64124238e+02] [-2.02637342e-01 9.79253842e-01 -1.40206143e-04 -3.82485450e+01] [-6.88722752e-04 6.58830172e-07 9.99999763e-01 -8.41738452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.34420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.15, Y:-38.25, Z:-8.41 [[ 9.78836399e-01 2.04638765e-01 1.51013948e-03 2.64153125e+02] [-2.04638526e-01 9.78837564e-01 -3.12885596e-04 -3.82535547e+01] [-1.54220977e-03 -2.76890602e-06 9.99998811e-01 -8.41204875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.374203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.18, Y:-38.26, Z:-8.41 [[ 9.78547405e-01 2.06009566e-01 2.24380643e-03 2.64180621e+02] [-2.06009043e-01 9.78549978e-01 -4.64373045e-04 -3.82578444e+01] [-2.29134202e-03 -7.83337826e-06 9.99997375e-01 -8.41245527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.40420382200006 meters Centerline goodness [0,1] 0.9999350902245878 Centerline is valid? [True, True] Translation: X:264.21, Y:-38.26, Z:-8.41 [[ 9.77744295e-01 2.09779894e-01 2.91386563e-03 2.64209751e+02] [-2.09779031e-01 9.77748636e-01 -6.01967632e-04 -3.82596195e+01] [-2.97530886e-03 -2.26974917e-05 9.99995574e-01 -8.41283061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.43420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.24, Y:-38.26, Z:-8.41 [[ 9.77276596e-01 2.11935470e-01 3.71629327e-03 2.64238019e+02] [-2.11934084e-01 9.77283662e-01 -7.67443903e-04 -3.82614874e+01] [-3.79452128e-03 -3.76042436e-05 9.99992800e-01 -8.41043055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.46420382200006 meters Centerline goodness [0,1] 0.9999782433696669 Centerline is valid? [True, True] Translation: X:264.27, Y:-38.26, Z:-8.41 [[ 9.76248687e-01 2.16636650e-01 2.65764054e-03 2.64268637e+02] [-2.16635960e-01 9.76252304e-01 -5.48483081e-04 -3.82558555e+01] [-2.71334924e-03 -4.02846207e-05 9.99996318e-01 -8.41362651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.49420382200003 meters Centerline goodness [0,1] 0.9999346761023408 Centerline is valid? [True, True] Translation: X:264.30, Y:-38.25, Z:-8.41 [[ 9.75128461e-01 2.21629190e-01 2.23311523e-03 2.64298957e+02] [-2.21628715e-01 9.75131017e-01 -4.61407958e-04 -3.82525912e+01] [-2.27984140e-03 -4.49904269e-05 9.99997400e-01 -8.41239189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.52420382200006 meters Centerline goodness [0,1] 0.9998051315362131 Centerline is valid? [True, True] Translation: X:264.33, Y:-38.25, Z:-8.42 [[ 9.74716142e-01 2.23430276e-01 2.71196659e-03 2.64327374e+02] [-2.23429582e-01 9.74719913e-01 -5.60150821e-04 -3.82532531e+01] [-2.76856249e-03 -5.99455146e-05 9.99996166e-01 -8.41529013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.55420382200003 meters Centerline goodness [0,1] 0.9979005548533602 Centerline is valid? [True, True] Translation: X:264.36, Y:-38.25, Z:-8.42 [[ 9.74360612e-01 2.24973600e-01 2.87700812e-03 2.64355596e+02] [-2.24972827e-01 9.74364857e-01 -5.93885542e-04 -3.82534997e+01] [-2.93686417e-03 -6.85899702e-05 9.99995685e-01 -8.41921833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.58420382200006 meters Centerline goodness [0,1] 0.9977165015079708 Centerline is valid? [True, True] Translation: X:264.39, Y:-38.26, Z:-8.42 [[ 9.73999010e-01 2.26544378e-01 1.89061395e-03 2.64385693e+02] [-2.26544048e-01 9.74000843e-01 -3.89719713e-04 -3.82555520e+01] [-1.92974839e-03 -4.87207229e-05 9.99998137e-01 -8.41939735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.61420382200004 meters Centerline goodness [0,1] 0.9964190576007685 Centerline is valid? [True, True] Translation: X:264.41, Y:-38.26, Z:-8.42 [[ 9.74113434e-01 2.26057747e-01 9.55521263e-04 2.64414349e+02] [-2.26057662e-01 9.74113902e-01 -1.98032270e-04 -3.82583635e+01] [-9.75553275e-04 -2.30970077e-05 9.99999524e-01 -8.42297287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.64420382200007 meters Centerline goodness [0,1] 0.9993090343755399 Centerline is valid? [True, True] Translation: X:264.44, Y:-38.26, Z:-8.42 [[ 9.74878014e-01 2.22736995e-01 1.04336118e-03 2.64443574e+02] [-2.22736892e-01 9.74878572e-01 -2.15328669e-04 -3.82629072e+01] [-1.06511212e-03 -2.24758414e-05 9.99999433e-01 -8.42314206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.67420382200004 meters Centerline goodness [0,1] 0.9998056491318995 Centerline is valid? [True, True] Translation: X:264.47, Y:-38.27, Z:-8.42 [[ 9.75487906e-01 2.20051228e-01 8.95897844e-04 2.64471467e+02] [-2.20051151e-01 9.75488317e-01 -1.85704043e-04 -3.82717750e+01] [-9.14802283e-04 -1.59913031e-05 9.99999581e-01 -8.42392545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.70420382200007 meters Centerline goodness [0,1] 0.9999782196763444 Centerline is valid? [True, True] Translation: X:264.50, Y:-38.29, Z:-8.43 [[ 9.76965815e-01 2.13394504e-01 7.63309875e-04 2.64498537e+02] [-2.13394446e-01 9.76966113e-01 -1.57674554e-04 -3.82852441e+01] [-7.79374765e-04 -8.84343910e-06 9.99999696e-01 -8.42680369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.73420382200004 meters Centerline goodness [0,1] 0.999891084148387 Centerline is valid? [True, True] Translation: X:264.53, Y:-38.30, Z:-8.43 [[ 9.77750061e-01 2.09773099e-01 2.54249710e-04 2.64525482e+02] [-2.09773092e-01 9.77750094e-01 -5.37970759e-05 -3.82960719e+01] [-2.59877858e-04 -7.34653466e-07 9.99999966e-01 -8.42862857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.76420382200007 meters Centerline goodness [0,1] 0.9999783825850105 Centerline is valid? [True, True] Translation: X:264.55, Y:-38.31, Z:-8.43 [[ 9.79158263e-01 2.03098375e-01 -3.82332076e-04 2.64550256e+02] [-2.03098361e-01 9.79158338e-01 7.65548216e-05 -3.83114968e+01] [ 3.89911799e-04 2.69173168e-06 9.99999924e-01 -8.42884933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.79420382200004 meters Centerline goodness [0,1] 0.9998701467341904 Centerline is valid? [True, True] Translation: X:264.58, Y:-38.32, Z:-8.43 [[ 9.79661007e-01 2.00659686e-01 -3.84240248e-05 2.64578182e+02] [-2.00659686e-01 9.79661008e-01 6.34424161e-06 -3.83198973e+01] [ 3.89155522e-05 1.49494661e-06 9.99999999e-01 -8.43149230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.824203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.61, Y:-38.33, Z:-8.43 [[ 9.80272728e-01 1.97647235e-01 9.73825681e-04 2.64605768e+02] [-1.97647133e-01 9.80273212e-01 -2.01545602e-04 -3.83294292e+01] [-9.94450160e-04 5.09580321e-06 9.99999506e-01 -8.42760395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.85420382200004 meters Centerline goodness [0,1] 0.9999568770348649 Centerline is valid? [True, True] Translation: X:264.63, Y:-38.34, Z:-8.43 [[ 9.80432587e-01 1.96855063e-01 -1.60670902e-04 2.64634035e+02] [-1.96855061e-01 9.80432600e-01 3.14460253e-05 -3.83361097e+01] [ 1.63717299e-04 7.98172132e-07 9.99999987e-01 -8.43180023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.884203822 meters Centerline goodness [0,1] 0.999956611346133 Centerline is valid? [True, True] Translation: X:264.66, Y:-38.34, Z:-8.43 [[ 9.80447036e-01 1.96782628e-01 -4.55247956e-04 2.64662676e+02] [-1.96782607e-01 9.80447141e-01 9.19001303e-05 -3.83422586e+01] [ 4.64430906e-04 -5.18330759e-07 9.99999892e-01 -8.43096894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.91420382200005 meters Centerline goodness [0,1] 0.9999134480147138 Centerline is valid? [True, True] Translation: X:264.69, Y:-38.35, Z:-8.44 [[ 9.80364098e-01 1.97195726e-01 -2.83783072e-04 2.64690294e+02] [-1.97195718e-01 9.80364139e-01 5.63078893e-05 -3.83458526e+01] [ 2.89314422e-04 7.58573567e-07 9.99999958e-01 -8.43573231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.944203822 meters Centerline goodness [0,1] 0.9999347599164927 Centerline is valid? [True, True] Translation: X:264.72, Y:-38.35, Z:-8.44 [[ 9.80374481e-01 1.97140192e-01 -1.27355348e-03 2.64716937e+02] [-1.97140022e-01 9.80375308e-01 2.58958097e-04 -3.83517063e+01] [ 1.29961143e-03 -2.80754982e-06 9.99999156e-01 -8.43952108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.97420382200005 meters Centerline goodness [0,1] 0.9999784747185569 Centerline is valid? [True, True] Translation: X:264.74, Y:-38.36, Z:-8.43 [[ 9.80497377e-01 1.96530303e-01 -8.56763773e-04 2.64744951e+02] [-1.96530226e-01 9.80497751e-01 1.74164921e-04 -3.83575134e+01] [ 8.74283637e-04 -2.38826965e-06 9.99999618e-01 -8.43475039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.004203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.77, Y:-38.36, Z:-8.44 [[ 9.80594153e-01 1.96044743e-01 -1.25137468e-03 2.64772943e+02] [-1.96044578e-01 9.80594951e-01 2.55032899e-04 -3.83632915e+01] [ 1.27708955e-03 -4.75854956e-06 9.99999185e-01 -8.43699723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.03420382200005 meters Centerline goodness [0,1] 0.9998915048280351 Centerline is valid? [True, True] Translation: X:264.80, Y:-38.37, Z:-8.44 [[ 9.80888833e-01 1.94562290e-01 -1.61645696e-03 2.64799385e+02] [-1.94562012e-01 9.80890165e-01 3.29169672e-04 -3.83733732e+01] [ 1.64961074e-03 -8.37773796e-06 9.99998639e-01 -8.44408174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.064203822 meters Centerline goodness [0,1] 0.9998703795718206 Centerline is valid? [True, True] Translation: X:264.83, Y:-38.38, Z:-8.44 [[ 9.81086998e-01 1.93563465e-01 -1.21931357e-03 2.64827127e+02] [-1.93563305e-01 9.81087756e-01 2.48285709e-04 -3.83808005e+01] [ 1.24431265e-03 -7.57551663e-06 9.99999226e-01 -8.44038485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.09420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.85, Y:-38.39, Z:-8.44 [[ 9.81288772e-01 1.92538961e-01 -1.04614178e-03 2.64854289e+02] [-1.92538844e-01 9.81289330e-01 2.12353673e-04 -3.83892204e+01] [ 1.06745412e-03 -6.95734621e-06 9.99999430e-01 -8.43767573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.124203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.88, Y:-38.40, Z:-8.44 [[ 9.81257524e-01 1.92698650e-01 -9.49647070e-04 2.64883248e+02] [-1.92698552e-01 9.81257984e-01 1.93716836e-04 -3.83956295e+01] [ 9.69177741e-04 -7.09048745e-06 9.99999530e-01 -8.43734212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.15420382200006 meters Centerline goodness [0,1] 0.99991334864174 Centerline is valid? [True, True] Translation: X:264.91, Y:-38.40, Z:-8.44 [[ 9.80891550e-01 1.94547630e-01 -1.72807872e-03 2.64910270e+02] [-1.94547312e-01 9.80893073e-01 3.51873449e-04 -3.84013733e+01] [ 1.76351659e-03 -8.95662443e-06 9.99998445e-01 -8.44298018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.18420382200003 meters Centerline goodness [0,1] 0.99991334864174 Centerline is valid? [True, True] Translation: X:264.94, Y:-38.41, Z:-8.44 [[ 9.80901170e-01 1.94499120e-01 -1.72801694e-03 2.64938048e+02] [-1.94498802e-01 9.80902693e-01 3.52174966e-04 -3.84069698e+01] [ 1.76351419e-03 -9.35161188e-06 9.99998445e-01 -8.44384739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.21420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.97, Y:-38.41, Z:-8.44 [[ 9.80665288e-01 1.95689132e-01 -1.16442734e-03 2.64965432e+02] [-1.95688989e-01 9.80665980e-01 2.36360190e-04 -3.84121696e+01] [ 1.18816740e-03 -3.92462348e-06 9.99999294e-01 -8.44416661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.24420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.99, Y:-38.41, Z:-8.44 [[ 9.80017747e-01 1.98908064e-01 -8.93680611e-04 2.64994401e+02] [-1.98907981e-01 9.80018154e-01 1.81299606e-04 -3.84136630e+01] [ 9.11885176e-04 8.33743611e-08 9.99999584e-01 -8.44256126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.27420382200006 meters Centerline goodness [0,1] 0.9999784932361228 Centerline is valid? [True, True] Translation: X:265.02, Y:-38.42, Z:-8.45 [[ 9.79737004e-01 2.00288296e-01 -4.38256809e-05 2.65022317e+02] [-2.00288296e-01 9.79737005e-01 7.05134443e-06 -3.84175365e+01] [ 4.43499429e-05 1.86930790e-06 9.99999999e-01 -8.44624601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.30420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:265.05, Y:-38.42, Z:-8.45 [[ 9.79194727e-01 2.02920309e-01 -1.01762704e-03 2.65050974e+02] [-2.02920204e-01 9.79195255e-01 2.06579352e-04 -3.84214397e+01] [ 1.03837472e-03 4.21567495e-06 9.99999461e-01 -8.44657575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.33420382200006 meters Centerline goodness [0,1] 0.999956492418804 Centerline is valid? [True, True] Translation: X:265.08, Y:-38.43, Z:-8.45 [[ 9.78938826e-01 2.04144368e-01 -1.96261472e-03 2.65079731e+02] [-2.04143977e-01 9.78940793e-01 3.99626343e-04 -3.84267444e+01] [ 2.00286508e-03 9.44623239e-06 9.99997994e-01 -8.44748795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.36420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:265.11, Y:-38.43, Z:-8.45 [[ 9.78549404e-01 2.05998621e-01 -2.37305869e-03 2.65107586e+02] [-2.05998056e-01 9.78552282e-01 4.82996142e-04 -3.84295798e+01] [ 2.42165854e-03 1.62098886e-05 9.99997068e-01 -8.45033255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.39420382200007 meters Centerline goodness [0,1] 0.9999782111341105 Centerline is valid? [True, True] Translation: X:265.14, Y:-38.43, Z:-8.45 [[ 9.78326602e-01 2.07043251e-01 -3.18619952e-03 2.65136067e+02] [-2.07042234e-01 9.78331790e-01 6.49407865e-04 -3.84336811e+01] [ 3.25161580e-03 2.43448775e-05 9.99994713e-01 -8.45119994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.42420382200004 meters Centerline goodness [0,1] 0.9998907796151074 Centerline is valid? [True, True] Translation: X:265.16, Y:-38.44, Z:-8.46 [[ 9.77971309e-01 2.08698485e-01 -4.13059403e-03 2.65164966e+02] [-2.08696790e-01 9.77980031e-01 8.42130171e-04 -3.84374361e+01] [ 4.21538977e-03 3.84625682e-05 9.99991114e-01 -8.45617566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.45420382200007 meters Centerline goodness [0,1] 0.9999346191565871 Centerline is valid? [True, True] Translation: X:265.19, Y:-38.44, Z:-8.45 [[ 9.77453344e-01 2.11120826e-01 -3.59948443e-03 2.65193762e+02] [-2.11119556e-01 9.77459971e-01 7.33438444e-04 -3.84418940e+01] [ 3.67319608e-03 4.30196965e-05 9.99993253e-01 -8.45243552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.48420382200004 meters Centerline goodness [0,1] 0.999978300965607 Centerline is valid? [True, True] Translation: X:265.22, Y:-38.45, Z:-8.46 [[ 9.77052879e-01 2.12969454e-01 -3.41813075e-03 2.65221810e+02] [-2.12968323e-01 9.77058857e-01 6.95806522e-04 -3.84454908e+01] [ 3.48790045e-03 4.81138080e-05 9.99993916e-01 -8.45507647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.51420382200007 meters Centerline goodness [0,1] 0.9997818165950297 Centerline is valid? [True, True] Translation: X:265.25, Y:-38.45, Z:-8.46 [[ 9.76822196e-01 2.14014440e-01 -4.02697166e-03 2.65249714e+02] [-2.14012881e-01 9.76830495e-01 8.19273451e-04 -3.84503838e+01] [ 4.10900507e-03 6.15393141e-05 9.99991556e-01 -8.45802692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.54420382200004 meters Centerline goodness [0,1] 0.9995231799562192 Centerline is valid? [True, True] Translation: X:265.28, Y:-38.45, Z:-8.46 [[ 9.76373774e-01 2.16051940e-01 -3.97658639e-03 2.65279212e+02] [-2.16050434e-01 9.76381869e-01 8.09674975e-04 -3.84515356e+01] [ 4.05759870e-03 6.85978045e-05 9.99991766e-01 -8.46071657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.574203822 meters Centerline goodness [0,1] 0.9994662453563345 Centerline is valid? [True, True] Translation: X:265.31, Y:-38.45, Z:-8.46 [[ 9.76255688e-01 2.16594423e-01 -3.41883486e-03 2.65306859e+02] [-2.16593316e-01 9.76261672e-01 6.95301234e-04 -3.84539672e+01] [ 3.48827581e-03 6.17049948e-05 9.99993914e-01 -8.46131526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.60420382200004 meters Centerline goodness [0,1] 0.9997632779547215 Centerline is valid? [True, True] Translation: X:265.33, Y:-38.46, Z:-8.46 [[ 9.76277390e-01 2.16499964e-01 -3.19743671e-03 2.65334878e+02] [-2.16498995e-01 9.76282624e-01 6.50371965e-04 -3.84629504e+01] [ 3.26240741e-03 5.72983900e-05 9.99994677e-01 -8.45855155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.634203822 meters Centerline goodness [0,1] 0.9999782995529708 Centerline is valid? [True, True] Translation: X:265.36, Y:-38.47, Z:-8.46 [[ 9.76603004e-01 2.15047487e-01 -1.07299798e-03 2.65363413e+02] [-2.15047377e-01 9.76603593e-01 2.18371230e-04 -3.84741262e+01] [ 1.09485387e-03 1.74834024e-05 9.99999400e-01 -8.45520339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.66420382200005 meters Centerline goodness [0,1] 0.9999344319622329 Centerline is valid? [True, True] Translation: X:265.39, Y:-38.48, Z:-8.45 [[ 9.76755172e-01 2.14357916e-01 -1.35130613e-04 2.65391558e+02] [-2.14357914e-01 9.76755181e-01 2.63877458e-05 -3.84828945e+01] [ 1.37645948e-04 3.19194910e-06 9.99999991e-01 -8.45260293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.694203822 meters Centerline goodness [0,1] 0.9998488806372919 Centerline is valid? [True, True] Translation: X:265.42, Y:-38.49, Z:-8.45 [[ 9.76944902e-01 2.13484302e-01 1.76375444e-03 2.65419629e+02] [-2.13483998e-01 9.76946494e-01 -3.60954057e-04 -3.84874011e+01] [-1.80015174e-03 -2.39011247e-05 9.99998379e-01 -8.45398469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.72420382200005 meters Centerline goodness [0,1] 0.9999355863786662 Centerline is valid? [True, True] Translation: X:265.45, Y:-38.49, Z:-8.45 [[ 9.76972756e-01 2.13336139e-01 3.45327761e-03 2.65448396e+02] [-2.13334979e-01 9.76978858e-01 -7.05055952e-04 -3.84930286e+01] [-3.52419313e-03 -4.78844496e-05 9.99993789e-01 -8.44899269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.754203822 meters Centerline goodness [0,1] 0.9999569494371139 Centerline is valid? [True, True] Translation: X:265.48, Y:-38.50, Z:-8.45 [[ 9.77028251e-01 2.13055530e-01 4.81024232e-03 2.65477326e+02] [-2.13053278e-01 9.77040090e-01 -9.81794900e-04 -3.84982594e+01] [-4.90897642e-03 -6.55965413e-05 9.99987949e-01 -8.44768852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.78420382200005 meters Centerline goodness [0,1] 0.9999353225250086 Centerline is valid? [True, True] Translation: X:265.51, Y:-38.50, Z:-8.45 [[ 9.77056306e-01 2.12930354e-01 4.65173423e-03 2.65505284e+02] [-2.12928249e-01 9.77067378e-01 -9.48955209e-04 -3.85025642e+01] [-4.74711913e-03 -6.33029507e-05 9.99988730e-01 -8.45034907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.814203822 meters Centerline goodness [0,1] 0.9999360913467683 Centerline is valid? [True, True] Translation: X:265.53, Y:-38.51, Z:-8.45 [[ 9.77055136e-01 2.12941282e-01 4.38985553e-03 2.65532402e+02] [-2.12939408e-01 9.77064996e-01 -8.95327855e-04 -3.85073953e+01] [-4.47982644e-03 -5.99885597e-05 9.99989964e-01 -8.45305112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.84420382200005 meters Centerline goodness [0,1] 0.9999356761508609 Centerline is valid? [True, True] Translation: X:265.56, Y:-38.52, Z:-8.45 [[ 9.77307292e-01 2.11790536e-01 3.90200471e-03 2.65559733e+02] [-2.11789047e-01 9.77315081e-01 -7.95493991e-04 -3.85165376e+01] [-3.98196615e-03 -4.89597816e-05 9.99992071e-01 -8.45284827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.874203822 meters Centerline goodness [0,1] 0.9999784825924173 Centerline is valid? [True, True] Translation: X:265.59, Y:-38.52, Z:-8.46 [[ 9.77790653e-01 2.09559846e-01 3.17954467e-03 2.65587250e+02] [-2.09558845e-01 9.77795822e-01 -6.48331877e-04 -3.85233493e+01] [-3.24480982e-03 -3.23688612e-05 9.99994735e-01 -8.45545496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.90420382200006 meters Centerline goodness [0,1] 0.9999783338749865 Centerline is valid? [True, True] Translation: X:265.61, Y:-38.53, Z:-8.46 [[ 9.78091578e-01 2.08160786e-01 2.43971755e-03 2.65614382e+02] [-2.08160191e-01 9.78094621e-01 -4.98047135e-04 -3.85279107e+01] [-2.48994850e-03 -2.07163634e-05 9.99996900e-01 -8.46070510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.93420382200003 meters Centerline goodness [0,1] 0.9999784677662461 Centerline is valid? [True, True] Translation: X:265.64, Y:-38.54, Z:-8.46 [[ 9.78788291e-01 2.04854289e-01 2.86398092e-03 2.65642098e+02] [-2.04853458e-01 9.78792481e-01 -5.83775768e-04 -3.85359215e+01] [-2.92283196e-03 -1.53035084e-05 9.99995728e-01 -8.46098514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.96420382200006 meters Centerline goodness [0,1] 0.9999786041336813 Centerline is valid? [True, True] Translation: X:265.67, Y:-38.54, Z:-8.46 [[ 9.79166517e-01 2.03039076e-01 2.84009800e-03 2.65669857e+02] [-2.03038251e-01 9.79170636e-01 -5.78797857e-04 -3.85440543e+01] [-2.89845914e-03 -9.90904960e-06 9.99995799e-01 -8.46108641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.99420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:265.70, Y:-38.55, Z:-8.46 [[ 9.79580535e-01 2.01040449e-01 2.17101062e-03 2.65697321e+02] [-2.01039962e-01 9.79582941e-01 -4.42711381e-04 -3.85526749e+01] [-2.21568786e-03 -2.78843949e-06 9.99997545e-01 -8.46141532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.02420382200006 meters Centerline goodness [0,1] 0.9999568602920558 Centerline is valid? [True, True] Translation: X:265.73, Y:-38.56, Z:-8.46 [[ 9.80221778e-01 1.97899063e-01 1.10743315e-03 2.65725386e+02] [-1.97898934e-01 9.80222404e-01 -2.25790473e-04 -3.85628023e+01] [-1.13021451e-03 2.16489881e-06 9.99999361e-01 -8.46247154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.05420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:265.75, Y:-38.57, Z:-8.47 [[ 9.80464827e-01 1.96691195e-01 1.13875798e-03 2.65752070e+02] [-1.96691057e-01 9.80465488e-01 -2.33217705e-04 -3.85682929e+01] [-1.16238477e-03 4.67824716e-06 9.99999324e-01 -8.46674761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.08420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:265.78, Y:-38.57, Z:-8.46 [[ 9.80451894e-01 1.96755372e-01 1.18599513e-03 2.65781102e+02] [-1.96755222e-01 9.80452612e-01 -2.42373161e-04 -3.85723380e+01] [-1.21050025e-03 4.28448853e-06 9.99999267e-01 -8.46495765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.11420382200004 meters Centerline goodness [0,1] 0.9999785306367813 Centerline is valid? [True, True] Translation: X:265.81, Y:-38.57, Z:-8.46 [[ 9.80177979e-01 1.98092517e-01 3.23792780e-03 2.65810369e+02] [-1.98091421e-01 9.80183327e-01 -6.58939658e-04 -3.85744365e+01] [-3.30429386e-03 4.47242267e-06 9.99994541e-01 -8.46055331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.14420382200007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:265.84, Y:-38.58, Z:-8.46 [[ 9.80002521e-01 1.98936722e-01 4.38622661e-03 2.65838268e+02] [-1.98934721e-01 9.80012337e-01 -8.92169108e-04 -3.85789150e+01] [-4.47604139e-03 1.75520867e-06 9.99989982e-01 -8.46098730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.17420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:265.87, Y:-38.58, Z:-8.46 [[ 9.79653053e-01 2.00652718e-01 4.28750898e-03 2.65866827e+02] [-2.00650826e-01 9.79662435e-01 -8.71545589e-04 -3.85816403e+01] [-4.37518948e-03 -6.47992095e-06 9.99990429e-01 -8.46019911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.20420382200007 meters Centerline goodness [0,1] 0.9998497983005751 Centerline is valid? [True, True] Translation: X:265.89, Y:-38.58, Z:-8.47 [[ 9.79342830e-01 2.02165290e-01 4.10080802e-03 2.65894833e+02] [-2.02163571e-01 9.79351416e-01 -8.33769101e-04 -3.85823405e+01] [-4.18469131e-03 -1.24882034e-05 9.99991244e-01 -8.46670646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.23420382200004 meters Centerline goodness [0,1] 0.9999786228863379 Centerline is valid? [True, True] Translation: X:265.92, Y:-38.58, Z:-8.47 [[ 9.78673615e-01 2.05374467e-01 4.39120841e-03 2.65923892e+02] [-2.05372531e-01 9.78683466e-01 -8.92356763e-04 -3.85815320e+01] [-4.48087036e-03 -2.85075643e-05 9.99989960e-01 -8.46508266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.26420382200007 meters Centerline goodness [0,1] 0.9999784927735719 Centerline is valid? [True, True] Translation: X:265.95, Y:-38.58, Z:-8.47 [[ 9.78216004e-01 2.07551311e-01 3.98769635e-03 2.65953163e+02] [-2.07549734e-01 9.78224132e-01 -8.09976221e-04 -3.85835635e+01] [-4.06897242e-03 -3.53136126e-05 9.99991721e-01 -8.46524419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.29420382200004 meters Centerline goodness [0,1] 0.9999134011690842 Centerline is valid? [True, True] Translation: X:265.98, Y:-38.59, Z:-8.46 [[ 9.77719687e-01 2.09890776e-01 3.17432091e-03 2.65982193e+02] [-2.09889788e-01 9.77724839e-01 -6.44942559e-04 -3.85850366e+01] [-3.23897989e-03 -3.56845050e-05 9.99994754e-01 -8.46484320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.324203822 meters Centerline goodness [0,1] 0.999849095651799 Centerline is valid? [True, True] Translation: X:266.01, Y:-38.58, Z:-8.47 [[ 9.76610323e-01 2.14988366e-01 3.50429110e-03 2.66012429e+02] [-2.14987198e-01 9.76616608e-01 -7.11297233e-04 -3.85791552e+01] [-3.57526952e-03 -5.87175042e-05 9.99993607e-01 -8.46898744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.35420382200004 meters Centerline goodness [0,1] 0.9995105654033579 Centerline is valid? [True, True] Translation: X:266.04, Y:-38.57, Z:-8.47 [[ 9.75643878e-01 2.19330622e-01 3.61973264e-03 2.66043176e+02] [-2.19329404e-01 9.75650589e-01 -7.34910646e-04 -3.85749573e+01] [-3.69278269e-03 -7.69027309e-05 9.99993179e-01 -8.46902223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.384203822 meters Centerline goodness [0,1] 0.9996561062631647 Centerline is valid? [True, True] Translation: X:266.07, Y:-38.58, Z:-8.47 [[ 9.75307557e-01 2.20820444e-01 3.67429018e-03 2.66071847e+02] [-2.20819197e-01 9.75314475e-01 -7.46842170e-04 -3.85763825e+01] [-3.74850642e-03 -8.29529957e-05 9.99992971e-01 -8.46814082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.41420382200005 meters Centerline goodness [0,1] 0.9993955225491677 Centerline is valid? [True, True] Translation: X:266.10, Y:-38.58, Z:-8.47 [[ 9.75103744e-01 2.21708172e-01 4.26311087e-03 2.66100800e+02] [-2.21706510e-01 9.75113058e-01 -8.64632836e-04 -3.85787611e+01] [-4.34871124e-03 -1.02052716e-04 9.99990539e-01 -8.46980979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.444203822 meters Centerline goodness [0,1] 0.9988402560027491 Centerline is valid? [True, True] Translation: X:266.13, Y:-38.58, Z:-8.47 [[ 9.75203753e-01 2.21264581e-01 4.43004548e-03 2.66129708e+02] [-2.21262781e-01 9.75213810e-01 -8.98525544e-04 -3.85770170e+01] [-4.51905341e-03 -1.03958700e-04 9.99989784e-01 -8.47185857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.47420382200005 meters Centerline goodness [0,1] 0.9996534846450383 Centerline is valid? [True, True] Translation: X:266.16, Y:-38.58, Z:-8.47 [[ 9.75776015e-01 2.18749616e-01 3.12620300e-03 2.66158213e+02] [-2.18748708e-01 9.75781021e-01 -6.33705277e-04 -3.85838389e+01] [-3.18911234e-03 -6.54984567e-05 9.99994913e-01 -8.47460799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.504203822 meters Centerline goodness [0,1] 0.9996757948429766 Centerline is valid? [True, True] Translation: X:266.19, Y:-38.59, Z:-8.48 [[ 9.76152464e-01 2.17059562e-01 3.39314352e-03 2.66185230e+02] [-2.17058481e-01 9.76158359e-01 -6.88241877e-04 -3.85902665e+01] [-3.46163489e-03 -6.46815734e-05 9.99994006e-01 -8.47642223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.53420382200005 meters Centerline goodness [0,1] 0.9996804363109568 Centerline is valid? [True, True] Translation: X:266.21, Y:-38.60, Z:-8.48 [[ 9.76610221e-01 2.14993848e-01 3.18157404e-03 2.66213404e+02] [-2.14992888e-01 9.76615401e-01 -6.44919634e-04 -3.85972597e+01] [-3.24582797e-03 -5.41806859e-05 9.99994731e-01 -8.48089306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.564203822 meters Centerline goodness [0,1] 0.9998918123593561 Centerline is valid? [True, True] Translation: X:266.24, Y:-38.61, Z:-8.48 [[ 9.77614821e-01 2.10388805e-01 2.41102404e-03 2.66239512e+02] [-2.10388238e-01 9.77617793e-01 -4.89288615e-04 -3.86070075e+01] [-2.46000085e-03 -2.89152975e-05 9.99996974e-01 -8.48127637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.59420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.27, Y:-38.61, Z:-8.48 [[ 9.78519679e-01 2.06151250e-01 9.48316274e-04 2.66266953e+02] [-2.06151159e-01 9.78520139e-01 -1.93968197e-04 -3.86147448e+01] [-9.67933359e-04 -5.69480022e-06 9.99999532e-01 -8.48048552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.624203822 meters Centerline goodness [0,1] 0.9999783535727428 Centerline is valid? [True, True] Translation: X:266.29, Y:-38.62, Z:-8.48 [[ 9.78742603e-01 2.05092117e-01 3.75855090e-04 2.66293872e+02] [-2.05092102e-01 9.78742675e-01 -7.82362758e-05 -3.86190777e+01] [-3.83911060e-04 -5.11734152e-07 9.99999926e-01 -8.48347621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.65420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.32, Y:-38.62, Z:-8.48 [[ 9.78886299e-01 2.04405321e-01 2.81264751e-04 2.66321864e+02] [-2.04405312e-01 9.78886339e-01 -5.91170284e-05 -3.86240410e+01] [-2.87410058e-04 3.76839826e-07 9.99999959e-01 -8.48360484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.68420382200003 meters Centerline goodness [0,1] 0.9999573824287754 Centerline is valid? [True, True] Translation: X:266.35, Y:-38.62, Z:-8.49 [[ 9.78850442e-01 2.04576387e-01 5.59684356e-04 2.66349669e+02] [-2.04576355e-01 9.78850602e-01 -1.14915727e-04 -3.86249766e+01] [-5.71356413e-04 -2.01287466e-06 9.99999837e-01 -8.49013596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.71420382200006 meters Centerline goodness [0,1] 0.9999347939488784 Centerline is valid? [True, True] Translation: X:266.38, Y:-38.63, Z:-8.49 [[ 9.78832857e-01 2.04659980e-01 7.28390322e-04 2.66378350e+02] [-2.04659926e-01 9.78833128e-01 -1.48445917e-04 -3.86286161e+01] [-7.43353516e-04 -3.76856814e-06 9.99999724e-01 -8.49049111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.74420382200003 meters Centerline goodness [0,1] 0.9999783531041648 Centerline is valid? [True, True] Translation: X:266.41, Y:-38.63, Z:-8.48 [[ 9.78743901e-01 2.05072898e-01 2.34176048e-03 2.66407382e+02] [-2.05072350e-01 9.78746702e-01 -4.74097205e-04 -3.86306390e+01] [-2.38921484e-03 -1.62105785e-05 9.99997146e-01 -8.48161231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.77420382200006 meters Centerline goodness [0,1] 0.9999565453557849 Centerline is valid? [True, True] Translation: X:266.44, Y:-38.63, Z:-8.48 [[ 9.78762001e-01 2.04979827e-01 2.86648022e-03 2.66435419e+02] [-2.04979005e-01 9.78766198e-01 -5.80909685e-04 -3.86319709e+01] [-2.92468871e-03 -1.89959377e-05 9.99995723e-01 -8.48447962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.80420382200003 meters Centerline goodness [0,1] 0.999956766104626 Centerline is valid? [True, True] Translation: X:266.46, Y:-38.63, Z:-8.49 [[ 9.79142107e-01 2.03158416e-01 2.71874969e-03 2.66464800e+02] [-2.03157670e-01 9.79145882e-01 -5.50971942e-04 -3.86343760e+01] [-2.77398715e-03 -1.28550221e-05 9.99996152e-01 -8.48625011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.83420382200006 meters Centerline goodness [0,1] 0.9998713274715848 Centerline is valid? [True, True] Translation: X:266.49, Y:-38.64, Z:-8.49 [[ 9.79567345e-01 2.01096625e-01 2.82207673e-03 2.66492423e+02] [-2.01095816e-01 9.79571410e-01 -5.70283329e-04 -3.86399849e+01] [-2.87910774e-03 -8.87689763e-06 9.99995855e-01 -8.49006889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.86420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.52, Y:-38.65, Z:-8.49 [[ 9.80746552e-01 1.95244707e-01 3.96288364e-03 2.66519714e+02] [-1.95243068e-01 9.80754559e-01 -8.00028926e-04 -3.86523475e+01] [-4.04281761e-03 1.09000527e-05 9.99991828e-01 -8.48676705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.89420382200007 meters Centerline goodness [0,1] 0.9999783263616463 Centerline is valid? [True, True] Translation: X:266.55, Y:-38.66, Z:-8.49 [[ 9.81327238e-01 1.92307053e-01 3.85348695e-03 2.66546887e+02] [-1.92305480e-01 9.81334804e-01 -7.78178826e-04 -3.86613364e+01] [-3.93121014e-03 2.26014192e-05 9.99992273e-01 -8.48510841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.92420382200004 meters Centerline goodness [0,1] 0.9999350508768131 Centerline is valid? [True, True] Translation: X:266.57, Y:-38.67, Z:-8.49 [[ 9.82138653e-01 1.88112511e-01 4.16529717e-03 2.66574878e+02] [-1.88110638e-01 9.82147485e-01 -8.40400695e-04 -3.86701178e+01] [-4.24902602e-03 4.18532971e-05 9.99990972e-01 -8.48628124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.95420382200007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.60, Y:-38.68, Z:-8.49 [[ 9.82420487e-01 1.86640240e-01 3.92513363e-03 2.66601322e+02] [-1.86638564e-01 9.82428328e-01 -7.92148175e-04 -3.86780010e+01] [-4.00400919e-03 4.56412915e-05 9.99991983e-01 -8.48985208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.98420382200004 meters Centerline goodness [0,1] 0.9999784254924381 Centerline is valid? [True, True] Translation: X:266.63, Y:-38.68, Z:-8.49 [[ 9.82698436e-01 1.85198275e-01 2.31999570e-03 2.66630295e+02] [-1.85197686e-01 9.82701174e-01 -4.68135324e-04 -3.86827026e+01] [-2.36656035e-03 3.03780150e-05 9.99997199e-01 -8.48927915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.01420382200007 meters Centerline goodness [0,1] 0.9999565981641023 Centerline is valid? [True, True] Translation: X:266.66, Y:-38.69, Z:-8.49 [[ 9.82769649e-01 1.84818510e-01 2.43628165e-03 2.66657568e+02] [-1.84817857e-01 9.82772668e-01 -4.92526137e-04 -3.86866717e+01] [-2.48533896e-03 3.37713855e-05 9.99996911e-01 -8.49021615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.04420382200004 meters Centerline goodness [0,1] 0.9998478756927089 Centerline is valid? [True, True] Translation: X:266.69, Y:-38.69, Z:-8.49 [[ 9.82795800e-01 1.84668651e-01 3.14715701e-03 2.66686995e+02] [-1.84667565e-01 9.82800838e-01 -6.34657572e-04 -3.86890751e+01] [-3.21022990e-03 4.25609752e-05 9.99994846e-01 -8.48887088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.0742038220001 meters Centerline goodness [0,1] 0.9998478756927089 Centerline is valid? [True, True] Translation: X:266.71, Y:-38.69, Z:-8.49 [[ 9.82809727e-01 1.84594519e-01 3.14705324e-03 2.66713976e+02] [-1.84593431e-01 9.82814765e-01 -6.35173821e-04 -3.86943703e+01] [-3.21021999e-03 4.33296552e-05 9.99994846e-01 -8.48971249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.10420382200004 meters Centerline goodness [0,1] 0.9999571100769874 Centerline is valid? [True, True] Translation: X:266.74, Y:-38.70, Z:-8.49 [[ 9.82820663e-01 1.84520671e-01 3.95811460e-03 2.66741359e+02] [-1.84518954e-01 9.82828632e-01 -7.97604302e-04 -3.87004156e+01] [-4.03732284e-03 5.35548210e-05 9.99991849e-01 -8.49026021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.134203822 meters Centerline goodness [0,1] 0.9999784867585999 Centerline is valid? [True, True] Translation: X:266.77, Y:-38.71, Z:-8.49 [[ 9.82761388e-01 1.84780779e-01 6.00984382e-03 2.66769885e+02] [-1.84776838e-01 9.82779761e-01 -1.20930533e-03 -3.87053465e+01] [-6.12980925e-03 7.79786452e-05 9.99981210e-01 -8.48663884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.16420382200005 meters Centerline goodness [0,1] 0.9999133917938725 Centerline is valid? [True, True] Translation: X:266.80, Y:-38.71, Z:-8.49 [[ 9.82627193e-01 1.85509578e-01 5.47692316e-03 2.66798467e+02] [-1.85506317e-01 9.82642454e-01 -1.10192758e-03 -3.87113495e+01] [-5.58627534e-03 6.67801648e-05 9.99984394e-01 -8.48999280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.194203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.83, Y:-38.72, Z:-8.49 [[ 9.82552118e-01 1.85923595e-01 4.87360151e-03 2.66826466e+02] [-1.85921019e-01 9.82564203e-01 -9.80458489e-04 -3.87162711e+01] [-4.97091675e-03 5.72466081e-05 9.99987643e-01 -8.49004189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.22420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.86, Y:-38.72, Z:-8.49 [[ 9.82055090e-01 1.88529483e-01 4.94317422e-03 2.66855466e+02] [-1.88526867e-01 9.82067529e-01 -9.94214580e-04 -3.87200748e+01] [-5.04196966e-03 4.44523395e-05 9.99987288e-01 -8.48894562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.254203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.88, Y:-38.73, Z:-8.49 [[ 9.81723307e-01 1.90254608e-01 4.74690908e-03 2.66882678e+02] [-1.90252214e-01 9.81734782e-01 -9.54876966e-04 -3.87260752e+01] [-4.84187549e-03 3.43150095e-05 9.99988277e-01 -8.49409822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.28420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.91, Y:-38.73, Z:-8.49 [[ 9.80976015e-01 1.94076087e-01 4.53105835e-03 2.66912489e+02] [-1.94073950e-01 9.80986479e-01 -9.10902546e-04 -3.87255099e+01] [-4.62169138e-03 1.42131590e-05 9.99989320e-01 -8.49247576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.314203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.94, Y:-38.73, Z:-8.49 [[ 9.80633680e-01 1.95781872e-01 5.20039377e-03 2.66941651e+02] [-1.95779083e-01 9.80647469e-01 -1.04498658e-03 -3.87289111e+01] [-5.30434242e-03 6.62070996e-06 9.99985932e-01 -8.49222599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.34420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.97, Y:-38.73, Z:-8.50 [[ 9.80108164e-01 1.98425865e-01 3.89403542e-03 2.66968498e+02] [-1.98424316e-01 9.80115899e-01 -7.83980644e-04 -3.87333299e+01] [-3.97216807e-03 -4.28548556e-06 9.99992111e-01 -8.49817642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.374203822 meters Centerline goodness [0,1] 0.9999784031272272 Centerline is valid? [True, True] Translation: X:267.00, Y:-38.74, Z:-8.50 [[ 9.79868334e-01 1.99623500e-01 2.91671102e-03 2.66996582e+02] [-1.99622639e-01 9.79872674e-01 -5.86291121e-04 -3.87376353e+01] [-2.97504291e-03 -7.75344881e-06 9.99995575e-01 -8.50088568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.40420382200006 meters Centerline goodness [0,1] 0.9999785218754699 Centerline is valid? [True, True] Translation: X:267.02, Y:-38.74, Z:-8.50 [[ 9.79440530e-01 2.01714153e-01 2.76547941e-03 2.67024335e+02] [-2.01713387e-01 9.79444435e-01 -5.56161976e-04 -3.87406457e+01] [-2.82081915e-03 -1.31066356e-05 9.99996021e-01 -8.50362670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.43420382200003 meters Centerline goodness [0,1] 0.9998476870185822 Centerline is valid? [True, True] Translation: X:267.05, Y:-38.75, Z:-8.50 [[ 9.79242196e-01 2.02669224e-01 3.14755789e-03 2.67052733e+02] [-2.02668239e-01 9.79247254e-01 -6.32205406e-04 -3.87453015e+01] [-3.21036600e-03 -1.88278043e-05 9.99994847e-01 -8.50493473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.46420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:267.08, Y:-38.75, Z:-8.50 [[ 9.79080964e-01 2.03409202e-01 5.01630226e-03 2.67080363e+02] [-2.03406710e-01 9.79093813e-01 -1.00741924e-03 -3.87483353e+01] [-5.11634885e-03 -3.40045335e-05 9.99986911e-01 -8.50290118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.49420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:267.11, Y:-38.75, Z:-8.50 [[ 9.79016507e-01 2.03700779e-01 5.71589798e-03 2.67109117e+02] [-2.03697559e-01 9.79033192e-01 -1.14605682e-03 -3.87544688e+01] [-5.82950652e-03 -4.23059184e-05 9.99983007e-01 -8.49910085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.52420382200006 meters Centerline goodness [0,1] 0.9999783211932015 Centerline is valid? [True, True] Translation: X:267.14, Y:-38.76, Z:-8.50 [[ 9.78920912e-01 2.04149262e-01 6.07684335e-03 2.67137028e+02] [-2.04145633e-01 9.78939772e-01 -1.21808893e-03 -3.87614843e+01] [-6.19753560e-03 -4.81483102e-05 9.99980794e-01 -8.49574408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.55420382200003 meters Centerline goodness [0,1] 0.9999572667834707 Centerline is valid? [True, True] Translation: X:267.16, Y:-38.76, Z:-8.50 [[ 9.78847668e-01 2.04503641e-01 5.95842297e-03 2.67164105e+02] [-2.04500157e-01 9.78865802e-01 -1.19468016e-03 -3.87643066e+01] [-6.07681293e-03 -4.90885481e-05 9.99981535e-01 -8.50323776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.58420382200006 meters Centerline goodness [0,1] 0.999849030560528 Centerline is valid? [True, True] Translation: X:267.19, Y:-38.77, Z:-8.50 [[ 9.78789511e-01 2.04774668e-01 6.19902848e-03 2.67191975e+02] [-2.04770910e-01 9.78809140e-01 -1.24174449e-03 -3.87709302e+01] [-6.32194355e-03 -5.39742247e-05 9.99980015e-01 -8.50060104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.61420382200004 meters Centerline goodness [0,1] 0.9999354810959611 Centerline is valid? [True, True] Translation: X:267.22, Y:-38.78, Z:-8.50 [[ 9.78744852e-01 2.04965857e-01 6.89296825e-03 2.67219870e+02] [-2.04961219e-01 9.78769122e-01 -1.38022309e-03 -3.87761807e+01] [-7.02952309e-03 -6.19049385e-05 9.99975291e-01 -8.49967254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.64420382200007 meters Centerline goodness [0,1] 0.999978369024443 Centerline is valid? [True, True] Translation: X:267.25, Y:-38.78, Z:-8.50 [[ 9.78428583e-01 2.06509787e-01 5.58715867e-03 2.67248348e+02] [-2.06506765e-01 9.78444533e-01 -1.11878769e-03 -3.87814145e+01] [-5.69776546e-03 -5.91322078e-05 9.99983766e-01 -8.49880700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.67420382200004 meters Centerline goodness [0,1] 0.9999786269983757 Centerline is valid? [True, True] Translation: X:267.28, Y:-38.78, Z:-8.50 [[ 9.78235292e-01 2.07427069e-01 5.45205264e-03 2.67275874e+02] [-2.07424204e-01 9.78250483e-01 -1.09211428e-03 -3.87823795e+01] [-5.56000719e-03 -6.25429453e-05 9.99984541e-01 -8.50439450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.70420382200007 meters Centerline goodness [0,1] 0.999978462201163 Centerline is valid? [True, True] Translation: X:267.30, Y:-38.79, Z:-8.50 [[ 9.78059873e-01 2.08237893e-01 5.98873041e-03 2.67304937e+02] [-2.08234459e-01 9.78078205e-01 -1.19829853e-03 -3.87871792e+01] [-6.10697784e-03 -7.50523243e-05 9.99981349e-01 -8.50038771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.73420382200004 meters Centerline goodness [0,1] 0.9999783634081959 Centerline is valid? [True, True] Translation: X:267.33, Y:-38.79, Z:-8.50 [[ 9.77833968e-01 2.09290709e-01 6.17493046e-03 2.67333433e+02] [-2.09287081e-01 9.77853461e-01 -1.23519608e-03 -3.87896960e+01] [-6.29669219e-03 -8.45164828e-05 9.99980172e-01 -8.50160748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.76420382200007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:267.36, Y:-38.79, Z:-8.50 [[ 9.77887336e-01 2.09037110e-01 6.31220481e-03 2.67360952e+02] [-2.09033310e-01 9.77907705e-01 -1.26325746e-03 -3.87937794e+01] [-6.43682140e-03 -8.41375933e-05 9.99979280e-01 -8.50437723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.79420382200004 meters Centerline goodness [0,1] 0.9999356126456764 Centerline is valid? [True, True] Translation: X:267.39, Y:-38.80, Z:-8.50 [[ 9.78083525e-01 2.08084281e-01 7.31774932e-03 2.67388935e+02] [-2.08079162e-01 9.78110895e-01 -1.46245061e-03 -3.88006018e+01] [-7.46188332e-03 -9.22723024e-05 9.99972156e-01 -8.50320328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.8242038220001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:267.42, Y:-38.81, Z:-8.50 [[ 9.78420326e-01 2.06473763e-01 7.88989604e-03 2.67416962e+02] [-2.06467764e-01 9.78452134e-01 -1.57628957e-03 -3.88086603e+01] [-8.04534805e-03 -8.67354348e-05 9.99967632e-01 -8.50279579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.85420382200004 meters Centerline goodness [0,1] 0.9999785812200137 Centerline is valid? [True, True] Translation: X:267.44, Y:-38.82, Z:-8.51 [[ 9.79429852e-01 2.01636147e-01 7.74785833e-03 2.67443099e+02] [-2.01630214e-01 9.79460495e-01 -1.54754066e-03 -3.88217677e+01] [-7.90076129e-03 -4.64948187e-05 9.99968787e-01 -8.50579510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.884203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:267.47, Y:-38.83, Z:-8.51 [[ 9.79981493e-01 1.98960439e-01 7.14267342e-03 2.67469494e+02] [-1.98955323e-01 9.80007522e-01 -1.42703030e-03 -3.88324574e+01] [-7.28379625e-03 -2.26096138e-05 9.99973473e-01 -8.50561067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.91420382200005 meters Centerline goodness [0,1] 0.9999784040600367 Centerline is valid? [True, True] Translation: X:267.50, Y:-38.85, Z:-8.51 [[ 9.81015100e-01 1.93818604e-01 6.61224729e-03 2.67495238e+02] [-1.93814109e-01 9.81037384e-01 -1.32011453e-03 -3.88488477e+01] [-6.74272454e-03 1.35054698e-05 9.99977267e-01 -8.50739227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.944203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:267.52, Y:-38.86, Z:-8.51 [[ 9.81359212e-01 1.92060844e-01 6.83589171e-03 2.67522649e+02] [-1.92055999e-01 9.81383020e-01 -1.36435235e-03 -3.88594695e+01] [-6.97066672e-03 2.60457290e-05 9.99975704e-01 -8.50783813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.97420382200005 meters Centerline goodness [0,1] 0.9999785301758378 Centerline is valid? [True, True] Translation: X:267.55, Y:-38.87, Z:-8.51 [[ 9.81586130e-01 1.90898424e-01 6.81629804e-03 2.67548664e+02] [-1.90893580e-01 9.81609795e-01 -1.36038511e-03 -3.88689545e+01] [-6.95064030e-03 3.41476202e-05 9.99975843e-01 -8.50939750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.004203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:267.58, Y:-38.87, Z:-8.51 [[ 9.81491701e-01 1.91412648e-01 5.93615957e-03 2.67575748e+02] [-1.91408985e-01 9.81509652e-01 -1.18457351e-03 -3.88746519e+01] [-6.05314027e-03 2.64147962e-05 9.99981679e-01 -8.51225786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.03420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:267.60, Y:-38.88, Z:-8.52 [[ 9.81058700e-01 1.93655008e-01 4.64386842e-03 2.67602439e+02] [-1.93652790e-01 9.81069691e-01 -9.26807032e-04 -3.88804035e+01] [-4.73543938e-03 9.95402518e-06 9.99988788e-01 -8.51920082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.064203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:267.63, Y:-38.89, Z:-8.52 [[ 9.80761529e-01 1.95146319e-01 4.97359353e-03 2.67630757e+02] [-1.95143798e-01 9.80774140e-01 -9.91849117e-04 -3.88850455e+01] [-5.07152763e-03 2.20152335e-06 9.99987140e-01 -8.51642456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.09420382200005 meters Centerline goodness [0,1] 0.9998495432563138 Centerline is valid? [True, True] Translation: X:267.66, Y:-38.89, Z:-8.52 [[ 9.80108381e-01 1.98405276e-01 4.78633930e-03 2.67659494e+02] [-1.98402981e-01 9.80120067e-01 -9.54346310e-04 -3.88863687e+01] [-4.88053454e-03 -1.42611695e-05 9.99988090e-01 -8.51778073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.124203822 meters Centerline goodness [0,1] 0.9999784663752449 Centerline is valid? [True, True] Translation: X:267.69, Y:-38.89, Z:-8.52 [[ 9.79851375e-01 1.99679109e-01 4.42003716e-03 2.67686754e+02] [-1.99677164e-01 9.79861344e-01 -8.81513388e-04 -3.88902260e+01] [-4.50704336e-03 -1.88283786e-05 9.99989843e-01 -8.51999744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.15420382200006 meters Centerline goodness [0,1] 0.999978488146969 Centerline is valid? [True, True] Translation: X:267.71, Y:-38.89, Z:-8.52 [[ 9.79429192e-01 2.01754634e-01 3.67769671e-03 2.67713928e+02] [-2.01753301e-01 9.79436097e-01 -7.33848952e-04 -3.88936467e+01] [-3.75012634e-03 -2.32343646e-05 9.99992968e-01 -8.52196743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.18420382200003 meters Centerline goodness [0,1] 0.9999787816418766 Centerline is valid? [True, True] Translation: X:267.74, Y:-38.90, Z:-8.52 [[ 9.79161235e-01 2.03046042e-01 3.94717557e-03 2.67742784e+02] [-2.03044522e-01 9.79169191e-01 -7.86495958e-04 -3.88973356e+01] [-4.02464760e-03 -3.13460212e-05 9.99991901e-01 -8.52260625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.21420382200006 meters Centerline goodness [0,1] 0.9999136870724813 Centerline is valid? [True, True] Translation: X:267.77, Y:-38.90, Z:-8.52 [[ 9.78536204e-01 2.06006172e-01 5.32497894e-03 2.67772389e+02] [-2.06003452e-01 9.78550690e-01 -1.06025748e-03 -3.88985239e+01] [-5.42918140e-03 -5.94637111e-05 9.99985260e-01 -8.52088822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.24420382200003 meters Centerline goodness [0,1] 0.9999351337326212 Centerline is valid? [True, True] Translation: X:267.80, Y:-38.90, Z:-8.52 [[ 9.78282872e-01 2.07203522e-01 5.41512838e-03 2.67799639e+02] [-2.07200728e-01 9.78297856e-01 -1.07820865e-03 -3.89027356e+01] [-5.52101712e-03 -6.72254857e-05 9.99984757e-01 -8.52256279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.27420382200006 meters Centerline goodness [0,1] 0.9999354199853618 Centerline is valid? [True, True] Translation: X:267.83, Y:-38.91, Z:-8.53 [[ 9.77909972e-01 2.08977344e-01 4.53391224e-03 2.67826849e+02] [-2.08975404e-01 9.77920480e-01 -9.02755254e-04 -3.89068993e+01] [-4.62246103e-03 -6.46627750e-05 9.99989314e-01 -8.52517145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.30420382200003 meters Centerline goodness [0,1] 0.9998921367705749 Centerline is valid? [True, True] Translation: X:267.85, Y:-38.91, Z:-8.53 [[ 9.77859480e-01 2.09207176e-01 4.81611056e-03 2.67854638e+02] [-2.09204992e-01 9.77871337e-01 -9.58524576e-04 -3.89092259e+01] [-4.91006670e-03 -7.02520309e-05 9.99987943e-01 -8.52802421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.33420382200006 meters Centerline goodness [0,1] 0.9999566940216097 Centerline is valid? [True, True] Translation: X:267.88, Y:-38.91, Z:-8.53 [[ 9.77917934e-01 2.08904230e-01 5.96124060e-03 2.67883600e+02] [-2.08900887e-01 9.77936100e-01 -1.18506422e-03 -3.89144560e+01] [-6.07727731e-03 -8.64128935e-05 9.99981529e-01 -8.52570809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.36420382200004 meters Centerline goodness [0,1] 0.9999141630901287 Centerline is valid? [True, True] Translation: X:267.91, Y:-38.92, Z:-8.53 [[ 9.78006452e-01 2.08506367e-01 5.33611783e-03 2.67911350e+02] [-2.08503681e-01 9.78021007e-01 -1.06105597e-03 -3.89211997e+01] [-5.44007226e-03 -7.48806220e-05 9.99985200e-01 -8.52500581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.39420382200007 meters Centerline goodness [0,1] 0.9999782906020016 Centerline is valid? [True, True] Translation: X:267.94, Y:-38.93, Z:-8.52 [[ 9.78065300e-01 2.08223558e-01 5.58736694e-03 2.67939703e+02] [-2.08220611e-01 9.78081256e-01 -1.11042182e-03 -3.89295769e+01] [-5.69611486e-03 -7.73399077e-05 9.99983774e-01 -8.52126048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.42420382200004 meters Centerline goodness [0,1] 0.9999355074488897 Centerline is valid? [True, True] Translation: X:267.97, Y:-38.93, Z:-8.53 [[ 9.78100633e-01 2.08041858e-01 6.14312034e-03 2.67967317e+02] [-2.08038291e-01 9.78119920e-01 -1.22113622e-03 -3.89321256e+01] [-6.26275582e-03 -8.36101431e-05 9.99980385e-01 -8.52822465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.45420382200007 meters Centerline goodness [0,1] 0.9999565529076967 Centerline is valid? [True, True] Translation: X:268.00, Y:-38.94, Z:-8.53 [[ 9.78215660e-01 2.07552006e-01 4.03567075e-03 2.67995120e+02] [-2.07550462e-01 9.78223984e-01 -8.02217864e-04 -3.89394014e+01] [-4.11429185e-03 -5.28632518e-05 9.99991535e-01 -8.52816888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.48420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.02, Y:-38.94, Z:-8.53 [[ 9.78389540e-01 2.06729591e-01 4.09694974e-03 2.68023499e+02] [-2.06727994e-01 9.78398116e-01 -8.14174173e-04 -3.89434489e+01] [-4.17676180e-03 -5.03747056e-05 9.99991276e-01 -8.52940295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.51420382200007 meters Centerline goodness [0,1] 0.9998697153279916 Centerline is valid? [True, True] Translation: X:268.05, Y:-38.95, Z:-8.53 [[ 9.78613669e-01 2.05634992e-01 5.43475834e-03 2.68051500e+02] [-2.05632169e-01 9.78628758e-01 -1.07925801e-03 -3.89516667e+01] [-5.54054402e-03 -6.13845077e-05 9.99984649e-01 -8.52993607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.54420382200004 meters Centerline goodness [0,1] 0.9999568658744366 Centerline is valid? [True, True] Translation: X:268.08, Y:-38.96, Z:-8.53 [[ 9.78864136e-01 2.04409945e-01 6.44815510e-03 2.68079040e+02] [-2.04405946e-01 9.78885371e-01 -1.28018334e-03 -3.89566858e+01] [-6.57368691e-03 -6.49156863e-05 9.99978391e-01 -8.52967164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.5742038220001 meters Centerline goodness [0,1] 0.9999568630834268 Centerline is valid? [True, True] Translation: X:268.11, Y:-38.96, Z:-8.53 [[ 9.79022527e-01 2.03623617e-01 7.23290670e-03 2.68107077e+02] [-2.03618571e-01 9.79049242e-01 -1.43503287e-03 -3.89630513e+01] [-7.37357841e-03 -6.78246251e-05 9.99972813e-01 -8.52524065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.60420382200004 meters Centerline goodness [0,1] 0.9999783867900061 Centerline is valid? [True, True] Translation: X:268.13, Y:-38.97, Z:-8.53 [[ 9.79249853e-01 2.02533144e-01 7.07462039e-03 2.68133961e+02] [-2.02528289e-01 9.79275407e-01 -1.40358163e-03 -3.89695294e+01] [-7.21227356e-03 -5.83536587e-05 9.99973990e-01 -8.52705647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.634203822 meters Centerline goodness [0,1] 0.9998925839993126 Centerline is valid? [True, True] Translation: X:268.16, Y:-38.98, Z:-8.54 [[ 9.79497084e-01 2.01391649e-01 5.18322156e-03 2.68160779e+02] [-2.01389026e-01 9.79510797e-01 -1.02851114e-03 -3.89773792e+01] [-5.28415504e-03 -3.64202812e-05 9.99986038e-01 -8.53701731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.66420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.19, Y:-38.99, Z:-8.53 [[ 9.79753914e-01 2.00133421e-01 5.37413622e-03 2.68188560e+02] [-2.00130587e-01 9.79768653e-01 -1.06565270e-03 -3.89853932e+01] [-5.47868292e-03 -3.14516330e-05 9.99984991e-01 -8.53393915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.694203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.22, Y:-38.99, Z:-8.54 [[ 9.79952791e-01 1.99152467e-01 5.55172509e-03 2.68215351e+02] [-1.99149424e-01 9.79968517e-01 -1.10131064e-03 -3.89912360e+01] [-5.65984453e-03 -2.63904137e-05 9.99983983e-01 -8.53667163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.72420382200005 meters Centerline goodness [0,1] 0.9999785972647305 Centerline is valid? [True, True] Translation: X:268.24, Y:-39.00, Z:-8.54 [[ 9.80109326e-01 1.98408514e-01 4.44638165e-03 2.68243980e+02] [-1.98406558e-01 9.80119412e-01 -8.81366737e-04 -3.89973928e+01] [-4.53285563e-03 -1.83555174e-05 9.99989726e-01 -8.53678064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.754203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.27, Y:-39.00, Z:-8.54 [[ 9.80058423e-01 1.98667208e-01 4.10220745e-03 2.68272440e+02] [-1.98665545e-01 9.80067008e-01 -8.13050433e-04 -3.90014140e+01] [-4.18196465e-03 -1.81303552e-05 9.99991255e-01 -8.53831096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.78420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.30, Y:-39.01, Z:-8.54 [[ 9.79991155e-01 1.99006615e-01 3.70185729e-03 2.68299406e+02] [-1.99005262e-01 9.79998146e-01 -7.33981112e-04 -3.90058317e+01] [-3.77388038e-03 -1.73940831e-05 9.99992879e-01 -8.54074855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.814203822 meters Centerline goodness [0,1] 0.9999784059254141 Centerline is valid? [True, True] Translation: X:268.33, Y:-39.01, Z:-8.54 [[ 9.79696534e-01 2.00471709e-01 2.40722305e-03 2.68328594e+02] [-2.00471141e-01 9.79699491e-01 -4.77448535e-04 -3.90077145e+01] [-2.45407012e-03 -1.48240771e-05 9.99996989e-01 -8.54425081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.84420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.36, Y:-39.01, Z:-8.54 [[ 9.79596656e-01 2.00957566e-01 2.53946554e-03 2.68356329e+02] [-2.00956934e-01 9.79599947e-01 -5.04213031e-04 -3.90119362e+01] [-2.58898573e-03 -1.63978097e-05 9.99996648e-01 -8.54325047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.874203822 meters Centerline goodness [0,1] 0.999957312387945 Centerline is valid? [True, True] Translation: X:268.38, Y:-39.02, Z:-8.55 [[ 9.79523101e-01 2.01308025e-01 3.09413970e-03 2.68383270e+02] [-2.01307092e-01 9.79527988e-01 -6.13255116e-04 -3.90161072e+01] [-3.15424961e-03 -2.21747111e-05 9.99995025e-01 -8.54772419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.90420382200006 meters Centerline goodness [0,1] 0.9999570095868622 Centerline is valid? [True, True] Translation: X:268.41, Y:-39.02, Z:-8.55 [[ 9.79523867e-01 2.01309337e-01 2.74671055e-03 2.68411462e+02] [-2.01308603e-01 9.79527718e-01 -5.44065050e-04 -3.90221452e+01] [-2.80000449e-03 -2.00117610e-05 9.99996080e-01 -8.54689453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.93420382200003 meters Centerline goodness [0,1] 0.9999139544388754 Centerline is valid? [True, True] Translation: X:268.44, Y:-39.03, Z:-8.55 [[ 9.79606121e-01 2.00903098e-01 3.12944397e-03 2.68438701e+02] [-2.00902143e-01 9.79611119e-01 -6.19838497e-04 -3.90252076e+01] [-3.19016558e-03 -2.15144145e-05 9.99994911e-01 -8.55145488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.96420382200006 meters Centerline goodness [0,1] 0.9999359494427601 Centerline is valid? [True, True] Translation: X:268.47, Y:-39.03, Z:-8.55 [[ 9.79784457e-01 2.00024901e-01 3.52932459e-03 2.68466652e+02] [-2.00023684e-01 9.79790814e-01 -6.98246188e-04 -3.90322598e+01] [-3.59766643e-03 -2.18177429e-05 9.99993528e-01 -8.54864767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.99420382200003 meters Centerline goodness [0,1] 0.9999359494427601 Centerline is valid? [True, True] Translation: X:268.49, Y:-39.04, Z:-8.55 [[ 9.79798635e-01 1.99955445e-01 3.52923394e-03 2.68493651e+02] [-1.99954225e-01 9.79804991e-01 -6.98705687e-04 -3.90374482e+01] [-3.59767103e-03 -2.10943589e-05 9.99993528e-01 -8.54948921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.02420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.52, Y:-39.05, Z:-8.55 [[ 9.80187156e-01 1.98059551e-01 2.35643815e-03 2.68521227e+02] [-1.98059002e-01 9.80189989e-01 -4.66475962e-04 -3.90458589e+01] [-2.40214710e-03 -9.48004218e-06 9.99997115e-01 -8.54779133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.05420382200003 meters Centerline goodness [0,1] 0.9999355282386315 Centerline is valid? [True, True] Translation: X:268.55, Y:-39.05, Z:-8.55 [[ 9.80394086e-01 1.97033321e-01 2.30365337e-03 2.68547864e+02] [-1.97032791e-01 9.80396792e-01 -4.57000689e-04 -3.90520481e+01] [-2.34853874e-03 -5.85448041e-06 9.99997242e-01 -8.54976412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.08420382200006 meters Centerline goodness [0,1] 0.9999783905264068 Centerline is valid? [True, True] Translation: X:268.57, Y:-39.06, Z:-8.55 [[ 9.80609398e-01 1.95957573e-01 2.41608742e-03 2.68574403e+02] [-1.95956990e-01 9.80612375e-01 -4.78227142e-04 -3.90585015e+01] [-2.46295745e-03 -4.49518842e-06 9.99996967e-01 -8.55293974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.11420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.60, Y:-39.07, Z:-8.56 [[ 9.80996179e-01 1.94009935e-01 2.57709228e-03 2.68600607e+02] [-1.94009266e-01 9.80999564e-01 -5.09742122e-04 -3.90674686e+01] [-2.62702144e-03 7.52937517e-08 9.99996549e-01 -8.55536582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.14420382200007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.63, Y:-39.08, Z:-8.55 [[ 9.81153441e-01 1.93191163e-01 3.88574945e-03 2.68628335e+02] [-1.93189640e-01 9.81161136e-01 -7.67150304e-04 -3.90756056e+01] [-3.96075301e-03 2.00562444e-06 9.99992156e-01 -8.54994014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.17420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.66, Y:-39.08, Z:-8.55 [[ 9.81167550e-01 1.93083032e-01 5.40203643e-03 2.68655411e+02] [-1.93080090e-01 9.81182421e-01 -1.06594056e-03 -3.90805570e+01] [-5.50619822e-03 2.84060801e-06 9.99984841e-01 -8.55020504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.20420382200007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.68, Y:-39.09, Z:-8.55 [[ 9.81276994e-01 1.92491729e-01 6.51123334e-03 2.68683151e+02] [-1.92487449e-01 9.81298596e-01 -1.28366184e-03 -3.90866998e+01] [-6.63655842e-03 6.29713715e-06 9.99977978e-01 -8.54886052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.23420382200004 meters Centerline goodness [0,1] 0.9998927521932176 Centerline is valid? [True, True] Translation: X:268.71, Y:-39.09, Z:-8.55 [[ 9.81276837e-01 1.92504177e-01 6.15715474e-03 2.68711430e+02] [-1.92500351e-01 9.81296154e-01 -1.21367416e-03 -3.90943157e+01] [-6.27562961e-03 5.69589301e-06 9.99980308e-01 -8.55115195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.26420382200007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.74, Y:-39.10, Z:-8.55 [[ 9.81334412e-01 1.92224083e-01 5.71616000e-03 2.68738392e+02] [-1.92220781e-01 9.81351059e-01 -1.12687016e-03 -3.91037227e+01] [-5.82617126e-03 7.07173261e-06 9.99983028e-01 -8.55221853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.29420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.77, Y:-39.11, Z:-8.55 [[ 9.81056934e-01 1.93650087e-01 5.18994722e-03 2.68766892e+02] [-1.93647387e-01 9.81070662e-01 -1.02264570e-03 -3.91086055e+01] [-5.28974038e-03 -1.74606555e-06 9.99986009e-01 -8.55321244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.3242038220001 meters Centerline goodness [0,1] 0.9999784543123694 Centerline is valid? [True, True] Translation: X:268.80, Y:-39.11, Z:-8.55 [[ 9.80415612e-01 1.96884625e-01 4.65527654e-03 2.68795542e+02] [-1.96882488e-01 9.80426664e-01 -9.17559616e-04 -3.91098930e+01] [-4.74481064e-03 -1.69526556e-05 9.99988743e-01 -8.55332040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.35420382200004 meters Centerline goodness [0,1] 0.9999783573206363 Centerline is valid? [True, True] Translation: X:268.82, Y:-39.11, Z:-8.55 [[ 9.79998710e-01 1.98946412e-01 4.78060968e-03 2.68824672e+02] [-1.98944186e-01 9.80010370e-01 -9.41620186e-04 -3.91131687e+01] [-4.87237902e-03 -2.82879326e-05 9.99988129e-01 -8.55216796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.384203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.85, Y:-39.11, Z:-8.55 [[ 9.79140755e-01 2.03116396e-01 5.20697599e-03 2.68853645e+02] [-2.03113814e-01 9.79154598e-01 -1.02550787e-03 -3.91104587e+01] [-5.30673194e-03 -5.34922053e-05 9.99985918e-01 -8.55470141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.41420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.88, Y:-39.11, Z:-8.55 [[ 9.78831522e-01 2.04597139e-01 5.37237764e-03 2.68882405e+02] [-2.04594417e-01 9.78846263e-01 -1.05734400e-03 -3.91146236e+01] [-5.47506133e-03 -6.41968363e-05 9.99985010e-01 -8.55338138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.444203822 meters Centerline goodness [0,1] 0.9999786201441002 Centerline is valid? [True, True] Translation: X:268.91, Y:-39.12, Z:-8.56 [[ 9.78468740e-01 2.06310959e-01 5.89177055e-03 2.68910271e+02] [-2.06307718e-01 9.78486475e-01 -1.15941276e-03 -3.91176578e+01] [-6.00421736e-03 -8.10685942e-05 9.99981971e-01 -8.55623733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.47420382200005 meters Centerline goodness [0,1] 0.9998921344436295 Centerline is valid? [True, True] Translation: X:268.94, Y:-39.13, Z:-8.55 [[ 9.78438249e-01 2.06464351e-01 5.57362100e-03 2.68937681e+02] [-2.06461453e-01 9.78454120e-01 -1.09656738e-03 -3.91254861e+01] [-5.67993451e-03 -7.78144264e-05 9.99983866e-01 -8.55395447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.504203822 meters Centerline goodness [0,1] 0.9999572082673628 Centerline is valid? [True, True] Translation: X:268.97, Y:-39.13, Z:-8.56 [[ 9.78423724e-01 2.06524012e-01 5.90322680e-03 2.68965719e+02] [-2.06520766e-01 9.78441529e-01 -1.16091824e-03 -3.91276804e+01] [-6.01571975e-03 -8.32689774e-05 9.99981902e-01 -8.55818848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.53420382200005 meters Centerline goodness [0,1] 0.9999145846679479 Centerline is valid? [True, True] Translation: X:268.99, Y:-39.13, Z:-8.56 [[ 9.78399452e-01 2.06619122e-01 6.56133066e-03 2.68994274e+02] [-2.06615120e-01 9.78421448e-01 -1.28935422e-03 -3.91318983e+01] [-6.68615188e-03 -9.41666559e-05 9.99977643e-01 -8.55854674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.564203822 meters Centerline goodness [0,1] 0.9999363435749449 Centerline is valid? [True, True] Translation: X:269.02, Y:-39.14, Z:-8.56 [[ 9.78330934e-01 2.06967483e-01 5.74850538e-03 2.69023037e+02] [-2.06964418e-01 9.78347819e-01 -1.12954507e-03 -3.91369876e+01] [-5.85781680e-03 -8.46671855e-05 9.99982839e-01 -8.56007108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.59420382200005 meters Centerline goodness [0,1] 0.9999782182531038 Centerline is valid? [True, True] Translation: X:269.05, Y:-39.14, Z:-8.56 [[ 9.78349714e-01 2.06900941e-01 4.88235369e-03 2.69050684e+02] [-2.06898729e-01 9.78361894e-01 -9.59403266e-04 -3.91449221e+01] [-4.97521024e-03 -7.15208590e-05 9.99987621e-01 -8.55842423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.624203822 meters Centerline goodness [0,1] 0.9999572137600548 Centerline is valid? [True, True] Translation: X:269.08, Y:-39.15, Z:-8.56 [[ 9.78661410e-01 2.05377589e-01 6.47227646e-03 2.69077746e+02] [-2.05373672e-01 9.78682808e-01 -1.27129060e-03 -3.91497671e+01] [-6.59540030e-03 -8.50721258e-05 9.99978246e-01 -8.56131911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.65420382200006 meters Centerline goodness [0,1] 0.9998052664603934 Centerline is valid? [True, True] Translation: X:269.11, Y:-39.16, Z:-8.56 [[ 9.78839592e-01 2.04530224e-01 6.35929790e-03 2.69105646e+02] [-2.04526429e-01 9.78860246e-01 -1.24839038e-03 -3.91575602e+01] [-6.48019747e-03 -7.86705572e-05 9.99979000e-01 -8.56247264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.68420382200003 meters Centerline goodness [0,1] 0.9999351281219592 Centerline is valid? [True, True] Translation: X:269.13, Y:-39.17, Z:-8.56 [[ 9.79349672e-01 2.02123066e-01 4.52606926e-03 2.69133539e+02] [-2.02121117e-01 9.79360130e-01 -8.88714623e-04 -3.91664673e+01] [-4.61228150e-03 -4.44518012e-05 9.99989362e-01 -8.56255415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.71420382200006 meters Centerline goodness [0,1] 0.9998706506273445 Centerline is valid? [True, True] Translation: X:269.16, Y:-39.17, Z:-8.57 [[ 9.79443541e-01 2.01650086e-01 5.25285985e-03 2.69161229e+02] [-2.01647457e-01 9.79457626e-01 -1.03090737e-03 -3.91717707e+01] [-5.35283619e-03 -4.95102691e-05 9.99985672e-01 -8.56602287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.74420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.19, Y:-39.18, Z:-8.56 [[ 9.79576764e-01 2.00971649e-01 6.30550747e-03 2.69189661e+02] [-2.00967850e-01 9.79597057e-01 -1.23689359e-03 -3.91765965e+01] [-6.42543710e-03 -5.55720563e-05 9.99979355e-01 -8.56074014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.77420382200006 meters Centerline goodness [0,1] 0.9999785839722448 Centerline is valid? [True, True] Translation: X:269.22, Y:-39.18, Z:-8.56 [[ 9.79569967e-01 2.01003499e-01 6.34610709e-03 2.69216442e+02] [-2.00999648e-01 9.79590522e-01 -1.24542240e-03 -3.91794781e+01] [-6.46692062e-03 -5.55869170e-05 9.99979088e-01 -8.56381731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.80420382200003 meters Centerline goodness [0,1] 0.9998260264439806 Centerline is valid? [True, True] Translation: X:269.25, Y:-39.19, Z:-8.56 [[ 9.79490863e-01 2.01359806e-01 7.20263052e-03 2.69245002e+02] [-2.01354871e-01 9.79517342e-01 -1.41137843e-03 -3.91861248e+01] [-7.33929639e-03 -6.78524548e-05 9.99973065e-01 -8.56389702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.83420382200006 meters Centerline goodness [0,1] 0.9999785421539386 Centerline is valid? [True, True] Translation: X:269.27, Y:-39.19, Z:-8.56 [[ 9.79480897e-01 2.01417999e-01 6.92545092e-03 2.69272235e+02] [-2.01413435e-01 9.79505378e-01 -1.35743108e-03 -3.91907170e+01] [-7.05692748e-03 -6.53010448e-05 9.99975097e-01 -8.56448532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.86420382200004 meters Centerline goodness [0,1] 0.9999569883223295 Centerline is valid? [True, True] Translation: X:269.30, Y:-39.19, Z:-8.57 [[ 9.79649394e-01 2.00637528e-01 5.62563237e-03 2.69299756e+02] [-2.00634504e-01 9.79665545e-01 -1.10258010e-03 -3.91942872e+01] [-5.73245715e-03 -4.85540337e-05 9.99983568e-01 -8.56895934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.89420382200007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.33, Y:-39.20, Z:-8.56 [[ 9.80095470e-01 1.98444149e-01 5.72613174e-03 2.69327551e+02] [-1.98440983e-01 9.80112197e-01 -1.12166664e-03 -3.92027593e+01] [-5.83483974e-03 -3.69588175e-05 9.99982976e-01 -8.56473658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.92420382200004 meters Centerline goodness [0,1] 0.9999134292825452 Centerline is valid? [True, True] Translation: X:269.35, Y:-39.21, Z:-8.57 [[ 9.80323347e-01 1.97273352e-01 7.02569867e-03 2.69354645e+02] [-1.97268558e-01 9.80348521e-01 -1.37580731e-03 -3.92073343e+01] [-7.15904342e-03 -3.72134179e-05 9.99974373e-01 -8.57170343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.95420382200007 meters Centerline goodness [0,1] 0.9999568146484712 Centerline is valid? [True, True] Translation: X:269.38, Y:-39.21, Z:-8.57 [[ 9.80573065e-01 1.96022221e-01 7.19396144e-03 2.69382396e+02] [-1.96017168e-01 9.80599453e-01 -1.40788288e-03 -3.92144394e+01] [-7.33037099e-03 -2.96079159e-05 9.99973132e-01 -8.57059954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.98420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.41, Y:-39.22, Z:-8.57 [[ 9.80786823e-01 1.94986494e-01 6.12159837e-03 2.69410386e+02] [-1.94982815e-01 9.80805927e-01 -1.19799307e-03 -3.92224486e+01] [-6.23769244e-03 -1.86306623e-05 9.99980545e-01 -8.56807384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.01420382200007 meters Centerline goodness [0,1] 0.9999785977227977 Centerline is valid? [True, True] Translation: X:269.44, Y:-39.23, Z:-8.57 [[ 9.80604841e-01 1.95872028e-01 6.94939794e-03 2.69438557e+02] [-1.95867313e-01 9.80629465e-01 -1.35942150e-03 -3.92256521e+01] [-7.08105704e-03 -2.81045978e-05 9.99974929e-01 -8.57120272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.04420382200004 meters Centerline goodness [0,1] 0.9999784021943371 Centerline is valid? [True, True] Translation: X:269.47, Y:-39.23, Z:-8.57 [[ 9.80454573e-01 1.96608132e-01 7.35346257e-03 2.69467740e+02] [-1.96602879e-01 9.80482147e-01 -1.43766849e-03 -3.92293671e+01] [-7.49259608e-03 -3.61432646e-05 9.99971929e-01 -8.57038079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.0742038220001 meters Centerline goodness [0,1] 0.9999787197820905 Centerline is valid? [True, True] Translation: X:269.50, Y:-39.23, Z:-8.58 [[ 9.80185722e-01 1.97955169e-01 7.04988780e-03 2.69496093e+02] [-1.97950368e-01 9.80211074e-01 -1.37925376e-03 -3.92310277e+01] [-7.18340850e-03 -4.36030495e-05 9.99974198e-01 -8.57503214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.10420382200004 meters Centerline goodness [0,1] 0.9999783174327841 Centerline is valid? [True, True] Translation: X:269.52, Y:-39.24, Z:-8.57 [[ 9.80063756e-01 1.98596814e-01 5.85994537e-03 2.69524543e+02] [-1.98593514e-01 9.80081274e-01 -1.14555337e-03 -3.92369603e+01] [-5.97072598e-03 -4.10318083e-05 9.99982174e-01 -8.57044266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.134203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.55, Y:-39.24, Z:-8.57 [[ 9.79833953e-01 1.99722397e-01 6.03230125e-03 2.69552701e+02] [-1.99718918e-01 9.79852520e-01 -1.17976144e-03 -3.92387104e+01] [-6.14639037e-03 -4.87943635e-05 9.99981110e-01 -8.57381428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.16420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.58, Y:-39.24, Z:-8.57 [[ 9.79821282e-01 1.99758432e-01 6.84278299e-03 2.69581232e+02] [-1.99753969e-01 9.79845174e-01 -1.33643389e-03 -3.92442012e+01] [-6.97183183e-03 -5.74066973e-05 9.99975695e-01 -8.57296430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.194203822 meters Centerline goodness [0,1] 0.9998700792516565 Centerline is valid? [True, True] Translation: X:269.61, Y:-39.25, Z:-8.58 [[ 9.80063910e-01 1.98576095e-01 6.50132623e-03 2.69606734e+02] [-1.98572036e-01 9.80085472e-01 -1.27037629e-03 -3.92516017e+01] [-6.62412174e-03 -4.59316388e-05 9.99978059e-01 -8.57842372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.22420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.63, Y:-39.26, Z:-8.58 [[ 9.80340554e-01 1.97229843e-01 5.72597163e-03 2.69634278e+02] [-1.97226679e-01 9.80357276e-01 -1.11773620e-03 -3.92599010e+01] [-5.83394888e-03 -3.35522369e-05 9.99982982e-01 -8.57742474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.254203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.66, Y:-39.27, Z:-8.58 [[ 9.80554061e-01 1.96157198e-01 6.00718879e-03 2.69662331e+02] [-1.96153697e-01 9.80572462e-01 -1.17229622e-03 -3.92685918e+01] [-6.12043824e-03 -2.88324714e-05 9.99981270e-01 -8.57659609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.28420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.69, Y:-39.28, Z:-8.58 [[ 9.80499078e-01 1.96416953e-01 6.47592317e-03 2.69690162e+02] [-1.96412893e-01 9.80520464e-01 -1.26333984e-03 -3.92752373e+01] [-6.59791655e-03 -3.32512542e-05 9.99978233e-01 -8.57541201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.314203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.72, Y:-39.28, Z:-8.57 [[ 9.79992977e-01 1.98875280e-01 7.89858421e-03 2.69718603e+02] [-1.98869326e-01 9.80024805e-01 -1.54013065e-03 -3.92789024e+01] [-8.04710237e-03 -6.14688956e-05 9.99967620e-01 -8.57367289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.34420382200005 meters Centerline goodness [0,1] 0.999956771711408 Centerline is valid? [True, True] Translation: X:269.75, Y:-39.28, Z:-8.57 [[ 9.79592954e-01 2.00797984e-01 8.82124416e-03 2.69745875e+02] [-2.00790630e-01 9.79632667e-01 -1.72063532e-03 -3.92805385e+01] [-8.98707905e-03 -8.57009445e-05 9.99959612e-01 -8.57453708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.374203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.77, Y:-39.28, Z:-8.57 [[ 9.78742585e-01 2.04896523e-01 8.96475192e-03 2.69774532e+02] [-2.04889118e-01 9.78783632e-01 -1.74666253e-03 -3.92821845e+01] [-9.13243753e-03 -1.27247113e-04 9.99958290e-01 -8.57213927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.40420382200006 meters Centerline goodness [0,1] 0.9999571972777469 Centerline is valid? [True, True] Translation: X:269.80, Y:-39.28, Z:-8.57 [[ 9.77860282e-01 2.09022864e-01 9.93537541e-03 2.69802926e+02] [-2.09013989e-01 9.77910736e-01 -1.93490615e-03 -3.92814508e+01] [-1.01203499e-02 -1.84564581e-04 9.99948771e-01 -8.57390727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.43420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.83, Y:-39.29, Z:-8.57 [[ 9.77496053e-01 2.10677926e-01 1.07832148e-02 2.69831434e+02] [-2.10667585e-01 9.77555504e-01 -2.09891072e-03 -3.92856570e+01] [-1.09833851e-02 -2.19996879e-04 9.99939657e-01 -8.57166020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.46420382200006 meters Centerline goodness [0,1] 0.9999785605557104 Centerline is valid? [True, True] Translation: X:269.86, Y:-39.28, Z:-8.58 [[ 9.77125834e-01 2.12378053e-01 1.09848104e-02 2.69860024e+02] [-2.12367434e-01 9.77187548e-01 -2.13779778e-03 -3.92843783e+01] [-1.11882413e-02 -2.43918556e-04 9.99937380e-01 -8.57508864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.49420382200003 meters Centerline goodness [0,1] 0.9998067383881981 Centerline is valid? [True, True] Translation: X:269.89, Y:-39.29, Z:-8.58 [[ 9.76771464e-01 2.14121063e-01 8.34726540e-03 2.69889809e+02] [-2.14115002e-01 9.76807110e-01 -1.62357586e-03 -3.92853375e+01] [-8.50130998e-03 -2.01412181e-04 9.99963843e-01 -8.58059857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.52420382200006 meters Centerline goodness [0,1] 0.9998702001081666 Centerline is valid? [True, True] Translation: X:269.92, Y:-39.29, Z:-8.58 [[ 9.76823681e-01 2.13913551e-01 7.51588905e-03 2.69918674e+02] [-2.13908628e-01 9.76852579e-01 -1.46239076e-03 -3.92905856e+01] [-7.65474080e-03 -1.79215590e-04 9.99970686e-01 -8.57882625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.55420382200003 meters Centerline goodness [0,1] 0.9997866803191262 Centerline is valid? [True, True] Translation: X:269.95, Y:-39.29, Z:-8.58 [[ 9.76983054e-01 2.13176706e-01 7.73338094e-03 2.69947163e+02] [-2.13171466e-01 9.77013644e-01 -1.50524825e-03 -3.92913282e+01] [-7.87650256e-03 -1.77934125e-04 9.99968964e-01 -8.58404723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.58420382200006 meters Centerline goodness [0,1] 0.9999783951950914 Centerline is valid? [True, True] Translation: X:269.97, Y:-39.30, Z:-8.58 [[ 9.77314790e-01 2.11664993e-01 7.33026372e-03 2.69974245e+02] [-2.11660255e-01 9.77342266e-01 -1.42519207e-03 -3.93011390e+01] [-7.46583983e-03 -1.58664204e-04 9.99972118e-01 -8.58258454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.61420382200004 meters Centerline goodness [0,1] 0.9999565018812936 Centerline is valid? [True, True] Translation: X:270.00, Y:-39.31, Z:-8.58 [[ 9.78113214e-01 2.07910852e-01 8.22299265e-03 2.70002997e+02] [-2.07904768e-01 9.78147768e-01 -1.59732422e-03 -3.93112378e+01] [-8.37540295e-03 -1.47235453e-04 9.99964915e-01 -8.58218837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.64420382200007 meters Centerline goodness [0,1] 0.9999353029976278 Centerline is valid? [True, True] Translation: X:270.03, Y:-39.32, Z:-8.58 [[ 9.78650895e-01 2.05353427e-01 8.50857838e-03 2.70030331e+02] [-2.05346811e-01 9.78687873e-01 -1.65350306e-03 -3.93185050e+01] [-8.66679500e-03 -1.29007181e-04 9.99962434e-01 -8.58304066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.67420382200004 meters Centerline goodness [0,1] 0.9999784997097461 Centerline is valid? [True, True] Translation: X:270.06, Y:-39.33, Z:-8.58 [[ 9.79900218e-01 1.99290230e-01 8.88637496e-03 2.70057952e+02] [-1.99282773e-01 9.79940507e-01 -1.72585181e-03 -3.93299714e+01] [-9.05206419e-03 -7.97388867e-05 9.99959026e-01 -8.58406675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.70420382200007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:270.09, Y:-39.34, Z:-8.58 [[ 9.80565046e-01 1.95974074e-01 9.29265837e-03 2.70085629e+02] [-1.95965768e-01 9.80609076e-01 -1.80502264e-03 -3.93386209e+01] [-9.46620277e-03 -5.11008222e-05 9.99955193e-01 -8.58388492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.73420382200004 meters Centerline goodness [0,1] 0.999978787493106 Centerline is valid? [True, True] Translation: X:270.11, Y:-39.35, Z:-8.59 [[ 9.81734056e-01 1.90023658e-01 9.44734229e-03 2.70111361e+02] [-1.90014799e-01 9.81779512e-01 -1.83489076e-03 -3.93499367e+01] [-9.62387975e-03 6.23990782e-06 9.99953689e-01 -8.58760358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.76420382200007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:270.14, Y:-39.36, Z:-8.59 [[ 9.82301237e-01 1.87108461e-01 8.64312700e-03 2.70138967e+02] [-1.87100940e-01 9.82339261e-01 -1.67793522e-03 -3.93605273e+01] [-8.80443886e-03 3.11006604e-05 9.99961240e-01 -8.58549244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.79420382200004 meters Centerline goodness [0,1] 0.9998701101898556 Centerline is valid? [True, True] Translation: X:270.16, Y:-39.37, Z:-8.59 [[ 9.83144121e-01 1.82631096e-01 8.57436612e-03 2.70164476e+02] [-1.82623525e-01 9.83181508e-01 -1.66442624e-03 -3.93726209e+01] [-8.73413420e-03 7.04899107e-05 9.99961854e-01 -8.58989257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.8242038220001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:270.19, Y:-39.38, Z:-8.59 [[ 9.83445888e-01 1.80957092e-01 9.41897384e-03 2.70192796e+02] [-1.80947892e-01 9.83490987e-01 -1.82704798e-03 -3.93812678e+01] [-9.59409317e-03 9.24593645e-05 9.99953971e-01 -8.58663784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.85420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:270.22, Y:-39.39, Z:-8.59 [[ 9.83922367e-01 1.78371974e-01 8.95624095e-03 2.70220213e+02] [-1.78363551e-01 9.83963122e-01 -1.73702134e-03 -3.93930805e+01] [-9.12244673e-03 1.11627213e-04 9.99958383e-01 -8.58701683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.884203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:270.25, Y:-39.40, Z:-8.59 [[ 9.83931206e-01 1.78323213e-01 8.95625394e-03 2.70248039e+02] [-1.78314788e-01 9.83971961e-01 -1.73695443e-03 -3.93983843e+01] [-9.12244205e-03 1.12011142e-04 9.99958383e-01 -8.58788388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.91420382200005 meters Centerline goodness [0,1] 0.9998921530563823 Centerline is valid? [True, True] Translation: X:270.28, Y:-39.41, Z:-8.59 [[ 9.83984312e-01 1.78015222e-01 9.24411614e-03 2.70275900e+02] [-1.78006241e-01 9.84027727e-01 -1.79198516e-03 -3.94058031e+01] [-9.41546723e-03 1.17774914e-04 9.99955667e-01 -8.59348810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.944203822 meters Centerline goodness [0,1] 0.9999783146116147 Centerline is valid? [True, True] Translation: X:270.30, Y:-39.41, Z:-8.59 [[ 9.83725387e-01 1.79439367e-01 9.26694080e-03 2.70304150e+02] [-1.79430406e-01 9.83769029e-01 -1.79631795e-03 -3.94102704e+01] [-9.43885951e-03 1.04312619e-04 9.99955448e-01 -8.59176507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.97420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:270.33, Y:-39.41, Z:-8.59 [[ 9.83079816e-01 1.82966868e-01 8.78639425e-03 2.70331884e+02] [-1.82958956e-01 9.83119078e-01 -1.70279209e-03 -3.94129951e+01] [-8.94962635e-03 6.64310081e-05 9.99959949e-01 -8.59225477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.004203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:270.36, Y:-39.42, Z:-8.60 [[ 9.82571681e-01 1.85671073e-01 8.89628002e-03 2.70359297e+02] [-1.85663075e-01 9.82611953e-01 -1.72392675e-03 -3.94154276e+01] [-9.06167442e-03 4.21709065e-05 9.99958941e-01 -8.59536931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.03420382200005 meters Centerline goodness [0,1] 0.9999784543123694 Centerline is valid? [True, True] Translation: X:270.39, Y:-39.41, Z:-8.60 [[ 9.81430913e-01 1.91657475e-01 7.79586706e-03 2.70388824e+02] [-1.91651526e-01 9.81461875e-01 -1.51009130e-03 -3.94148161e+01] [-7.94076659e-03 -1.20395341e-05 9.99968472e-01 -8.59665275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.064203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:270.42, Y:-39.42, Z:-8.60 [[ 9.80895201e-01 1.94432367e-01 6.37639529e-03 2.70416539e+02] [-1.94428444e-01 9.80915926e-01 -1.23538690e-03 -3.94166869e+01] [-6.49490689e-03 -2.79675318e-05 9.99978907e-01 -8.60110173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.09420382200005 meters Centerline goodness [0,1] 0.9999782580336566 Centerline is valid? [True, True] Translation: X:270.45, Y:-39.42, Z:-8.60 [[ 9.80417453e-01 1.96846262e-01 5.75902227e-03 2.70445769e+02] [-1.96843107e-01 9.80434367e-01 -1.11529491e-03 -3.94187676e+01] [-5.86588498e-03 -4.01692417e-05 9.99982795e-01 -8.60113973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.124203822 meters Centerline goodness [0,1] 0.9999570206730563 Centerline is valid? [True, True] Translation: X:270.47, Y:-39.42, Z:-8.61 [[ 9.79734379e-01 2.00222870e-01 5.59896919e-03 2.70474106e+02] [-2.00219943e-01 9.79750376e-01 -1.08436138e-03 -3.94168732e+01] [-5.70270612e-03 -5.86391683e-05 9.99983738e-01 -8.60566923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.15420382200006 meters Centerline goodness [0,1] 0.9998921041841997 Centerline is valid? [True, True] Translation: X:270.50, Y:-39.42, Z:-8.61 [[ 9.79264755e-01 2.02526834e-01 4.83950719e-03 2.70503447e+02] [-2.02524677e-01 9.79276711e-01 -9.36858932e-04 -3.94171059e+01] [-4.92895576e-03 -6.26866961e-05 9.99987851e-01 -8.61000313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.18420382200003 meters Centerline goodness [0,1] 0.9999784087228759 Centerline is valid? [True, True] Translation: X:270.53, Y:-39.42, Z:-8.61 [[ 9.79149485e-01 2.03078426e-01 5.04371797e-03 2.70531892e+02] [-2.03076092e-01 9.79162473e-01 -9.76113905e-04 -3.94223119e+01] [-5.13684704e-03 -6.84971067e-05 9.99986804e-01 -8.60549467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.21420382200006 meters Centerline goodness [0,1] 0.9998933992836432 Centerline is valid? [True, True] Translation: X:270.56, Y:-39.43, Z:-8.61 [[ 9.79133000e-01 2.03109628e-01 6.71166989e-03 2.70559742e+02] [-2.03105495e-01 9.79155999e-01 -1.29892451e-03 -3.94259120e+01] [-6.83559591e-03 -9.13571820e-05 9.99976633e-01 -8.60628367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.24420382200003 meters Centerline goodness [0,1] 0.9999784770349963 Centerline is valid? [True, True] Translation: X:270.59, Y:-39.43, Z:-8.60 [[ 9.79270972e-01 2.02423179e-01 7.29514899e-03 2.70587311e+02] [-2.02418290e-01 9.79298140e-01 -1.41016336e-03 -3.94340566e+01] [-7.42957559e-03 -9.57395338e-05 9.99972396e-01 -8.60327340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.27420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:270.62, Y:-39.44, Z:-8.60 [[ 9.79838687e-01 1.99632241e-01 7.94458625e-03 2.70615312e+02] [-1.99626355e-01 9.79870890e-01 -1.53515558e-03 -3.94427747e+01] [-8.09113536e-03 -8.17439620e-05 9.99967263e-01 -8.60368602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.30420382200003 meters Centerline goodness [0,1] 0.9999567773167358 Centerline is valid? [True, True] Translation: X:270.64, Y:-39.45, Z:-8.60 [[ 9.80324815e-01 1.97224012e-01 8.12066702e-03 2.70642849e+02] [-1.97217783e-01 9.80358447e-01 -1.56874511e-03 -3.94505518e+01] [-8.27055872e-03 -6.36601837e-05 9.99965796e-01 -8.60410978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.33420382200006 meters Centerline goodness [0,1] 0.999978410587448 Centerline is valid? [True, True] Translation: X:270.67, Y:-39.46, Z:-8.61 [[ 9.81451653e-01 1.91543187e-01 7.99129042e-03 2.70669132e+02] [-1.91536970e-01 9.81484186e-01 -1.54336996e-03 -3.94649454e+01] [-8.13894717e-03 -1.58845563e-05 9.99966878e-01 -8.60603139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.36420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:270.70, Y:-39.48, Z:-8.61 [[ 9.82038157e-01 1.88537992e-01 7.38127707e-03 2.70696476e+02] [-1.88532604e-01 9.82065897e-01 -1.42530017e-03 -3.94764023e+01] [-7.51762371e-03 8.08776128e-06 9.99971742e-01 -8.60774890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.39420382200007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:270.72, Y:-39.49, Z:-8.61 [[ 9.82882401e-01 1.84091549e-01 7.24487559e-03 2.70721838e+02] [-1.84086238e-01 9.82909101e-01 -1.39890002e-03 -3.94912680e+01] [-7.37857982e-03 4.12723123e-05 9.99972777e-01 -8.61088785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.42420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:270.75, Y:-39.50, Z:-8.61 [[ 9.83262800e-01 1.82036170e-01 7.55644056e-03 2.70749651e+02] [-1.82030338e-01 9.83291833e-01 -1.45821640e-03 -3.95010615e+01] [-7.69563442e-03 5.83085073e-05 9.99970386e-01 -8.60880018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.45420382200007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:270.78, Y:-39.51, Z:-8.61 [[ 9.83278878e-01 1.81948545e-01 7.57463503e-03 2.70776671e+02] [-1.81942688e-01 9.83308051e-01 -1.46104334e-03 -3.95093002e+01] [-7.71403431e-03 5.84635946e-05 9.99970245e-01 -8.61195259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.48420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:270.81, Y:-39.52, Z:-8.61 [[ 9.83268221e-01 1.82009886e-01 7.48373023e-03 2.70805301e+02] [-1.82004175e-01 9.83296699e-01 -1.44294768e-03 -3.95203313e+01] [-7.62135797e-03 5.67344511e-05 9.99970955e-01 -8.61095267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.51420382200007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:270.83, Y:-39.53, Z:-8.61 [[ 9.83209709e-01 1.82331113e-01 7.35078469e-03 2.70834303e+02] [-1.82325613e-01 9.83237185e-01 -1.41714483e-03 -3.95280720e+01] [-7.48595444e-03 5.31142318e-05 9.99971978e-01 -8.61180815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.54420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:270.86, Y:-39.54, Z:-8.62 [[ 9.82762270e-01 1.84742783e-01 6.95873609e-03 2.70861549e+02] [-1.84737914e-01 9.82786906e-01 -1.34171698e-03 -3.95358744e+01] [-7.08682724e-03 3.30464315e-05 9.99974888e-01 -8.61536409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.5742038220001 meters Centerline goodness [0,1] 0.9999783568522206 Centerline is valid? [True, True] Translation: X:270.89, Y:-39.54, Z:-8.62 [[ 9.82350841e-01 1.86924776e-01 6.77884300e-03 2.70890457e+02] [-1.86920211e-01 9.82374230e-01 -1.30651294e-03 -3.95402815e+01] [-6.90358031e-03 1.63513220e-05 9.99976170e-01 -8.61559860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.60420382200004 meters Centerline goodness [0,1] 0.9999785481379784 Centerline is valid? [True, True] Translation: X:270.92, Y:-39.54, Z:-8.62 [[ 9.81325566e-01 1.92209633e-01 7.45585562e-03 2.70918815e+02] [-1.92204260e-01 9.81353890e-01 -1.43730280e-03 -3.95426769e+01] [-7.59309636e-03 -2.25852296e-05 9.99971172e-01 -8.61739408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.634203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:270.95, Y:-39.55, Z:-8.61 [[ 9.80725972e-01 1.95246377e-01 7.44446775e-03 2.70947621e+02] [-1.95241111e-01 9.80754225e-01 -1.43474948e-03 -3.95466138e+01] [-7.58132284e-03 -4.63700779e-05 9.99971260e-01 -8.61367594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.66420382200005 meters Centerline goodness [0,1] 0.9999784728650464 Centerline is valid? [True, True] Translation: X:270.98, Y:-39.55, Z:-8.62 [[ 9.79360665e-01 2.02014095e-01 6.55698041e-03 2.70976545e+02] [-2.02010162e-01 9.79382611e-01 -1.26354457e-03 -3.95461785e+01] [-6.67704640e-03 -8.71108306e-05 9.99977704e-01 -8.61744454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.694203822 meters Centerline goodness [0,1] 0.9999783615354655 Centerline is valid? [True, True] Translation: X:271.00, Y:-39.55, Z:-8.62 [[ 9.78738459e-01 2.05015667e-01 6.29328921e-03 2.71004656e+02] [-2.05012106e-01 9.78758686e-01 -1.21274366e-03 -3.95498093e+01] [-6.40824293e-03 -1.03241613e-04 9.99979462e-01 -8.61840235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.72420382200005 meters Centerline goodness [0,1] 0.9999566075806556 Centerline is valid? [True, True] Translation: X:271.03, Y:-39.55, Z:-8.62 [[ 9.78100371e-01 2.08030929e-01 6.54185978e-03 2.71032733e+02] [-2.08027150e-01 9.78122240e-01 -1.26048022e-03 -3.95535521e+01] [-6.66095741e-03 -1.28008272e-04 9.99977807e-01 -8.61771650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.754203822 meters Centerline goodness [0,1] 0.9998494558905759 Centerline is valid? [True, True] Translation: X:271.06, Y:-39.55, Z:-8.62 [[ 9.77049986e-01 2.12838313e-01 8.55437118e-03 2.71062361e+02] [-2.12832051e-01 9.77087410e-01 -1.64632271e-03 -3.95509670e+01] [-8.70876893e-03 -2.12104778e-04 9.99962055e-01 -8.61708155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.78420382200005 meters Centerline goodness [0,1] 0.9994848790538945 Centerline is valid? [True, True] Translation: X:271.09, Y:-39.55, Z:-8.62 [[ 9.76294608e-01 2.16285422e-01 8.33396490e-03 2.71092020e+02] [-2.16279612e-01 9.76330149e-01 -1.60295393e-03 -3.95536155e+01] [-8.48339676e-03 -2.37511416e-04 9.99963987e-01 -8.61838477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.814203822 meters Centerline goodness [0,1] 0.9998060386629598 Centerline is valid? [True, True] Translation: X:271.12, Y:-39.56, Z:-8.62 [[ 9.76076293e-01 2.17286033e-01 7.86445906e-03 2.71119539e+02] [-2.17280889e-01 9.76107948e-01 -1.51307749e-03 -3.95615190e+01] [-8.00533160e-03 -2.31917586e-04 9.99967930e-01 -8.61742337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.84420382200005 meters Centerline goodness [0,1] 0.9981844903605084 Centerline is valid? [True, True] Translation: X:271.15, Y:-39.56, Z:-8.62 [[ 9.75870046e-01 2.18197847e-01 8.20686667e-03 2.71147262e+02] [-2.18192275e-01 9.75904523e-01 -1.57911806e-03 -3.95616791e+01] [-8.35367846e-03 -2.49660903e-04 9.99965076e-01 -8.62060524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.874203822 meters Centerline goodness [0,1] 0.9948002131060203 Centerline is valid? [True, True] Translation: X:271.18, Y:-39.56, Z:-8.62 [[ 9.75755095e-01 2.18678234e-01 9.04564059e-03 2.71175086e+02] [-2.18671488e-01 9.75796983e-01 -1.74032364e-03 -3.95611835e+01] [-9.20727970e-03 -2.79894027e-04 9.99957573e-01 -8.62315154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.90420382200006 meters Centerline goodness [0,1] 0.9993958355809688 Centerline is valid? [True, True] Translation: X:271.20, Y:-39.57, Z:-8.62 [[ 9.76058231e-01 2.17360719e-01 8.04034375e-03 2.71202490e+02] [-2.17355361e-01 9.76091318e-01 -1.54486363e-03 -3.95715788e+01] [-8.18390240e-03 -2.39734957e-04 9.99966483e-01 -8.62284993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.93420382200003 meters Centerline goodness [0,1] 0.9994190424959656 Centerline is valid? [True, True] Translation: X:271.23, Y:-39.58, Z:-8.62 [[ 9.76255126e-01 2.16473639e-01 8.06795089e-03 2.71230475e+02] [-2.16468217e-01 9.76288435e-01 -1.54975988e-03 -3.95756530e+01] [-8.21212931e-03 -2.33493921e-04 9.99966253e-01 -8.62433370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.96420382200006 meters Centerline goodness [0,1] 0.99958852192745 Centerline is valid? [True, True] Translation: X:271.26, Y:-39.58, Z:-8.63 [[ 9.76544718e-01 2.15182596e-01 7.54083272e-03 2.71258844e+02] [-2.15177823e-01 9.76573810e-01 -1.44823963e-03 -3.95818525e+01] [-7.67581570e-03 -2.08349204e-04 9.99970519e-01 -8.62679425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.99420382200003 meters Centerline goodness [0,1] 0.9997391417764445 Centerline is valid? [True, True] Translation: X:271.29, Y:-39.59, Z:-8.63 [[ 9.77213205e-01 2.12135023e-01 7.28583037e-03 2.71286536e+02] [-2.12130484e-01 9.77240349e-01 -1.39923267e-03 -3.95866268e+01] [-7.41683367e-03 -1.78198076e-04 9.99972479e-01 -8.62694539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.02420382200006 meters Centerline goodness [0,1] 0.999527765256402 Centerline is valid? [True, True] Translation: X:271.31, Y:-39.59, Z:-8.63 [[ 9.77585107e-01 2.10420990e-01 7.09682549e-03 2.71314082e+02] [-2.10416641e-01 9.77610854e-01 -1.36251275e-03 -3.95905130e+01] [-7.22463491e-03 -1.61318009e-04 9.99973889e-01 -8.63259165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.05420382200003 meters Centerline goodness [0,1] 0.999761227723632 Centerline is valid? [True, True] Translation: X:271.34, Y:-39.60, Z:-8.63 [[ 9.78511820e-01 2.06083428e-01 6.65114955e-03 2.71341744e+02] [-2.06079512e-01 9.78534417e-01 -1.27637094e-03 -3.95990133e+01] [-6.77141765e-03 -1.21721599e-04 9.99977066e-01 -8.63255016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.08420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:271.37, Y:-39.61, Z:-8.63 [[ 9.79022654e-01 2.03631882e-01 6.97848231e-03 2.71369690e+02] [-2.03627511e-01 9.79047519e-01 -1.33881009e-03 -3.96068718e+01] [-7.10489021e-03 -1.10285576e-04 9.99974754e-01 -8.62874575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.11420382200004 meters Centerline goodness [0,1] 0.9999786251709987 Centerline is valid? [True, True] Translation: X:271.40, Y:-39.61, Z:-8.63 [[ 9.79936708e-01 1.99170328e-01 7.43161356e-03 2.71397218e+02] [-1.99165246e-01 9.79964884e-01 -1.42526636e-03 -3.96134729e+01] [-7.56659108e-03 -8.34483219e-05 9.99971369e-01 -8.63295517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.14420382200007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:271.43, Y:-39.62, Z:-8.63 [[ 9.80408423e-01 1.96840930e-01 7.27816532e-03 2.71425271e+02] [-1.96835994e-01 9.80435436e-01 -1.39544947e-03 -3.96211306e+01] [-7.41045276e-03 -6.44944898e-05 9.99972540e-01 -8.63387650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.17420382200004 meters Centerline goodness [0,1] 0.9999783197831978 Centerline is valid? [True, True] Translation: X:271.45, Y:-39.63, Z:-8.63 [[ 9.81298755e-01 1.92364297e-01 6.98072728e-03 2.71452796e+02] [-1.92359645e-01 9.81323584e-01 -1.33819253e-03 -3.96297117e+01] [-7.10777278e-03 -2.96435568e-05 9.99974739e-01 -8.63309388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.20420382200007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:271.48, Y:-39.64, Z:-8.64 [[ 9.81770213e-01 1.89936804e-01 7.15955647e-03 2.71479309e+02] [-1.89931847e-01 9.81796318e-01 -1.37236052e-03 -3.96364662e+01] [-7.28988795e-03 -1.24851042e-05 9.99973428e-01 -8.63630559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.23420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:271.51, Y:-39.65, Z:-8.64 [[ 9.82258817e-01 1.87388371e-01 7.29481144e-03 2.71505937e+02] [-1.87383157e-01 9.82285905e-01 -1.39783244e-03 -3.96450455e+01] [-7.42752800e-03 6.10843662e-06 9.99972416e-01 -8.63804082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.26420382200007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:271.53, Y:-39.66, Z:-8.63 [[ 9.83387353e-01 1.81382299e-01 7.05522089e-03 2.71533628e+02] [-1.81377276e-01 9.83412660e-01 -1.35065178e-03 -3.96575709e+01] [-7.18317787e-03 4.85571259e-05 9.99974199e-01 -8.63211020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.29420382200004 meters Centerline goodness [0,1] 0.9997837791087375 Centerline is valid? [True, True] Translation: X:271.56, Y:-39.67, Z:-8.64 [[ 9.84257058e-01 1.76563506e-01 7.96063172e-03 2.71560319e+02] [-1.76556959e-01 9.84289246e-01 -1.52337054e-03 -3.96720204e+01] [-8.10453583e-03 9.38832775e-05 9.99967153e-01 -8.63984364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.3242038220001 meters Centerline goodness [0,1] 0.9999354741574 Centerline is valid? [True, True] Translation: X:271.59, Y:-39.68, Z:-8.64 [[ 9.84573770e-01 1.74778369e-01 8.18615484e-03 2.71588474e+02] [-1.74771385e-01 9.84607795e-01 -1.56638524e-03 -3.96831208e+01] [-8.33392212e-03 1.11516204e-04 9.99965266e-01 -8.63788342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.35420382200004 meters Centerline goodness [0,1] 0.9996543305895824 Centerline is valid? [True, True] Translation: X:271.62, Y:-39.69, Z:-8.64 [[ 9.84964384e-01 1.72587829e-01 7.65524659e-03 2.71619019e+02] [-1.72581663e-01 9.84994125e-01 -1.46387870e-03 -3.96913408e+01] [-7.79302056e-03 1.20713198e-04 9.99969627e-01 -8.64052947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.384203822 meters Centerline goodness [0,1] 0.999978606422352 Centerline is valid? [True, True] Translation: X:271.65, Y:-39.70, Z:-8.64 [[ 9.84970222e-01 1.72550093e-01 7.75412338e-03 2.71648589e+02] [-1.72543761e-01 9.85000736e-01 -1.48328225e-03 -3.96992636e+01] [-7.89375773e-03 1.23063229e-04 9.99968836e-01 -8.63980140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.41420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:271.68, Y:-39.70, Z:-8.64 [[ 9.84676217e-01 1.74269085e-01 6.56002459e-03 2.71679387e+02] [-1.74264589e-01 9.84698064e-01 -1.25518711e-03 -3.97003434e+01] [-6.67838382e-03 9.27729040e-05 9.99977695e-01 -8.63920733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.444203822 meters Centerline goodness [0,1] 0.9998483436965141 Centerline is valid? [True, True] Translation: X:271.71, Y:-39.71, Z:-8.65 [[ 9.84358496e-01 1.76076479e-01 5.95195782e-03 2.71709691e+02] [-1.76072811e-01 9.84376487e-01 -1.13884036e-03 -3.97050470e+01] [-6.05949033e-03 7.30492332e-05 9.99981638e-01 -8.64512775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.47420382200005 meters Centerline goodness [0,1] 0.9998474147702502 Centerline is valid? [True, True] Translation: X:271.74, Y:-39.71, Z:-8.64 [[ 9.83639918e-01 1.80016200e-01 6.83226008e-03 2.71738493e+02] [-1.80011460e-01 9.83663644e-01 -1.30757774e-03 -3.97085202e+01] [-6.95603103e-03 5.63005517e-05 9.99975805e-01 -8.64433806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.504203822 meters Centerline goodness [0,1] 0.9998708010335917 Centerline is valid? [True, True] Translation: X:271.77, Y:-39.71, Z:-8.65 [[ 9.83251740e-01 1.82123790e-01 6.85134482e-03 2.71767693e+02] [-1.82119073e-01 9.83275609e-01 -1.31143422e-03 -3.97107882e+01] [-6.97560362e-03 4.17094075e-05 9.99975669e-01 -8.64570672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.53420382200005 meters Centerline goodness [0,1] 0.999870065183966 Centerline is valid? [True, True] Translation: X:271.80, Y:-39.71, Z:-8.65 [[ 9.82432242e-01 1.86520451e-01 6.08365967e-03 2.71797091e+02] [-1.86516813e-01 9.82451078e-01 -1.16501641e-03 -3.97085831e+01] [-6.19419739e-03 9.84486795e-06 9.99980816e-01 -8.64830885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.564203822 meters Centerline goodness [0,1] 0.9999141575637917 Centerline is valid? [True, True] Translation: X:271.82, Y:-39.71, Z:-8.65 [[ 9.82043745e-01 1.88553118e-01 6.14856524e-03 2.71824477e+02] [-1.88549441e-01 9.82062993e-01 -1.17753042e-03 -3.97106358e+01] [-6.26030541e-03 -2.92215572e-06 9.99980404e-01 -8.65058576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.59420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:271.85, Y:-39.71, Z:-8.64 [[ 9.81340198e-01 1.92153176e-01 6.96936130e-03 2.71854359e+02] [-1.92148551e-01 9.81364945e-01 -1.33357893e-03 -3.97110682e+01] [-7.09573830e-03 -3.04580578e-05 9.99974824e-01 -8.64416676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.624203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:271.88, Y:-39.71, Z:-8.64 [[ 9.80966328e-01 1.94006489e-01 8.15758491e-03 2.71883498e+02] [-1.94000222e-01 9.81000244e-01 -1.56029290e-03 -3.97141437e+01] [-8.30529974e-03 -5.19784811e-05 9.99965509e-01 -8.64183379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.65420382200006 meters Centerline goodness [0,1] 0.9998707537212158 Centerline is valid? [True, True] Translation: X:271.91, Y:-39.71, Z:-8.64 [[ 9.80136040e-01 1.98065028e-01 1.01778219e-02 2.71912057e+02] [-1.98055497e-01 9.80188876e-01 -1.94604617e-03 -3.97130465e+01] [-1.03616315e-02 -1.08383588e-04 9.99946311e-01 -8.64372338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.68420382200003 meters Centerline goodness [0,1] 0.9999783568522206 Centerline is valid? [True, True] Translation: X:271.94, Y:-39.71, Z:-8.64 [[ 9.79420416e-01 2.01605987e-01 9.52229376e-03 2.71942280e+02] [-2.01597821e-01 9.79466695e-01 -1.81969163e-03 -3.97114359e+01] [-9.69363033e-03 -1.37430542e-04 9.99953006e-01 -8.64111851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.71420382200006 meters Centerline goodness [0,1] 0.9999784091890491 Centerline is valid? [True, True] Translation: X:271.97, Y:-39.71, Z:-8.64 [[ 9.79163048e-01 2.02851294e-01 9.54350280e-03 2.71969911e+02] [-2.02843150e-01 9.79209543e-01 -1.82389238e-03 -3.97138095e+01] [-9.71506795e-03 -1.49946143e-04 9.99952796e-01 -8.64240734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.74420382200003 meters Centerline goodness [0,1] 0.9999785476777862 Centerline is valid? [True, True] Translation: X:272.00, Y:-39.72, Z:-8.64 [[ 9.78930653e-01 2.03944468e-01 1.00712731e-02 2.71998825e+02] [-2.03935466e-01 9.78982444e-01 -1.92376786e-03 -3.97173540e+01] [-1.02519414e-02 -1.70654444e-04 9.99947433e-01 -8.64202804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.77420382200006 meters Centerline goodness [0,1] 0.9999361321638423 Centerline is valid? [True, True] Translation: X:272.03, Y:-39.72, Z:-8.64 [[ 9.78608235e-01 2.05442653e-01 1.09196891e-02 2.72027050e+02] [-2.05432168e-01 9.78669135e-01 -2.08537923e-03 -3.97156909e+01] [-1.11151886e-02 -2.02486131e-04 9.99938204e-01 -8.64317288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.80420382200003 meters Centerline goodness [0,1] 0.9999361321638423 Centerline is valid? [True, True] Translation: X:272.05, Y:-39.72, Z:-8.64 [[ 9.78622741e-01 2.05373537e-01 1.09197773e-02 2.72054081e+02] [-2.05363053e-01 9.78683641e-01 -2.08491763e-03 -3.97207107e+01] [-1.11151943e-02 -2.02170997e-04 9.99938204e-01 -8.64401440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.83420382200006 meters Centerline goodness [0,1] 0.9999570142068046 Centerline is valid? [True, True] Translation: X:272.08, Y:-39.72, Z:-8.64 [[ 9.78481104e-01 2.06078232e-01 1.03194178e-02 2.72082407e+02] [-2.06068920e-01 9.78535499e-01 -1.96920709e-03 -3.97248015e+01] [-1.05037273e-02 -1.99679349e-04 9.99944814e-01 -8.64354849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.86420382200004 meters Centerline goodness [0,1] 0.9999356236990623 Centerline is valid? [True, True] Translation: X:272.11, Y:-39.72, Z:-8.65 [[ 9.78118096e-01 2.07844418e-01 9.25676241e-03 2.72111946e+02] [-2.07837009e-01 9.78161878e-01 -1.76584764e-03 -3.97239684e+01] [-9.42163368e-03 -1.96690287e-04 9.99955596e-01 -8.64663092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.89420382200007 meters Centerline goodness [0,1] 0.9997206643890071 Centerline is valid? [True, True] Translation: X:272.14, Y:-39.72, Z:-8.65 [[ 9.77937073e-01 2.08699895e-01 9.13426170e-03 2.72139572e+02] [-2.08692714e-01 9.77979710e-01 -1.74292379e-03 -3.97238337e+01] [-9.29687062e-03 -2.01784074e-04 9.99956763e-01 -8.65361912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.92420382200004 meters Centerline goodness [0,1] 0.9999356664951107 Centerline is valid? [True, True] Translation: X:272.17, Y:-39.72, Z:-8.65 [[ 9.77798639e-01 2.09371704e-01 8.56213785e-03 2.72168099e+02] [-2.09365419e-01 9.77836107e-01 -1.63391580e-03 -3.97207444e+01] [-8.71446328e-03 -1.94974936e-04 9.99962009e-01 -8.65228813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.95420382200007 meters Centerline goodness [0,1] 0.9998491249245625 Centerline is valid? [True, True] Translation: X:272.20, Y:-39.73, Z:-8.66 [[ 9.77847340e-01 2.09169528e-01 7.91760312e-03 2.72196715e+02] [-2.09164162e-01 9.77879377e-01 -1.50910193e-03 -3.97252194e+01] [-8.05811895e-03 -1.80407511e-04 9.99967517e-01 -8.65599100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.98420382200004 meters Centerline goodness [0,1] 0.9999134386496429 Centerline is valid? [True, True] Translation: X:272.22, Y:-39.73, Z:-8.66 [[ 9.78559538e-01 2.05834089e-01 7.31839012e-03 2.72224797e+02] [-2.05829413e-01 9.78586893e-01 -1.39463417e-03 -3.97283787e+01] [-7.44874391e-03 -1.41607372e-04 9.99972248e-01 -8.65712868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.01420382200007 meters Centerline goodness [0,1] 0.9999357766740881 Centerline is valid? [True, True] Translation: X:272.25, Y:-39.73, Z:-8.66 [[ 9.79125772e-01 2.03134044e-01 7.02012022e-03 2.72251568e+02] [-2.03129668e-01 9.79150932e-01 -1.33834076e-03 -3.97339544e+01] [-7.14561983e-03 -1.15590761e-04 9.99974463e-01 -8.66080447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.04420382200004 meters Centerline goodness [0,1] 0.9999132132783685 Centerline is valid? [True, True] Translation: X:272.28, Y:-39.75, Z:-8.66 [[ 9.80458469e-01 1.96660573e-01 5.08040153e-03 2.72278447e+02] [-1.96658197e-01 9.80471630e-01 -9.67949535e-04 -3.97475543e+01] [-5.17154708e-03 -5.00682863e-05 9.99986626e-01 -8.66410036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.0742038220001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:272.31, Y:-39.76, Z:-8.66 [[ 9.81221368e-01 1.92819459e-01 5.02832065e-03 2.72305042e+02] [-1.92817081e-01 9.81234251e-01 -9.58104629e-04 -3.97572422e+01] [-5.11870167e-03 -2.94333765e-05 9.99986899e-01 -8.66280316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.10420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:272.33, Y:-39.77, Z:-8.66 [[ 9.82548960e-01 1.85891310e-01 6.47785582e-03 2.72331071e+02] [-1.85887218e-01 9.82570314e-01 -1.23336679e-03 -3.97691017e+01] [-6.59422099e-03 7.69266253e-06 9.99978258e-01 -8.66277584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.134203822 meters Centerline goodness [0,1] 0.9999785536587458 Centerline is valid? [True, True] Translation: X:272.36, Y:-39.78, Z:-8.66 [[ 9.83075517e-01 1.83079817e-01 6.65648469e-03 2.72357445e+02] [-1.83075433e-01 9.83098052e-01 -1.26736578e-03 -3.97764264e+01] [-6.77600622e-03 2.72774545e-05 9.99977042e-01 -8.66353964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.16420382200005 meters Centerline goodness [0,1] 0.9999784691570675 Centerline is valid? [True, True] Translation: X:272.38, Y:-39.79, Z:-8.66 [[ 9.83829425e-01 1.78975182e-01 6.89541707e-03 2.72384841e+02] [-1.78970387e-01 9.83853587e-01 -1.31134377e-03 -3.97875846e+01] [-7.01877881e-03 5.60631267e-05 9.99975366e-01 -8.66217815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.194203822 meters Centerline goodness [0,1] 0.999934943834844 Centerline is valid? [True, True] Translation: X:272.41, Y:-39.79, Z:-8.66 [[ 9.84107536e-01 1.77417549e-01 7.44112164e-03 2.72412772e+02] [-1.77411924e-01 9.84135665e-01 -1.41467115e-03 -3.97941842e+01] [-7.57406069e-03 7.20448352e-05 9.99971314e-01 -8.65979558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.22420382200005 meters Centerline goodness [0,1] 0.999849167187399 Centerline is valid? [True, True] Translation: X:272.44, Y:-39.80, Z:-8.66 [[ 9.84201012e-01 1.76856217e-01 8.38127718e-03 2.72441006e+02] [-1.76849065e-01 9.84236695e-01 -1.59278994e-03 -3.97990384e+01] [-8.53085535e-03 8.54044397e-05 9.99963608e-01 -8.66284415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.254203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:272.47, Y:-39.80, Z:-8.66 [[ 9.84396909e-01 1.75751178e-01 8.61683190e-03 2.72468596e+02] [-1.75743578e-01 9.84434616e-01 -1.63733663e-03 -3.98035978e+01] [-8.77047145e-03 9.74362539e-05 9.99961534e-01 -8.66091808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.28420382200005 meters Centerline goodness [0,1] 0.9998045984498144 Centerline is valid? [True, True] Translation: X:272.50, Y:-39.80, Z:-8.67 [[ 9.84291126e-01 1.76427713e-01 6.65139820e-03 2.72497403e+02] [-1.76423202e-01 9.84313597e-01 -1.26360189e-03 -3.98047054e+01] [-6.76999607e-03 7.02911572e-05 9.99977081e-01 -8.66609888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.314203822 meters Centerline goodness [0,1] 0.9998712087062914 Centerline is valid? [True, True] Translation: X:272.52, Y:-39.81, Z:-8.67 [[ 9.84195932e-01 1.76970972e-01 6.29619362e-03 2.72524442e+02] [-1.76966941e-01 9.84216069e-01 -1.19618375e-03 -3.98094953e+01] [-6.40850474e-03 6.30610616e-05 9.99979463e-01 -8.66988984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.34420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:272.55, Y:-39.81, Z:-8.67 [[ 9.83928110e-01 1.78508855e-01 4.47915770e-03 2.72553650e+02] [-1.78506831e-01 9.83938305e-01 -8.50927072e-04 -3.98106001e+01] [-4.55911285e-03 3.76908210e-05 9.99989606e-01 -8.66782696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.374203822 meters Centerline goodness [0,1] 0.9998277235824881 Centerline is valid? [True, True] Translation: X:272.58, Y:-39.81, Z:-8.67 [[ 9.83610951e-01 1.80256565e-01 4.13140642e-03 2.72581408e+02] [-1.80254857e-01 9.83619627e-01 -7.85097571e-04 -3.98124184e+01] [-4.20525143e-03 2.75244935e-05 9.99991158e-01 -8.67436070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.40420382200006 meters Centerline goodness [0,1] 0.9998923573735199 Centerline is valid? [True, True] Translation: X:272.61, Y:-39.81, Z:-8.67 [[ 9.83305673e-01 1.81907712e-01 4.42006635e-03 2.72610632e+02] [-1.81905778e-01 9.83315607e-01 -8.39197595e-04 -3.98145899e+01] [-4.49897675e-03 2.11521494e-05 9.99989879e-01 -8.67426255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.43420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:272.64, Y:-39.81, Z:-8.67 [[ 9.82805665e-01 1.84547592e-01 5.93384054e-03 2.72638849e+02] [-1.84544157e-01 9.82823578e-01 -1.12607938e-03 -3.98136655e+01] [-6.03973363e-03 1.16615920e-05 9.99981761e-01 -8.67168133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.46420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:272.67, Y:-39.82, Z:-8.67 [[ 9.82588073e-01 1.85690617e-01 6.29876769e-03 2.72667508e+02] [-1.85686774e-01 9.82608261e-01 -1.19454473e-03 -3.98158961e+01] [-6.41103692e-03 4.14755088e-06 9.99979449e-01 -8.66896011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.49420382200003 meters Centerline goodness [0,1] 0.9999569929468433 Centerline is valid? [True, True] Translation: X:272.69, Y:-39.82, Z:-8.67 [[ 9.82676038e-01 1.85236658e-01 5.93172940e-03 2.72693932e+02] [-1.85233242e-01 9.82693940e-01 -1.12502118e-03 -3.98226006e+01] [-6.03746971e-03 6.77788488e-06 9.99981774e-01 -8.67418251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.52420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:272.72, Y:-39.83, Z:-8.67 [[ 9.83116387e-01 1.82914557e-01 4.94301457e-03 2.72721408e+02] [-1.82912153e-01 9.83128814e-01 -9.37955825e-04 -3.98304882e+01] [-5.03118583e-03 1.79823027e-05 9.99987343e-01 -8.67229930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.55420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:272.75, Y:-39.84, Z:-8.67 [[ 9.83329103e-01 1.81764541e-01 5.05247885e-03 2.72747186e+02] [-1.81762015e-01 9.83342082e-01 -9.58456294e-04 -3.98372047e+01] [-5.14252844e-03 2.41292293e-05 9.99986777e-01 -8.67441840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.58420382200006 meters Centerline goodness [0,1] 0.9999356333676622 Centerline is valid? [True, True] Translation: X:272.77, Y:-39.85, Z:-8.68 [[ 9.83579435e-01 1.80372596e-01 6.10088016e-03 2.72774048e+02] [-1.80368898e-01 9.83598356e-01 -1.15560086e-03 -3.98461574e+01] [-6.20925442e-03 3.62162108e-05 9.99980722e-01 -8.67528007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.61420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:272.80, Y:-39.85, Z:-8.67 [[ 9.83609563e-01 1.80210484e-01 6.03397895e-03 2.72802602e+02] [-1.80206867e-01 9.83628070e-01 -1.14231172e-03 -3.98502609e+01] [-6.14104762e-03 3.62242901e-05 9.99981143e-01 -8.67064441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.64420382200007 meters Centerline goodness [0,1] 0.9999785917663934 Centerline is valid? [True, True] Translation: X:272.83, Y:-39.85, Z:-8.67 [[ 9.83605795e-01 1.80198381e-01 6.94148138e-03 2.72830311e+02] [-1.80193596e-01 9.83630287e-01 -1.31380833e-03 -3.98545633e+01] [-7.06459746e-03 4.14589989e-05 9.99975045e-01 -8.67184977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.67420382200004 meters Centerline goodness [0,1] 0.9999141225471253 Centerline is valid? [True, True] Translation: X:272.86, Y:-39.86, Z:-8.68 [[ 9.83582852e-01 1.80323689e-01 6.93833593e-03 2.72857520e+02] [-1.80318915e-01 9.83607323e-01 -1.31272725e-03 -3.98599235e+01] [-7.06131385e-03 4.00628051e-05 9.99975068e-01 -8.67597226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.70420382200007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:272.88, Y:-39.87, Z:-8.68 [[ 9.83705426e-01 1.79633746e-01 7.43986262e-03 2.72883969e+02] [-1.79628242e-01 9.83733559e-01 -1.40709900e-03 -3.98700407e+01] [-7.57160499e-03 4.77614820e-05 9.99971334e-01 -8.67632455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.73420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:272.91, Y:-39.88, Z:-8.67 [[ 9.83803197e-01 1.79106732e-01 7.21446762e-03 2.72912232e+02] [-1.79101547e-01 9.83829648e-01 -1.36366075e-03 -3.98766354e+01] [-7.34204796e-03 4.94514901e-05 9.99973046e-01 -8.67336759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.76420382200007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:272.94, Y:-39.89, Z:-8.67 [[ 9.84001798e-01 1.77949943e-01 8.61853988e-03 2.72939076e+02] [-1.77942506e-01 9.84039538e-01 -1.62831098e-03 -3.98871049e+01] [-8.77074185e-03 6.86563494e-05 9.99961534e-01 -8.67464198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.79420382200004 meters Centerline goodness [0,1] 0.9998915565966122 Centerline is valid? [True, True] Translation: X:272.97, Y:-39.89, Z:-8.67 [[ 9.84057578e-01 1.77617514e-01 9.09402854e-03 2.72967552e+02] [-1.77609225e-01 9.84099595e-01 -1.71761730e-03 -3.98922917e+01] [-9.25450872e-03 7.50509664e-05 9.99957173e-01 -8.67462822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.8242038220001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:272.99, Y:-39.90, Z:-8.67 [[ 9.84091066e-01 1.77431557e-01 9.10033134e-03 2.72994367e+02] [-1.77423250e-01 9.84133140e-01 -1.71871035e-03 -3.98998773e+01] [-9.26089110e-03 7.67571431e-05 9.99957114e-01 -8.67302751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.85420382200004 meters Centerline goodness [0,1] 0.9999784872214095 Centerline is valid? [True, True] Translation: X:273.02, Y:-39.91, Z:-8.67 [[ 9.84131479e-01 1.77204924e-01 9.14587671e-03 2.73022389e+02] [-1.77196532e-01 9.84173973e-01 -1.72629759e-03 -3.99067496e+01] [-9.30704225e-03 7.82861620e-05 9.99956685e-01 -8.67271639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.884203822 meters Centerline goodness [0,1] 0.9999786425184742 Centerline is valid? [True, True] Translation: X:273.05, Y:-39.92, Z:-8.68 [[ 9.84144070e-01 1.77166804e-01 8.50717355e-03 2.73047997e+02] [-1.77159543e-01 9.84180836e-01 -1.60567846e-03 -3.99180825e+01] [-8.65707010e-03 7.30919565e-05 9.99962524e-01 -8.67700637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.91420382200005 meters Centerline goodness [0,1] 0.9998265281783291 Centerline is valid? [True, True] Translation: X:273.08, Y:-39.92, Z:-8.68 [[ 9.84095465e-01 1.77499107e-01 7.08403161e-03 2.73075939e+02] [-1.77494084e-01 9.84120960e-01 -1.33664606e-03 -3.99238168e+01] [-7.20879747e-03 5.80136268e-05 9.99974015e-01 -8.68264018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.944203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.10, Y:-39.93, Z:-8.68 [[ 9.83828710e-01 1.79006714e-01 6.13724867e-03 2.73103578e+02] [-1.79002974e-01 9.83847851e-01 -1.15789634e-03 -3.99314326e+01] [-6.24539014e-03 4.05858979e-05 9.99980497e-01 -8.68131070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.97420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.13, Y:-39.94, Z:-8.68 [[ 9.83508382e-01 1.80750906e-01 6.35393762e-03 2.73130621e+02] [-1.80746934e-01 9.83528906e-01 -1.19869836e-03 -3.99365207e+01] [-6.46594713e-03 3.04751461e-05 9.99979095e-01 -8.68233270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.004203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.16, Y:-39.94, Z:-8.68 [[ 9.82608442e-01 1.85594565e-01 5.94197928e-03 2.73159687e+02] [-1.85591183e-01 9.82626408e-01 -1.12042254e-03 -3.99386861e+01] [-6.04669009e-03 -1.84232051e-06 9.99981719e-01 -8.68151630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.03420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.19, Y:-39.93, Z:-8.68 [[ 9.81332105e-01 1.92213261e-01 6.43138918e-03 2.73189337e+02] [-1.92209444e-01 9.81353178e-01 -1.21226575e-03 -3.99348961e+01] [-6.54447776e-03 -4.65384366e-05 9.99978584e-01 -8.68099503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.064203822 meters Centerline goodness [0,1] 0.9999568435362406 Centerline is valid? [True, True] Translation: X:273.22, Y:-39.94, Z:-8.68 [[ 9.80659089e-01 1.95623828e-01 6.25057848e-03 2.73217799e+02] [-1.95620292e-01 9.80679006e-01 -1.17820144e-03 -3.99354998e+01] [-6.36029537e-03 -6.73260325e-05 9.99979771e-01 -8.68288793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.09420382200005 meters Centerline goodness [0,1] 0.999936396209214 Centerline is valid? [True, True] Translation: X:273.25, Y:-39.93, Z:-8.69 [[ 9.79298883e-01 2.02313163e-01 6.56371902e-03 2.73247995e+02] [-2.02309418e-01 9.79320872e-01 -1.23648614e-03 -3.99302912e+01] [-6.67814445e-03 -1.17012687e-04 9.99977694e-01 -8.68612232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.124203822 meters Centerline goodness [0,1] 0.9998512410744644 Centerline is valid? [True, True] Translation: X:273.28, Y:-39.93, Z:-8.69 [[ 9.78719312e-01 2.05079680e-01 7.12971573e-03 2.73277657e+02] [-2.05075340e-01 9.78745270e-01 -1.34244890e-03 -3.99305670e+01] [-7.25348454e-03 -1.48248215e-04 9.99973682e-01 -8.68561982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.15420382200006 meters Centerline goodness [0,1] 0.9996171923183259 Centerline is valid? [True, True] Translation: X:273.31, Y:-39.93, Z:-8.69 [[ 9.77900347e-01 2.08928236e-01 7.73975124e-03 2.73308347e+02] [-2.08923248e-01 9.77930956e-01 -1.45654993e-03 -3.99262339e+01] [-7.87325674e-03 -1.92653281e-04 9.99968987e-01 -8.68529860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.18420382200003 meters Centerline goodness [0,1] 0.9999353099730458 Centerline is valid? [True, True] Translation: X:273.34, Y:-39.93, Z:-8.68 [[ 9.77749597e-01 2.09654874e-01 7.11049665e-03 2.73336414e+02] [-2.09650682e-01 9.77775435e-01 -1.33830875e-03 -3.99318097e+01] [-7.23305190e-03 -1.82189628e-04 9.99973825e-01 -8.68331159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.21420382200006 meters Centerline goodness [0,1] 0.9997841012133512 Centerline is valid? [True, True] Translation: X:273.37, Y:-39.93, Z:-8.69 [[ 9.77815401e-01 2.09368292e-01 6.47765037e-03 2.73365274e+02] [-2.09364806e-01 9.77836843e-01 -1.21929582e-03 -3.99274206e+01] [-6.58936707e-03 -1.63945782e-04 9.99978276e-01 -8.68889709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.24420382200003 meters Centerline goodness [0,1] 0.9998501455728721 Centerline is valid? [True, True] Translation: X:273.39, Y:-39.93, Z:-8.69 [[ 9.78069373e-01 2.08167318e-01 6.83142544e-03 2.73394056e+02] [-2.08163418e-01 9.78093217e-01 -1.28499914e-03 -3.99319193e+01] [-6.94926571e-03 -1.65234566e-04 9.99975840e-01 -8.69023488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.27420382200006 meters Centerline goodness [0,1] 0.9999784825924173 Centerline is valid? [True, True] Translation: X:273.42, Y:-39.95, Z:-8.69 [[ 9.79177158e-01 2.02897195e-01 6.69484774e-03 2.73422031e+02] [-2.02893333e-01 9.79200037e-01 -1.25817327e-03 -3.99451490e+01] [-6.81087498e-03 -1.26365447e-04 9.99976798e-01 -8.68806206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.30420382200003 meters Centerline goodness [0,1] 0.9998920902125823 Centerline is valid? [True, True] Translation: X:273.45, Y:-39.95, Z:-8.69 [[ 9.79982536e-01 1.98984199e-01 6.28632643e-03 2.73448902e+02] [-1.98980706e-01 9.80002694e-01 -1.18255535e-03 -3.99536631e+01] [-6.39592667e-03 -9.19740788e-05 9.99979542e-01 -8.69016817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.33420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.48, Y:-39.97, Z:-8.69 [[ 9.81632935e-01 1.90677826e-01 6.22469037e-03 2.73476185e+02] [-1.90674242e-01 9.81652670e-01 -1.16969933e-03 -3.99677217e+01] [-6.33351965e-03 -3.86727360e-05 9.99979942e-01 -8.68919492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.36420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.50, Y:-39.98, Z:-8.69 [[ 9.82449761e-01 1.86422468e-01 6.25544765e-03 2.73503125e+02] [-1.86418757e-01 9.82469676e-01 -1.17626191e-03 -3.99764459e+01] [-6.36506927e-03 -1.05145450e-05 9.99979743e-01 -8.69336555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.39420382200007 meters Centerline goodness [0,1] 0.999978428284833 Centerline is valid? [True, True] Translation: X:273.53, Y:-39.99, Z:-8.69 [[ 9.84001706e-01 1.78076970e-01 5.40703013e-03 2.73530052e+02] [-1.78074074e-01 9.84016560e-01 -1.01625679e-03 -3.99910558e+01] [-5.50157912e-03 3.71465287e-05 9.99984866e-01 -8.69495439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.42420382200004 meters Centerline goodness [0,1] 0.9999786146575137 Centerline is valid? [True, True] Translation: X:273.56, Y:-40.00, Z:-8.70 [[ 9.84744074e-01 1.73919056e-01 5.59210504e-03 2.73556031e+02] [-1.73915891e-01 9.84759950e-01 -1.05099961e-03 -4.00019812e+01] [-5.68966993e-03 6.24097032e-05 9.99983812e-01 -8.69910763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.45420382200007 meters Centerline goodness [0,1] 0.999847258286238 Centerline is valid? [True, True] Translation: X:273.58, Y:-40.01, Z:-8.70 [[ 9.85940244e-01 1.67022650e-01 5.02694549e-03 2.73584353e+02] [-1.67020007e-01 9.85953055e-01 -9.44034884e-04 -4.00098949e+01] [-5.11400747e-03 9.11615110e-05 9.99986919e-01 -8.69892824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.48420382200004 meters Centerline goodness [0,1] 0.9999573660761868 Centerline is valid? [True, True] Translation: X:273.61, Y:-40.02, Z:-8.70 [[ 9.86403255e-01 1.64262201e-01 5.15249864e-03 2.73611260e+02] [-1.64259388e-01 9.86416706e-01 -9.67381044e-04 -4.00209210e+01] [-5.24141488e-03 1.07881540e-04 9.99986258e-01 -8.70016654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.51420382200007 meters Centerline goodness [0,1] 0.9999136311618768 Centerline is valid? [True, True] Translation: X:273.64, Y:-40.03, Z:-8.70 [[ 9.87066379e-01 1.60247343e-01 4.55552292e-03 2.73639957e+02] [-1.60245104e-01 9.87076885e-01 -8.54588155e-04 -4.00311183e+01] [-4.63359686e-03 1.13534990e-04 9.99989258e-01 -8.70077306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.54420382200004 meters Centerline goodness [0,1] 0.9996547780870391 Centerline is valid? [True, True] Translation: X:273.67, Y:-40.04, Z:-8.71 [[ 9.87258900e-01 1.59059766e-01 4.45599248e-03 2.73666524e+02] [-1.59057606e-01 9.87268949e-01 -8.37137632e-04 -4.00377760e+01] [-4.53241792e-03 1.17712080e-04 9.99989722e-01 -8.70636830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.5742038220001 meters Centerline goodness [0,1] 0.999892779791135 Centerline is valid? [True, True] Translation: X:273.69, Y:-40.04, Z:-8.70 [[ 9.87482524e-01 1.57634267e-01 5.44993054e-03 2.73694050e+02] [-1.57631019e-01 9.87497552e-01 -1.02309344e-03 -4.00435099e+01] [-5.54306765e-03 1.51208788e-04 9.99984626e-01 -8.70236469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.60420382200004 meters Centerline goodness [0,1] 0.9997828164364521 Centerline is valid? [True, True] Translation: X:273.72, Y:-40.05, Z:-8.70 [[ 9.87471935e-01 1.57688432e-01 5.79104284e-03 2.73721811e+02] [-1.57684774e-01 9.87488903e-01 -1.08573722e-03 -4.00492631e+01] [-5.88979874e-03 1.58975749e-04 9.99982642e-01 -8.70299713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.634203822 meters Centerline goodness [0,1] 0.9996980025022649 Centerline is valid? [True, True] Translation: X:273.75, Y:-40.05, Z:-8.71 [[ 9.87342653e-01 1.58521517e-01 5.04135702e-03 2.73750873e+02] [-1.58518755e-01 9.87355514e-01 -9.45202129e-04 -4.00527593e+01] [-5.12744652e-03 1.34088737e-04 9.99986846e-01 -8.70609390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.66420382200005 meters Centerline goodness [0,1] 0.9998919573015256 Centerline is valid? [True, True] Translation: X:273.78, Y:-40.06, Z:-8.70 [[ 9.87353452e-01 1.58447383e-01 5.25235403e-03 2.73778283e+02] [-1.58444384e-01 9.87367413e-01 -9.84905861e-04 -4.00616459e+01] [-5.34205896e-03 1.40244206e-04 9.99985721e-01 -8.70472030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.694203822 meters Centerline goodness [0,1] 0.9998919573015256 Centerline is valid? [True, True] Translation: X:273.81, Y:-40.07, Z:-8.71 [[ 9.87357235e-01 1.58423807e-01 5.25244782e-03 2.73806964e+02] [-1.58420810e-01 9.87371196e-01 -9.84405148e-04 -4.00669733e+01] [-5.34206889e-03 1.39862508e-04 9.99985721e-01 -8.70561319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.72420382200005 meters Centerline goodness [0,1] 0.9999783821176877 Centerline is valid? [True, True] Translation: X:273.84, Y:-40.07, Z:-8.70 [[ 9.87093186e-01 1.60032418e-01 6.05540504e-03 2.73836605e+02] [-1.60028465e-01 9.87111748e-01 -1.13494845e-03 -4.00686942e+01] [-6.15898999e-03 1.51262709e-04 9.99981022e-01 -8.70324371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.754203822 meters Centerline goodness [0,1] 0.9999133880432194 Centerline is valid? [True, True] Translation: X:273.87, Y:-40.07, Z:-8.71 [[ 9.86835744e-01 1.61636724e-01 5.36505512e-03 2.73865888e+02] [-1.61633645e-01 9.86850320e-01 -1.00548767e-03 -4.00711459e+01] [-5.45703010e-03 1.25077756e-04 9.99985102e-01 -8.70829283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.78420382200005 meters Centerline goodness [0,1] 0.999761258817146 Centerline is valid? [True, True] Translation: X:273.89, Y:-40.07, Z:-8.71 [[ 9.86219152e-01 1.65356954e-01 5.37229232e-03 2.73894839e+02] [-1.65353924e-01 9.86233779e-01 -1.00632329e-03 -4.00737387e+01] [-5.46473871e-03 1.04125685e-04 9.99985063e-01 -8.71073352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.814203822 meters Centerline goodness [0,1] 0.9999784394471875 Centerline is valid? [True, True] Translation: X:273.92, Y:-40.08, Z:-8.71 [[ 9.85892304e-01 1.67241956e-01 6.81860893e-03 2.73922750e+02] [-1.67237120e-01 9.85915876e-01 -1.27744324e-03 -4.00793438e+01] [-6.93621690e-03 1.19096943e-04 9.99975937e-01 -8.70917759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.84420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.95, Y:-40.08, Z:-8.71 [[ 9.85178613e-01 1.71454124e-01 5.15588481e-03 2.73952435e+02] [-1.71451416e-01 9.85192102e-01 -9.66070425e-04 -4.00787884e+01] [-5.24517375e-03 6.77681704e-05 9.99986242e-01 -8.70913403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.874203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.98, Y:-40.08, Z:-8.71 [[ 9.84852896e-01 1.73324698e-01 4.82927368e-03 2.73979657e+02] [-1.73322344e-01 9.84864735e-01 -9.05040822e-04 -4.00839758e+01] [-4.91304727e-03 5.43110414e-05 9.99987929e-01 -8.71371315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.90420382200006 meters Centerline goodness [0,1] 0.9999570723331187 Centerline is valid? [True, True] Translation: X:274.01, Y:-40.08, Z:-8.71 [[ 9.84091711e-01 1.77579770e-01 5.37870380e-03 2.74009359e+02] [-1.77576917e-01 9.84106409e-01 -1.00713715e-03 -4.00822269e+01] [-5.47206406e-03 3.59816809e-05 9.99985027e-01 -8.71156344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.93420382200003 meters Centerline goodness [0,1] 0.9999349917656236 Centerline is valid? [True, True] Translation: X:274.04, Y:-40.08, Z:-8.72 [[ 9.83722335e-01 1.79635328e-01 4.63867800e-03 2.74038469e+02] [-1.79633229e-01 9.83733271e-01 -8.68557440e-04 -4.00836958e+01] [-4.71924548e-03 2.11586439e-05 9.99988864e-01 -8.71591632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.96420382200006 meters Centerline goodness [0,1] 0.999743830586628 Centerline is valid? [True, True] Translation: X:274.07, Y:-40.09, Z:-8.72 [[ 9.83053080e-01 1.83237932e-01 5.52285504e-03 2.74066433e+02] [-1.83235016e-01 9.83068594e-01 -1.03384493e-03 -4.00850436e+01] [-5.61878495e-03 4.34401544e-06 9.99984214e-01 -8.71826476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.99420382200003 meters Centerline goodness [0,1] 0.9998060052163041 Centerline is valid? [True, True] Translation: X:274.10, Y:-40.09, Z:-8.72 [[ 9.82822644e-01 1.84479988e-01 5.17541541e-03 2.74095718e+02] [-1.84477447e-01 9.82836270e-01 -9.68265200e-04 -4.00876878e+01] [-5.26521153e-03 -3.11445810e-06 9.99986139e-01 -8.71857837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.02420382200006 meters Centerline goodness [0,1] 0.9998907533647964 Centerline is valid? [True, True] Translation: X:274.12, Y:-40.09, Z:-8.72 [[ 9.82518283e-01 1.86107741e-01 4.66172281e-03 2.74124919e+02] [-1.86105698e-01 9.82529342e-01 -8.72126429e-04 -4.00871430e+01] [-4.74258892e-03 -1.06930156e-05 9.99988754e-01 -8.71821920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.05420382200003 meters Centerline goodness [0,1] 0.9999130850462822 Centerline is valid? [True, True] Translation: X:274.15, Y:-40.10, Z:-8.72 [[ 9.82646818e-01 1.85405931e-01 5.46546501e-03 2.74151755e+02] [-1.85403113e-01 9.82662017e-01 -1.02225335e-03 -4.00957588e+01] [-5.56023671e-03 -8.80022578e-06 9.99984542e-01 -8.72071325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.08420382200006 meters Centerline goodness [0,1] 0.9999784923110012 Centerline is valid? [True, True] Translation: X:274.18, Y:-40.10, Z:-8.72 [[ 9.82857383e-01 1.84233144e-01 7.03659481e-03 2.74179054e+02] [-1.84228453e-01 9.82882571e-01 -1.31472264e-03 -4.01044264e+01] [-7.15836189e-03 -4.15613090e-06 9.99974379e-01 -8.71856021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.11420382200004 meters Centerline goodness [0,1] 0.9999784124516978 Centerline is valid? [True, True] Translation: X:274.21, Y:-40.11, Z:-8.72 [[ 9.83085640e-01 1.82995867e-01 7.42538259e-03 2.74207480e+02] [-1.82990612e-01 9.83113682e-01 -1.38689109e-03 -4.01113155e+01] [-7.55379056e-03 4.65740831e-06 9.99971470e-01 -8.71681179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.14420382200007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:274.23, Y:-40.12, Z:-8.72 [[ 9.83592566e-01 1.80237209e-01 7.75963965e-03 2.74234222e+02] [-1.80231385e-01 9.83623174e-01 -1.44913429e-03 -4.01195578e+01] [-7.89374930e-03 2.68271126e-05 9.99968844e-01 -8.71833360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.17420382200004 meters Centerline goodness [0,1] 0.9996971597914729 Centerline is valid? [True, True] Translation: X:274.26, Y:-40.13, Z:-8.72 [[ 9.83854593e-01 1.78835608e-01 6.92571512e-03 2.74261897e+02] [-1.78830938e-01 9.83878968e-01 -1.29287156e-03 -4.01272136e+01] [-7.04527691e-03 3.34654866e-05 9.99975181e-01 -8.72415786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.20420382200007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:274.29, Y:-40.14, Z:-8.72 [[ 9.84355740e-01 1.76081368e-01 6.25534933e-03 2.74289088e+02] [-1.76077504e-01 9.84375614e-01 -1.16756549e-03 -4.01384013e+01] [-6.36319987e-03 4.78734983e-05 9.99979753e-01 -8.72135485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.23420382200004 meters Centerline goodness [0,1] 0.9998691042366595 Centerline is valid? [True, True] Translation: X:274.32, Y:-40.14, Z:-8.72 [[ 9.84520483e-01 1.75181922e-01 5.54191732e-03 2.74317665e+02] [-1.75178875e-01 9.84536080e-01 -1.03434483e-03 -4.01443954e+01] [-5.63741607e-03 4.75068318e-05 9.99984109e-01 -8.72381921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.26420382200007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:274.34, Y:-40.16, Z:-8.72 [[ 9.84855480e-01 1.73204103e-01 7.74734238e-03 2.74344227e+02] [-1.73198095e-01 9.84885949e-01 -1.44491131e-03 -4.01568527e+01] [-7.88051322e-03 8.12038830e-05 9.99968945e-01 -8.72097892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.29420382200004 meters Centerline goodness [0,1] 0.9999782915445566 Centerline is valid? [True, True] Translation: X:274.37, Y:-40.17, Z:-8.72 [[ 9.84990414e-01 1.72383770e-01 8.81587120e-03 2.74371001e+02] [-1.72375962e-01 9.85029860e-01 -1.64372763e-03 -4.01653057e+01] [-8.96724834e-03 9.94116770e-05 9.99959788e-01 -8.72019897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.3242038220001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:274.40, Y:-40.17, Z:-8.72 [[ 9.84985054e-01 1.72348452e-01 1.00227205e-02 2.74398477e+02] [-1.72338367e-01 9.85036039e-01 -1.86784670e-03 -4.01715973e+01] [-1.01946614e-02 1.12501802e-04 9.99948027e-01 -8.71944091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.35420382200004 meters Centerline goodness [0,1] 0.9997842456147921 Centerline is valid? [True, True] Translation: X:274.43, Y:-40.18, Z:-8.72 [[ 9.84851023e-01 1.73089843e-01 1.04100646e-02 2.74426122e+02] [-1.73079014e-01 9.84906033e-01 -1.93907985e-03 -4.01780734e+01] [-1.05885705e-02 1.07941045e-04 9.99943934e-01 -8.72357933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.384203822 meters Centerline goodness [0,1] 0.9999352163772999 Centerline is valid? [True, True] Translation: X:274.45, Y:-40.18, Z:-8.73 [[ 9.84757776e-01 1.73682090e-01 9.30879921e-03 2.74453778e+02] [-1.73673464e-01 9.84801769e-01 -1.73338661e-03 -4.01834451e+01] [-9.46838014e-03 9.02745429e-05 9.99955170e-01 -8.72583071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.41420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:274.48, Y:-40.19, Z:-8.72 [[ 9.84544090e-01 1.74868583e-01 9.69091915e-03 2.74482355e+02] [-1.74859293e-01 9.84591779e-01 -1.80437932e-03 -4.01887703e+01] [-9.85712859e-03 8.19437294e-05 9.99951414e-01 -8.72262237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.444203822 meters Centerline goodness [0,1] 0.9999569753683984 Centerline is valid? [True, True] Translation: X:274.51, Y:-40.19, Z:-8.72 [[ 9.84067568e-01 1.77534014e-01 9.62781150e-03 2.74511430e+02] [-1.77524976e-01 9.84114664e-01 -1.79216969e-03 -4.01919260e+01] [-9.79304155e-03 5.44390630e-05 9.99952046e-01 -8.72382927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.47420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:274.54, Y:-40.20, Z:-8.72 [[ 9.83811025e-01 1.78966087e-01 9.32776044e-03 2.74540113e+02] [-1.78957672e-01 9.83855242e-01 -1.73595441e-03 -4.01950743e+01] [-9.48784298e-03 3.85767942e-05 9.99954989e-01 -8.72256090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.504203822 meters Centerline goodness [0,1] 0.9998699609882965 Centerline is valid? [True, True] Translation: X:274.57, Y:-40.20, Z:-8.73 [[ 9.83553081e-01 1.80405950e-01 8.77665524e-03 2.74569019e+02] [-1.80398560e-01 9.83592239e-01 -1.63304586e-03 -4.01981070e+01] [-8.92726117e-03 2.28913124e-05 9.99960151e-01 -8.72827034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.53420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:274.60, Y:-40.20, Z:-8.73 [[ 9.83203867e-01 1.82311642e-01 8.52177855e-03 2.74597878e+02] [-1.82304750e-01 9.83240797e-01 -1.58522690e-03 -4.02015609e+01] [-8.66796566e-03 5.04050125e-06 9.99962432e-01 -8.72550474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.564203822 meters Centerline goodness [0,1] 0.9999784213024902 Centerline is valid? [True, True] Translation: X:274.63, Y:-40.21, Z:-8.73 [[ 9.83131352e-01 1.82692986e-01 8.71876054e-03 2.74625224e+02] [-1.82685788e-01 9.83170012e-01 -1.62174528e-03 -4.02081340e+01] [-8.86830539e-03 1.59499229e-06 9.99960676e-01 -8.72883376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.59420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:274.65, Y:-40.22, Z:-8.73 [[ 9.83229369e-01 1.82175984e-01 8.48045083e-03 2.74653264e+02] [-1.82169162e-01 9.83265941e-01 -1.57657774e-03 -4.02156543e+01] [-8.62575307e-03 5.26091573e-06 9.99962797e-01 -8.72537193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.624203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:274.68, Y:-40.22, Z:-8.73 [[ 9.83444086e-01 1.81030167e-01 8.11227542e-03 2.74679861e+02] [-1.81023886e-01 9.83477543e-01 -1.50805078e-03 -4.02235649e+01] [-8.25124338e-03 1.45679972e-05 9.99965958e-01 -8.72861958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.65420382200006 meters Centerline goodness [0,1] 0.9999567707770453 Centerline is valid? [True, True] Translation: X:274.71, Y:-40.23, Z:-8.73 [[ 9.83528440e-01 1.80582890e-01 7.85038675e-03 2.74708383e+02] [-1.80577000e-01 9.83559769e-01 -1.45859140e-03 -4.02293533e+01] [-7.98472123e-03 1.69668307e-05 9.99968121e-01 -8.73312151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.68420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:274.74, Y:-40.24, Z:-8.73 [[ 9.83783550e-01 1.79143631e-01 8.80262630e-03 2.74735465e+02] [-1.79136171e-01 9.83822930e-01 -1.63519957e-03 -4.02389745e+01] [-8.95316120e-03 3.18136680e-05 9.99959919e-01 -8.72960453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.71420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:274.76, Y:-40.25, Z:-8.73 [[ 9.83847606e-01 1.78774843e-01 9.13472244e-03 2.74764105e+02] [-1.78766808e-01 9.83890011e-01 -1.69534848e-03 -4.02470523e+01] [-9.29064782e-03 3.49793801e-05 9.99956840e-01 -8.73056710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.74420382200003 meters Centerline goodness [0,1] 0.9998275341697926 Centerline is valid? [True, True] Translation: X:274.79, Y:-40.25, Z:-8.73 [[ 9.83728494e-01 1.79408867e-01 9.52410462e-03 2.74792648e+02] [-1.79400164e-01 9.83774597e-01 -1.76734312e-03 -4.02541010e+01] [-9.68664921e-03 2.99598533e-05 9.99953083e-01 -8.73451392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.77420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:274.82, Y:-40.26, Z:-8.73 [[ 9.83685806e-01 1.79610390e-01 1.01164930e-02 2.74820477e+02] [-1.79600582e-01 9.83737824e-01 -1.87721266e-03 -4.02599983e+01] [-1.02891437e-02 2.96594091e-05 9.99947065e-01 -8.72985845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.80420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:274.85, Y:-40.27, Z:-8.73 [[ 9.83569342e-01 1.80282280e-01 9.46827213e-03 2.74849721e+02] [-1.80273725e-01 9.83614914e-01 -1.75639873e-03 -4.02651338e+01] [-9.62978124e-03 2.06592578e-05 9.99953632e-01 -8.73039451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.83420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:274.88, Y:-40.27, Z:-8.73 [[ 9.83530604e-01 1.80539085e-01 8.55507812e-03 2.74877480e+02] [-1.80532110e-01 9.83567811e-01 -1.58712681e-03 -4.02703860e+01] [-8.70103788e-03 1.65214860e-05 9.99962145e-01 -8.73388352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.86420382200004 meters Centerline goodness [0,1] 0.9999782580336566 Centerline is valid? [True, True] Translation: X:274.91, Y:-40.28, Z:-8.73 [[ 9.83292563e-01 1.81860153e-01 7.91325897e-03 2.74905289e+02] [-1.81854225e-01 9.83324405e-01 -1.46841743e-03 -4.02757493e+01] [-8.04834728e-03 4.82436593e-06 9.99967612e-01 -8.73498346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.89420382200007 meters Centerline goodness [0,1] 0.9999347627538816 Centerline is valid? [True, True] Translation: X:274.93, Y:-40.28, Z:-8.74 [[ 9.83080579e-01 1.83006832e-01 7.81509085e-03 2.74934161e+02] [-1.83001092e-01 9.83111641e-01 -1.44943608e-03 -4.02796882e+01] [-7.94836350e-03 -5.25769994e-06 9.99968411e-01 -8.73994521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.92420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:274.96, Y:-40.28, Z:-8.74 [[ 9.82405608e-01 1.86648462e-01 6.44768273e-03 2.74963788e+02] [-1.86644634e-01 9.82426766e-01 -1.19577222e-03 -4.02807264e+01] [-6.55756514e-03 -2.86920517e-05 9.99978499e-01 -8.73753396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.95420382200007 meters Centerline goodness [0,1] 0.999978454776576 Centerline is valid? [True, True] Translation: X:274.99, Y:-40.28, Z:-8.75 [[ 9.82071351e-01 1.88401320e-01 6.38785828e-03 2.74991555e+02] [-1.88397600e-01 9.82092125e-01 -1.18465512e-03 -4.02821096e+01] [-6.49665590e-03 -4.00413151e-05 9.99978896e-01 -8.74557521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.98420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:275.02, Y:-40.29, Z:-8.74 [[ 9.81768531e-01 1.89966607e-01 6.57574836e-03 2.75019921e+02] [-1.89962705e-01 9.81790551e-01 -1.21870405e-03 -4.02864638e+01] [-6.68752068e-03 -5.26616639e-05 9.99977637e-01 -8.74003672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.01420382200007 meters Centerline goodness [0,1] 0.9999361185639453 Centerline is valid? [True, True] Translation: X:275.05, Y:-40.28, Z:-8.74 [[ 9.81252151e-01 1.92590864e-01 7.27836345e-03 2.75048705e+02] [-1.92586157e-01 9.81279141e-01 -1.34867289e-03 -4.02834882e+01] [-7.40184832e-03 -7.83238759e-05 9.99972603e-01 -8.74309426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.04420382200004 meters Centerline goodness [0,1] 0.9999785057174791 Centerline is valid? [True, True] Translation: X:275.08, Y:-40.29, Z:-8.74 [[ 9.81204820e-01 1.92799679e-01 8.08611665e-03 2.75076995e+02] [-1.92793886e-01 9.81238134e-01 -1.49730836e-03 -4.02884691e+01] [-8.22308658e-03 -8.97876713e-05 9.99966186e-01 -8.74230032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.0742038220001 meters Centerline goodness [0,1] 0.9999576728534846 Centerline is valid? [True, True] Translation: X:275.10, Y:-40.29, Z:-8.74 [[ 9.81338579e-01 1.92078945e-01 8.95950839e-03 2.75104419e+02] [-1.92071805e-01 9.81379473e-01 -1.65869573e-03 -4.02928164e+01] [-9.11127815e-03 -9.31268434e-05 9.99958487e-01 -8.74221778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.10420382200004 meters Centerline goodness [0,1] 0.999956742727371 Centerline is valid? [True, True] Translation: X:275.13, Y:-40.30, Z:-8.74 [[ 9.81742748e-01 1.90044811e-01 8.00918366e-03 2.75132264e+02] [-1.90039042e-01 9.81775415e-01 -1.48227040e-03 -4.02993576e+01] [-8.14491741e-03 -6.68493741e-05 9.99966827e-01 -8.74131786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.134203822 meters Centerline goodness [0,1] 0.9999569957210742 Centerline is valid? [True, True] Translation: X:275.16, Y:-40.31, Z:-8.74 [[ 9.81998234e-01 1.88758367e-01 7.05321963e-03 2.75159306e+02] [-1.88753859e-01 9.82023562e-01 -1.30545708e-03 -4.03066356e+01] [-7.17284381e-03 -4.93658749e-05 9.99974274e-01 -8.74440146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.16420382200005 meters Centerline goodness [0,1] 0.9999570132828955 Centerline is valid? [True, True] Translation: X:275.19, Y:-40.31, Z:-8.75 [[ 9.82402537e-01 1.86647684e-01 6.92086450e-03 2.75186723e+02] [-1.86643294e-01 9.82426914e-01 -1.28054060e-03 -4.03134132e+01] [-7.03825349e-03 -3.37266186e-05 9.99975231e-01 -8.74763040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.194203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:275.21, Y:-40.32, Z:-8.75 [[ 9.82555068e-01 1.85847857e-01 6.79055664e-03 2.75214917e+02] [-1.85843617e-01 9.82578533e-01 -1.25575209e-03 -4.03190788e+01] [-6.90563402e-03 -2.81360253e-05 9.99976155e-01 -8.74622616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.22420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:275.24, Y:-40.32, Z:-8.75 [[ 9.82762317e-01 1.84766618e-01 6.28692973e-03 2.75243192e+02] [-1.84762962e-01 9.82782426e-01 -1.16241926e-03 -4.03245465e+01] [-6.39346033e-03 -1.92099138e-05 9.99979561e-01 -8.74757326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.254203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:275.27, Y:-40.33, Z:-8.75 [[ 9.83174910e-01 1.82555819e-01 6.36159536e-03 2.75270279e+02] [-1.82552030e-01 9.83195491e-01 -1.17617834e-03 -4.03308316e+01] [-6.46941007e-03 -4.93312003e-06 9.99979073e-01 -8.75046197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.28420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:275.30, Y:-40.34, Z:-8.75 [[ 9.83589574e-01 1.80300695e-01 6.57339970e-03 2.75297776e+02] [-1.80296604e-01 9.83611539e-01 -1.21458739e-03 -4.03403972e+01] [-6.68466275e-03 9.49384304e-06 9.99977657e-01 -8.74697187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.314203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:275.33, Y:-40.35, Z:-8.75 [[ 9.83799790e-01 1.79158204e-01 6.34912805e-03 2.75325880e+02] [-1.79154365e-01 9.83820277e-01 -1.17287069e-03 -4.03472440e+01] [-6.45653033e-03 1.63959275e-05 9.99979156e-01 -8.74826243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.34420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:275.35, Y:-40.35, Z:-8.75 [[ 9.84146924e-01 1.77223489e-01 6.83124420e-03 2.75354179e+02] [-1.77219002e-01 9.84170633e-01 -1.26145786e-03 -4.03535365e+01] [-6.94666989e-03 3.08335904e-05 9.99975871e-01 -8.74799107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.374203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:275.38, Y:-40.36, Z:-8.75 [[ 9.84296692e-01 1.76353422e-01 7.71314912e-03 2.75381151e+02] [-1.76347678e-01 9.84326912e-01 -1.42399026e-03 -4.03606200e+01] [-7.84338581e-03 4.14329678e-05 9.99969239e-01 -8.75131387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.40420382200006 meters Centerline goodness [0,1] 0.9999350874156137 Centerline is valid? [True, True] Translation: X:275.41, Y:-40.37, Z:-8.75 [[ 9.84415969e-01 1.75692636e-01 7.56957535e-03 2.75410730e+02] [-1.75687095e-01 9.84445070e-01 -1.39615999e-03 -4.03658293e+01] [-7.69712617e-03 4.45254897e-05 9.99970376e-01 -8.75291775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.43420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:275.44, Y:-40.37, Z:-8.75 [[ 9.84447208e-01 1.75528431e-01 7.31194771e-03 2.75438749e+02] [-1.75523255e-01 9.84474361e-01 -1.34876779e-03 -4.03723259e+01] [-7.43517215e-03 4.43738303e-05 9.99972358e-01 -8.75236551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.46420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:275.47, Y:-40.38, Z:-8.75 [[ 9.84342812e-01 1.76142770e-01 6.55383966e-03 2.75467477e+02] [-1.76138624e-01 9.84364629e-01 -1.20909762e-03 -4.03781220e+01] [-6.66434175e-03 3.57822545e-05 9.99977792e-01 -8.75143756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.49420382200003 meters Centerline goodness [0,1] 0.9999784710112166 Centerline is valid? [True, True] Translation: X:275.50, Y:-40.38, Z:-8.75 [[ 9.84168725e-01 1.77136973e-01 5.86628237e-03 2.75495741e+02] [-1.77133670e-01 9.84186208e-01 -1.08211499e-03 -4.03815224e+01] [-5.96519678e-03 2.58676072e-05 9.99982208e-01 -8.75376838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.52420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:275.52, Y:-40.39, Z:-8.75 [[ 9.84070275e-01 1.77704370e-01 5.18178792e-03 2.75524228e+02] [-1.77701801e-01 9.84083917e-01 -9.55812100e-04 -4.03858127e+01] [-5.26916614e-03 1.97732318e-05 9.99986118e-01 -8.75322672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.55420382200003 meters Centerline goodness [0,1] 0.9998703543647364 Centerline is valid? [True, True] Translation: X:275.55, Y:-40.39, Z:-8.76 [[ 9.83700613e-01 1.79756760e-01 4.53995552e-03 2.75551395e+02] [-1.79754807e-01 9.83711089e-01 -8.37880301e-04 -4.03888738e+01] [-4.61661924e-03 8.14453637e-06 9.99989343e-01 -8.76014662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.58420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:275.58, Y:-40.39, Z:-8.76 [[ 9.83426270e-01 1.81240984e-01 4.94740240e-03 2.75580765e+02] [-1.81238686e-01 9.83438715e-01 -9.12686637e-04 -4.03920401e+01] [-5.03088328e-03 8.99305000e-07 9.99987345e-01 -8.75637805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.61420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:275.61, Y:-40.40, Z:-8.76 [[ 9.83435245e-01 1.81192273e-01 4.94759341e-03 2.75608640e+02] [-1.81189979e-01 9.83447691e-01 -9.11648702e-04 -4.03970790e+01] [-5.03088302e-03 9.31158699e-08 9.99987345e-01 -8.75724507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.64420382200007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:275.64, Y:-40.40, Z:-8.76 [[ 9.82799720e-01 1.84582927e-01 5.81834904e-03 2.75637939e+02] [-1.84579818e-01 9.82816943e-01 -1.07152622e-03 -4.03957943e+01] [-5.91615746e-03 -2.08541433e-05 9.99982499e-01 -8.75634592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.67420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:275.67, Y:-40.40, Z:-8.76 [[ 9.82487039e-01 1.86220282e-01 6.42065799e-03 2.75667231e+02] [-1.86216534e-01 9.82508018e-01 -1.18197068e-03 -4.03982441e+01] [-6.52845487e-03 -3.43618059e-05 9.99978689e-01 -8.75532183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.70420382200007 meters Centerline goodness [0,1] 0.999956758626654 Centerline is valid? [True, True] Translation: X:275.70, Y:-40.40, Z:-8.75 [[ 9.81952660e-01 1.88992380e-01 7.13123347e-03 2.75696223e+02] [-1.88987831e-01 9.81978552e-01 -1.31252777e-03 -4.03964832e+01] [-7.25077606e-03 -5.88762097e-05 9.99973711e-01 -8.75456392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.73420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:275.72, Y:-40.40, Z:-8.76 [[ 9.81718681e-01 1.90180083e-01 7.74387730e-03 2.75723744e+02] [-1.90174757e-01 9.81749220e-01 -1.42517154e-03 -4.03960445e+01] [-7.87358474e-03 -7.35724561e-05 9.99969000e-01 -8.75714368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.76420382200007 meters Centerline goodness [0,1] 0.9999575191163976 Centerline is valid? [True, True] Translation: X:275.75, Y:-40.40, Z:-8.76 [[ 9.81441477e-01 1.91598195e-01 7.92199064e-03 2.75752126e+02] [-1.91592679e-01 9.81473445e-01 -1.45655284e-03 -4.03966178e+01] [-8.05429634e-03 -8.82740421e-05 9.99967560e-01 -8.75887360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.79420382200004 meters Centerline goodness [0,1] 0.9999785458368197 Centerline is valid? [True, True] Translation: X:275.78, Y:-40.40, Z:-8.76 [[ 9.81446553e-01 1.91597655e-01 7.28032640e-03 2.75779971e+02] [-1.91593000e-01 9.81473551e-01 -1.33805622e-03 -4.04030965e+01] [-7.40181624e-03 -8.16289072e-05 9.99972603e-01 -8.75851025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.8242038220001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:275.81, Y:-40.41, Z:-8.76 [[ 9.81722648e-01 1.90198210e-01 6.72926812e-03 2.75807217e+02] [-1.90194198e-01 9.81745709e-01 -1.23712699e-03 -4.04105978e+01] [-6.84172944e-03 -6.53521729e-05 9.99976593e-01 -8.76367262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.85420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:275.83, Y:-40.42, Z:-8.76 [[ 9.82002126e-01 1.88768629e-01 6.18290581e-03 2.75833941e+02] [-1.88765216e-01 9.82021589e-01 -1.13638100e-03 -4.04174926e+01] [-6.28626008e-03 -5.11889954e-05 9.99980240e-01 -8.76424292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.884203822 meters Centerline goodness [0,1] 0.9999565849740595 Centerline is valid? [True, True] Translation: X:275.86, Y:-40.43, Z:-8.77 [[ 9.82551386e-01 1.85910492e-01 5.48289807e-03 2.75862133e+02] [-1.85907768e-01 9.82566684e-01 -1.00697818e-03 -4.04250762e+01] [-5.57452078e-03 -2.99055339e-05 9.99984462e-01 -8.76553122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.91420382200005 meters Centerline goodness [0,1] 0.9998700482987156 Centerline is valid? [True, True] Translation: X:275.89, Y:-40.43, Z:-8.77 [[ 9.83147847e-01 1.82736258e-01 5.26979399e-03 2.75890170e+02] [-1.82733696e-01 9.83161970e-01 -9.67694961e-04 -4.04340802e+01] [-5.35789400e-03 -1.15817163e-05 9.99985646e-01 -8.76716542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.944203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:275.92, Y:-40.44, Z:-8.76 [[ 9.83452718e-01 1.81095719e-01 5.00916723e-03 2.75917064e+02] [-1.81093382e-01 9.83465475e-01 -9.19972537e-04 -4.04417117e+01] [-5.09294612e-03 -2.37754255e-06 9.99987031e-01 -8.76457933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.97420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:275.94, Y:-40.45, Z:-8.77 [[ 9.84092564e-01 1.77608582e-01 4.12525419e-03 2.75943564e+02] [-1.77606966e-01 9.84101210e-01 -7.57742607e-04 -4.04540821e+01] [-4.19424923e-03 1.30149824e-05 9.99991204e-01 -8.76519813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.004203822 meters Centerline goodness [0,1] 0.9999563709343164 Centerline is valid? [True, True] Translation: X:275.97, Y:-40.46, Z:-8.76 [[ 9.84384639e-01 1.75978073e-01 4.31278936e-03 2.75971382e+02] [-1.75976294e-01 9.84394086e-01 -7.91511012e-04 -4.04622738e+01] [-4.38477292e-03 2.02025941e-05 9.99990387e-01 -8.76396332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.03420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.00, Y:-40.47, Z:-8.76 [[ 9.84686725e-01 1.74216923e-01 6.36530468e-03 2.75998519e+02] [-1.74213017e-01 9.84707298e-01 -1.16740335e-03 -4.04703628e+01] [-6.47134339e-03 4.06076506e-05 9.99979060e-01 -8.76424144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.064203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.03, Y:-40.48, Z:-8.76 [[ 9.84743437e-01 1.73887712e-01 6.58982822e-03 2.76027018e+02] [-1.73883524e-01 9.84765486e-01 -1.20770423e-03 -4.04762213e+01] [-6.69944031e-03 4.34162637e-05 9.99977558e-01 -8.76388193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.09420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.06, Y:-40.48, Z:-8.77 [[ 9.84744060e-01 1.73911102e-01 5.83646351e-03 2.76055638e+02] [-1.73907822e-01 9.84761355e-01 -1.06890302e-03 -4.04847044e+01] [-5.93341782e-03 3.75892421e-05 9.99982396e-01 -8.76534804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.124203822 meters Centerline goodness [0,1] 0.9997641054234307 Centerline is valid? [True, True] Translation: X:276.08, Y:-40.49, Z:-8.77 [[ 9.84708893e-01 1.74113689e-01 5.72879008e-03 2.76082747e+02] [-1.74110527e-01 9.84725557e-01 -1.04998025e-03 -4.04907974e+01] [-5.82410193e-03 3.64822292e-05 9.99983039e-01 -8.77254333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.15420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.11, Y:-40.50, Z:-8.77 [[ 9.84463064e-01 1.75496737e-01 5.77667774e-03 2.76111299e+02] [-1.75493552e-01 9.84480012e-01 -1.05774924e-03 -4.04965292e+01] [-5.87265532e-03 2.75453618e-05 9.99982755e-01 -8.76749115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.18420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.14, Y:-40.50, Z:-8.77 [[ 9.84389013e-01 1.75914012e-01 5.70363209e-03 2.76139104e+02] [-1.75910913e-01 9.84405536e-01 -1.04449773e-03 -4.05026579e+01] [-5.79842879e-03 2.48609629e-05 9.99983189e-01 -8.76738720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.21420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.17, Y:-40.51, Z:-8.77 [[ 9.84217054e-01 1.76867271e-01 5.89560353e-03 2.76167992e+02] [-1.76863983e-01 9.84234712e-01 -1.07867707e-03 -4.05111429e+01] [-5.99344031e-03 1.89324410e-05 9.99982039e-01 -8.76603558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.24420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.20, Y:-40.52, Z:-8.77 [[ 9.84170205e-01 1.77126401e-01 5.93683529e-03 2.76195624e+02] [-1.77123070e-01 9.84188111e-01 -1.08637250e-03 -4.05179728e+01] [-6.03538796e-03 1.76249490e-05 9.99981787e-01 -8.76856249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.27420382200006 meters Centerline goodness [0,1] 0.999978438052525 Centerline is valid? [True, True] Translation: X:276.22, Y:-40.52, Z:-8.77 [[ 9.84114356e-01 1.77433628e-01 6.02007409e-03 2.76224899e+02] [-1.77430212e-01 9.84132769e-01 -1.10103626e-03 -4.05245036e+01] [-6.11991305e-03 1.54025646e-05 9.99981273e-01 -8.76790540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.30420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.25, Y:-40.54, Z:-8.77 [[ 9.84143012e-01 1.77242619e-01 6.89826441e-03 2.76252571e+02] [-1.77238132e-01 9.84167188e-01 -1.26135854e-03 -4.05354665e+01] [-7.01261198e-03 1.87216956e-05 9.99975411e-01 -8.76874124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.33420382200006 meters Centerline goodness [0,1] 0.9999783643444397 Centerline is valid? [True, True] Translation: X:276.28, Y:-40.54, Z:-8.77 [[ 9.84158516e-01 1.77160660e-01 6.79081246e-03 2.76281687e+02] [-1.77156314e-01 9.84181945e-01 -1.24095646e-03 -4.05449983e+01] [-6.90324368e-03 1.82625594e-05 9.99976172e-01 -8.76807942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.36420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.31, Y:-40.55, Z:-8.77 [[ 9.84111671e-01 1.77452686e-01 5.89602540e-03 2.76310561e+02] [-1.77449414e-01 9.84129333e-01 -1.07775089e-03 -4.05509716e+01] [-5.99370133e-03 1.43809783e-05 9.99982038e-01 -8.77277823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.39420382200007 meters Centerline goodness [0,1] 0.9998709316583131 Centerline is valid? [True, True] Translation: X:276.34, Y:-40.56, Z:-8.78 [[ 9.83881631e-01 1.78748799e-01 5.07975010e-03 2.76338264e+02] [-1.78746386e-01 9.83894744e-01 -9.28911956e-04 -4.05575942e+01] [-5.16398132e-03 5.95243983e-06 9.99986667e-01 -8.78065027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.42420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.37, Y:-40.56, Z:-8.77 [[ 9.83683556e-01 1.79814060e-01 5.79365165e-03 2.76367033e+02] [-1.79810941e-01 9.83700617e-01 -1.05910571e-03 -4.05642984e+01] [-5.88966080e-03 6.29110494e-08 9.99982656e-01 -8.77496429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.45420382200007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.40, Y:-40.57, Z:-8.78 [[ 9.83390058e-01 1.81437768e-01 4.93247679e-03 2.76395732e+02] [-1.81435532e-01 9.83402428e-01 -9.00850903e-04 -4.05739842e+01] [-5.01405803e-03 -9.03872710e-06 9.99987429e-01 -8.77617774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.48420382200004 meters Centerline goodness [0,1] 0.9999132076290494 Centerline is valid? [True, True] Translation: X:276.42, Y:-40.58, Z:-8.78 [[ 9.83312842e-01 1.81885097e-01 3.69674221e-03 2.76424919e+02] [-1.81883844e-01 9.83319791e-01 -6.75329118e-04 -4.05821386e+01] [-3.75791208e-03 -8.31788839e-06 9.99992939e-01 -8.78084825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.51420382200007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.45, Y:-40.59, Z:-8.78 [[ 9.82897052e-01 1.84076871e-01 5.39357590e-03 2.76452767e+02] [-1.84074230e-01 9.82911850e-01 -9.86244711e-04 -4.05894799e+01] [-5.48295450e-03 -2.34413113e-05 9.99984968e-01 -8.77671718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.54420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.48, Y:-40.59, Z:-8.78 [[ 9.82611768e-01 1.85595868e-01 5.31856873e-03 2.76483381e+02] [-1.85593329e-01 9.82626161e-01 -9.71406798e-04 -4.05943811e+01] [-5.40645386e-03 -3.25751247e-05 9.99985384e-01 -8.77556334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.5742038220001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.51, Y:-40.60, Z:-8.78 [[ 9.81934379e-01 1.89115173e-01 6.35036525e-03 2.76511570e+02] [-1.89111620e-01 9.81954911e-01 -1.16076209e-03 -4.05967535e+01] [-6.45529007e-03 -6.11356657e-05 9.99979163e-01 -8.77675675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.60420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.54, Y:-40.60, Z:-8.78 [[ 9.81541405e-01 1.91137433e-01 6.55372924e-03 2.76540226e+02] [-1.91133696e-01 9.81563282e-01 -1.19761561e-03 -4.05991566e+01] [-6.66180915e-03 -7.71291799e-05 9.99977807e-01 -8.77855519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.634203822 meters Centerline goodness [0,1] 0.9999784496692025 Centerline is valid? [True, True] Translation: X:276.57, Y:-40.60, Z:-8.78 [[ 9.80553496e-01 1.96198470e-01 4.58279021e-03 2.76570477e+02] [-1.96196701e-01 9.80564202e-01 -8.37004813e-04 -4.06016053e+01] [-4.65793909e-03 -7.84003237e-05 9.99989149e-01 -8.77829873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.66420382200005 meters Centerline goodness [0,1] 0.9999567371130675 Centerline is valid? [True, True] Translation: X:276.60, Y:-40.60, Z:-8.78 [[ 9.80102542e-01 1.98455394e-01 3.80318246e-03 2.76599207e+02] [-1.98454190e-01 9.80109918e-01 -6.95296756e-04 -4.06033365e+01] [-3.86552225e-03 -7.32953761e-05 9.99992526e-01 -8.78202518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.694203822 meters Centerline goodness [0,1] 0.9998508639239833 Centerline is valid? [True, True] Translation: X:276.63, Y:-40.60, Z:-8.79 [[ 9.79301597e-01 2.02371959e-01 3.73795645e-03 2.76628806e+02] [-2.02370824e-01 9.79308727e-01 -6.83228820e-04 -4.06018302e+01] [-3.79887973e-03 -8.73662538e-05 9.99992780e-01 -8.78530562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.72420382200005 meters Centerline goodness [0,1] 0.9998059801237416 Centerline is valid? [True, True] Translation: X:276.66, Y:-40.60, Z:-8.78 [[ 9.78931718e-01 2.04155504e-01 3.63610921e-03 2.76657484e+02] [-2.04154441e-01 9.78938467e-01 -6.65130427e-04 -4.06024927e+01] [-3.69531721e-03 -9.12105707e-05 9.99993168e-01 -8.78494599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.754203822 meters Centerline goodness [0,1] 0.9986895810955961 Centerline is valid? [True, True] Translation: X:276.69, Y:-40.60, Z:-8.79 [[ 9.78550130e-01 2.05985480e-01 3.10254450e-03 2.76686889e+02] [-2.05984716e-01 9.78555045e-01 -5.67250201e-04 -4.06018611e+01] [-3.15285587e-03 -8.39939881e-05 9.99995026e-01 -8.78838913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.78420382200005 meters Centerline goodness [0,1] 0.9993358613449879 Centerline is valid? [True, True] Translation: X:276.72, Y:-40.61, Z:-8.79 [[ 9.78563174e-01 2.05930453e-01 2.60073237e-03 2.76715048e+02] [-2.05929916e-01 9.78566627e-01 -4.75650903e-04 -4.06077391e+01] [-2.64294091e-03 -7.01141401e-05 9.99996505e-01 -8.78803453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.814203822 meters Centerline goodness [0,1] 0.9998492061782382 Centerline is valid? [True, True] Translation: X:276.74, Y:-40.61, Z:-8.79 [[ 9.78996028e-01 2.03846301e-01 3.66923207e-03 2.76744737e+02] [-2.03845220e-01 9.79002900e-01 -6.69961450e-04 -4.06141127e+01] [-3.72875800e-03 -9.20658207e-05 9.99993044e-01 -8.78739739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.84420382200005 meters Centerline goodness [0,1] 0.9999783470108048 Centerline is valid? [True, True] Translation: X:276.77, Y:-40.62, Z:-8.79 [[ 9.79426198e-01 2.01755630e-01 4.35761515e-03 2.76772246e+02] [-2.01754086e-01 9.79435887e-01 -7.95641939e-04 -4.06238043e+01] [-4.42852990e-03 -9.98941021e-05 9.99990189e-01 -8.78507334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.874203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.80, Y:-40.63, Z:-8.79 [[ 9.80426255e-01 1.96831404e-01 4.66444349e-03 2.76799945e+02] [-1.96829583e-01 9.80437347e-01 -8.50675287e-04 -4.06337360e+01] [-4.74063421e-03 -8.40760841e-05 9.99988760e-01 -8.78509632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.90420382200006 meters Centerline goodness [0,1] 0.9997844966920242 Centerline is valid? [True, True] Translation: X:276.83, Y:-40.64, Z:-8.79 [[ 9.81034745e-01 1.93789353e-01 4.06393393e-03 2.76827784e+02] [-1.93787942e-01 9.81043161e-01 -7.41830333e-04 -4.06410454e+01] [-4.13065341e-03 -5.97800604e-05 9.99991467e-01 -8.78912893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.93420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.86, Y:-40.65, Z:-8.79 [[ 9.82156055e-01 1.87991217e-01 5.36526595e-03 2.76855589e+02] [-1.87988681e-01 9.82170708e-01 -9.77655072e-04 -4.06517460e+01] [-5.45339762e-03 -4.83994223e-05 9.99985129e-01 -8.78987891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.96420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.88, Y:-40.66, Z:-8.79 [[ 9.82644593e-01 1.85406341e-01 5.83895798e-03 2.76883717e+02] [-1.85403291e-01 9.82661940e-01 -1.06414556e-03 -4.06613745e+01] [-5.93502111e-03 -3.68851424e-05 9.99982387e-01 -8.78982686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.99420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.91, Y:-40.67, Z:-8.79 [[ 9.83491459e-01 1.80872900e-01 5.43551241e-03 2.76912940e+02] [-1.80870191e-01 9.83506479e-01 -9.89933672e-04 -4.06727247e+01] [-5.52491385e-03 -9.53085655e-06 9.99984738e-01 -8.78954837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.02420382200006 meters Centerline goodness [0,1] 0.9999785485981509 Centerline is valid? [True, True] Translation: X:276.94, Y:-40.68, Z:-8.79 [[ 9.83916940e-01 1.78532027e-01 5.81123565e-03 2.76941216e+02] [-1.78528892e-01 9.83934101e-01 -1.05799732e-03 -4.06810121e+01] [-5.90675933e-03 3.50802748e-06 9.99982555e-01 -8.79163943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.05420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.97, Y:-40.70, Z:-8.79 [[ 9.84669291e-01 1.74307692e-01 6.57388927e-03 2.76971216e+02] [-1.74303610e-01 9.84691235e-01 -1.19328564e-03 -4.06960378e+01] [-6.68125001e-03 2.91390881e-05 9.99977680e-01 -8.79063805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.08420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.00, Y:-40.71, Z:-8.79 [[ 9.84949914e-01 1.72742430e-01 5.80692595e-03 2.77002160e+02] [-1.72739215e-01 9.84967031e-01 -1.05447755e-03 -4.07059106e+01] [-5.90178362e-03 3.55237360e-05 9.99982584e-01 -8.79312202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.11420382200004 meters Centerline goodness [0,1] 0.9999133767893107 Centerline is valid? [True, True] Translation: X:277.03, Y:-40.71, Z:-8.80 [[ 9.85316959e-01 1.70694242e-01 3.73715569e-03 2.77033611e+02] [-1.70692888e-01 9.85324046e-01 -6.80613044e-04 -4.07139093e+01] [-3.79848609e-03 3.27136768e-05 9.99992785e-01 -8.79641483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.14420382200007 meters Centerline goodness [0,1] 0.9999138988742278 Centerline is valid? [True, True] Translation: X:277.06, Y:-40.72, Z:-8.80 [[ 9.85142044e-01 1.71705326e-01 3.52610193e-03 2.77064321e+02] [-1.71704131e-01 9.85148355e-01 -6.40976177e-04 -4.07197507e+01] [-3.58379253e-03 2.60063127e-05 9.99993578e-01 -8.79933897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.17420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.10, Y:-40.72, Z:-8.80 [[ 9.84909510e-01 1.73015385e-01 4.35132358e-03 2.77095629e+02] [-1.73013566e-01 9.84919121e-01 -7.94055099e-04 -4.07241403e+01] [-4.42308555e-03 2.92344110e-05 9.99990218e-01 -8.79720164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.20420382200007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.13, Y:-40.73, Z:-8.80 [[ 9.84651088e-01 1.74475428e-01 4.53441282e-03 2.77125679e+02] [-1.74473465e-01 9.84661528e-01 -8.27939627e-04 -4.07287429e+01] [-4.60931697e-03 2.40969381e-05 9.99989377e-01 -8.80116506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.23420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.16, Y:-40.73, Z:-8.80 [[ 9.84184026e-01 1.77112295e-01 3.61094160e-03 2.77156893e+02] [-1.77111069e-01 9.84190650e-01 -6.58941561e-04 -4.07331311e+01] [-3.67056161e-03 8.98203106e-06 9.99993263e-01 -8.79903369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.26420382200007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.19, Y:-40.73, Z:-8.80 [[ 9.83546516e-01 1.80589626e-01 4.86178961e-03 2.77187154e+02] [-1.80587442e-01 9.83558533e-01 -8.88247284e-04 -4.07341329e+01] [-4.94226290e-03 -4.34562507e-06 9.99987787e-01 -8.80073530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.29420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.22, Y:-40.74, Z:-8.80 [[ 9.83288339e-01 1.81993482e-01 4.73441148e-03 2.77217164e+02] [-1.81991427e-01 9.83299737e-01 -8.64975344e-04 -4.07382392e+01] [-4.81276544e-03 -1.11021314e-05 9.99988419e-01 -8.80106897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.3242038220001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.25, Y:-40.74, Z:-8.80 [[ 9.82670788e-01 1.85317153e-01 3.95916598e-03 2.77247869e+02] [-1.85315742e-01 9.82678764e-01 -7.23338259e-04 -4.07386782e+01] [-4.02463532e-03 -2.28924057e-05 9.99991901e-01 -8.80277423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.35420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.28, Y:-40.74, Z:-8.80 [[ 9.82266124e-01 1.87453235e-01 3.81397395e-03 2.77277486e+02] [-1.87451939e-01 9.82273528e-01 -6.97473319e-04 -4.07392723e+01] [-3.87710928e-03 -2.98324000e-05 9.99992484e-01 -8.80431416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.384203822 meters Centerline goodness [0,1] 0.9999357587956915 Centerline is valid? [True, True] Translation: X:277.31, Y:-40.74, Z:-8.81 [[ 9.81294980e-01 1.92471261e-01 3.86997417e-03 2.77306666e+02] [-1.92469969e-01 9.81302609e-01 -7.07208087e-04 -4.07354457e+01] [-3.93373298e-03 -5.08740617e-05 9.99992262e-01 -8.80782482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.41420382200005 meters Centerline goodness [0,1] 0.9999785066414478 Centerline is valid? [True, True] Translation: X:277.33, Y:-40.74, Z:-8.81 [[ 9.80844103e-01 1.94752882e-01 4.02005050e-03 2.77334995e+02] [-1.94751501e-01 9.80852339e-01 -7.35932405e-04 -4.07385312e+01] [-4.08640089e-03 -6.10759089e-05 9.99991649e-01 -8.80658402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.444203822 meters Centerline goodness [0,1] 0.9998924869909259 Centerline is valid? [True, True] Translation: X:277.36, Y:-40.74, Z:-8.81 [[ 9.80208916e-01 1.97898329e-01 5.17039499e-03 2.77363706e+02] [-1.97896093e-01 9.80222547e-01 -9.45661705e-04 -4.07379432e+01] [-5.25528261e-03 -9.62549306e-05 9.99986186e-01 -8.80578467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.47420382200005 meters Centerline goodness [0,1] 0.9998923202825516 Centerline is valid? [True, True] Translation: X:277.39, Y:-40.74, Z:-8.81 [[ 9.80032609e-01 1.98764488e-01 5.36320379e-03 2.77392343e+02] [-1.98762099e-01 9.80047278e-01 -9.80222892e-04 -4.07406185e+01] [-5.45102678e-03 -1.05351246e-04 9.99985137e-01 -8.80790126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.504203822 meters Centerline goodness [0,1] 0.9998923202825516 Centerline is valid? [True, True] Translation: X:277.42, Y:-40.75, Z:-8.81 [[ 9.80042066e-01 1.98717851e-01 5.36325087e-03 2.77420232e+02] [-1.98715462e-01 9.80056735e-01 -9.79965062e-04 -4.07456177e+01] [-5.45102669e-03 -1.05353894e-04 9.99985137e-01 -8.80876846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.53420382200005 meters Centerline goodness [0,1] 0.9998269971022015 Centerline is valid? [True, True] Translation: X:277.45, Y:-40.75, Z:-8.81 [[ 9.80010405e-01 1.98845515e-01 6.32988294e-03 2.77448927e+02] [-1.98842194e-01 9.80030839e-01 -1.15604216e-03 -4.07476315e+01] [-6.43335429e-03 -1.25714472e-04 9.99979298e-01 -8.80638626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.564203822 meters Centerline goodness [0,1] 0.9999785518188058 Centerline is valid? [True, True] Translation: X:277.48, Y:-40.75, Z:-8.81 [[ 9.80457194e-01 1.96601564e-01 7.17743254e-03 2.77476422e+02] [-1.96597236e-01 9.80483457e-01 -1.31054585e-03 -4.07501132e+01] [-7.29500923e-03 -1.26129293e-04 9.99973383e-01 -8.80668112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.59420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.50, Y:-40.76, Z:-8.81 [[ 9.80958787e-01 1.94103454e-01 6.61113392e-03 2.77503529e+02] [-1.94099727e-01 9.80981060e-01 -1.20685403e-03 -4.07574023e+01] [-6.71965169e-03 -9.93452272e-05 9.99977418e-01 -8.80994163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.624203822 meters Centerline goodness [0,1] 0.9999147303346835 Centerline is valid? [True, True] Translation: X:277.53, Y:-40.77, Z:-8.82 [[ 9.81570891e-01 1.91005497e-01 5.95706906e-03 2.77530616e+02] [-1.91002418e-01 9.81588964e-01 -1.08695844e-03 -4.07658170e+01] [-6.05500829e-03 -7.08878283e-05 9.99981666e-01 -8.81576270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.65420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.56, Y:-40.78, Z:-8.81 [[ 9.82780697e-01 1.84664773e-01 6.40488526e-03 2.77558593e+02] [-1.84661084e-01 9.82801567e-01 -1.16779429e-03 -4.07804716e+01] [-6.51038174e-03 -3.50473707e-05 9.99978807e-01 -8.81178220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.68420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.59, Y:-40.79, Z:-8.81 [[ 9.83390513e-01 1.81390166e-01 6.38020522e-03 2.77587684e+02] [-1.81386442e-01 9.83411210e-01 -1.16240205e-03 -4.07893998e+01] [-6.48521364e-03 -1.41875733e-05 9.99978971e-01 -8.81221858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.71420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.62, Y:-40.80, Z:-8.81 [[ 9.84436621e-01 1.75600623e-01 6.99713701e-03 2.77616436e+02] [-1.75596000e-01 9.84461488e-01 -1.27450925e-03 -4.08017136e+01] [-7.11221652e-03 2.60043048e-05 9.99974708e-01 -8.81375332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.74420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.65, Y:-40.81, Z:-8.81 [[ 9.85264543e-01 1.70839431e-01 8.22613582e-03 2.77646345e+02] [-1.70832901e-01 9.85298881e-01 -1.49529215e-03 -4.08139008e+01] [-8.36065728e-03 6.79636901e-05 9.99965047e-01 -8.81286901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.77420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.68, Y:-40.82, Z:-8.81 [[ 9.85719632e-01 1.68192000e-01 8.26180551e-03 2.77675944e+02] [-1.68185296e-01 9.85754251e-01 -1.50458191e-03 -4.08234257e+01] [-8.39716854e-03 9.35817208e-05 9.99964739e-01 -8.81451987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.80420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.71, Y:-40.83, Z:-8.81 [[ 9.86160539e-01 1.65585179e-01 8.30302544e-03 2.77707256e+02] [-1.65578324e-01 9.86195485e-01 -1.51113953e-03 -4.08326067e+01] [-8.43862851e-03 1.15425141e-04 9.99964387e-01 -8.81413531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.83420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.74, Y:-40.84, Z:-8.81 [[ 9.86858294e-01 1.61350924e-01 8.75141247e-03 2.77738028e+02] [-1.61343103e-01 9.86897083e-01 -1.59717619e-03 -4.08431856e+01] [-8.89444929e-03 1.64206525e-04 9.99960430e-01 -8.81236861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.86420382200004 meters Centerline goodness [0,1] 0.9999784918484106 Centerline is valid? [True, True] Translation: X:277.77, Y:-40.85, Z:-8.82 [[ 9.87029938e-01 1.60307880e-01 8.56072581e-03 2.77768139e+02] [-1.60300361e-01 9.87067047e-01 -1.56178122e-03 -4.08517518e+01] [-8.70037619e-03 1.69237379e-04 9.99962137e-01 -8.81522571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.89420382200007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.80, Y:-40.86, Z:-8.82 [[ 9.87012961e-01 1.60428535e-01 8.25229154e-03 2.77798345e+02] [-1.60421547e-01 9.87047445e-01 -1.50624740e-03 -4.08597927e+01] [-8.38704835e-03 1.62840334e-04 9.99964815e-01 -8.81899155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.92420382200004 meters Centerline goodness [0,1] 0.9999784296807592 Centerline is valid? [True, True] Translation: X:277.83, Y:-40.87, Z:-8.82 [[ 9.86861368e-01 1.61355979e-01 8.29994586e-03 2.77829715e+02] [-1.61348949e-01 9.86896258e-01 -1.51417900e-03 -4.08651429e+01] [-8.43550735e-03 1.55097216e-04 9.99964408e-01 -8.81965044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.95420382200007 meters Centerline goodness [0,1] 0.9998061598104674 Centerline is valid? [True, True] Translation: X:277.86, Y:-40.87, Z:-8.82 [[ 9.86285025e-01 1.64872713e-01 7.67063098e-03 2.77862329e+02] [-1.64866809e-01 9.86314846e-01 -1.40013713e-03 -4.08659373e+01] [-7.79650162e-03 1.16301834e-04 9.99969600e-01 -8.82187467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.98420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.89, Y:-40.87, Z:-8.82 [[ 9.85910338e-01 1.67084363e-01 7.97631786e-03 2.77894580e+02] [-1.67078038e-01 9.85942597e-01 -1.45750105e-03 -4.08695001e+01] [-8.10771718e-03 1.04297817e-04 9.99967126e-01 -8.81937451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.01420382200007 meters Centerline goodness [0,1] 0.9999570760183715 Centerline is valid? [True, True] Translation: X:277.93, Y:-40.87, Z:-8.82 [[ 9.85154697e-01 1.71507813e-01 7.43596300e-03 2.77925752e+02] [-1.71502433e-01 9.85182758e-01 -1.36003842e-03 -4.08693254e+01] [-7.55903975e-03 6.45624940e-05 9.99971428e-01 -8.82417419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.04420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.96, Y:-40.87, Z:-8.82 [[ 9.84786608e-01 1.73570141e-01 8.29110342e-03 2.77956543e+02] [-1.73563483e-01 9.84821508e-01 -1.52145827e-03 -4.08735611e+01] [-8.42933670e-03 5.92789442e-05 9.99964471e-01 -8.82273169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.0742038220001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.99, Y:-40.88, Z:-8.82 [[ 9.84135458e-01 1.77139539e-01 9.94904859e-03 2.77987498e+02] [-1.77130129e-01 9.84185746e-01 -1.82610391e-03 -4.08785182e+01] [-1.01151870e-02 3.48573487e-05 9.99948840e-01 -8.82115832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.10420382200004 meters Centerline goodness [0,1] 0.9998918521402461 Centerline is valid? [True, True] Translation: X:278.02, Y:-40.88, Z:-8.83 [[ 9.83812948e-01 1.78973407e-01 8.97790425e-03 2.78018824e+02] [-1.78965849e-01 9.83853912e-01 -1.64481009e-03 -4.08830922e+01] [-9.12732348e-03 1.14472092e-05 9.99958345e-01 -8.82524540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.134203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:278.05, Y:-40.89, Z:-8.82 [[ 9.83291605e-01 1.81807178e-01 9.15258869e-03 2.78049477e+02] [-1.81799398e-01 9.83334201e-01 -1.68197373e-03 -4.08866313e+01] [-9.30584838e-03 -1.00644614e-05 9.99956700e-01 -8.82482980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.16420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:278.08, Y:-40.89, Z:-8.83 [[ 9.83063058e-01 1.83035011e-01 9.23083867e-03 2.78080775e+02] [-1.83027153e-01 9.83106395e-01 -1.69620699e-03 -4.08923583e+01] [-9.38536179e-03 -2.20156931e-05 9.99955956e-01 -8.82511851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.194203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:278.11, Y:-40.90, Z:-8.83 [[ 9.82538982e-01 1.85834876e-01 9.08558639e-03 2.78110994e+02] [-1.85827378e-01 9.82580987e-01 -1.67000105e-03 -4.08971861e+01] [-9.23766889e-03 -4.75095650e-05 9.99957331e-01 -8.82649269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.22420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:278.14, Y:-40.90, Z:-8.83 [[ 9.82198426e-01 1.87627620e-01 9.06249375e-03 2.78139918e+02] [-1.87620231e-01 9.82240231e-01 -1.66639837e-03 -4.09005888e+01] [-9.21420832e-03 -6.35733144e-05 9.99957546e-01 -8.82833927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.254203822 meters Centerline goodness [0,1] 0.9999786580160491 Centerline is valid? [True, True] Translation: X:278.17, Y:-40.90, Z:-8.83 [[ 9.81233575e-01 1.92605855e-01 9.14632201e-03 2.78169280e+02] [-1.92598541e-01 9.81276196e-01 -1.68220269e-03 -4.08997278e+01] [-9.29907016e-03 -1.10934517e-04 9.99956757e-01 -8.83033367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.28420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:278.20, Y:-40.90, Z:-8.83 [[ 9.80651114e-01 1.95560230e-01 8.92122275e-03 2.78198785e+02] [-1.95553399e-01 9.80691683e-01 -1.64025471e-03 -4.09030275e+01] [-9.06973754e-03 -1.36057824e-04 9.99958860e-01 -8.82978726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.314203822 meters Centerline goodness [0,1] 0.9999363489773402 Centerline is valid? [True, True] Translation: X:278.23, Y:-40.90, Z:-8.84 [[ 9.79562919e-01 2.00973771e-01 8.12598024e-03 2.78228898e+02] [-2.00968290e-01 9.79596608e-01 -1.49390075e-03 -4.09006587e+01] [-8.26041755e-03 -1.69694570e-04 9.99965868e-01 -8.83542528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.34420382200005 meters Centerline goodness [0,1] 0.9999567959906679 Centerline is valid? [True, True] Translation: X:278.26, Y:-40.91, Z:-8.83 [[ 9.79159890e-01 2.02924357e-01 8.22279781e-03 2.78258284e+02] [-2.02918816e-01 9.79194398e-01 -1.51148760e-03 -4.09062172e+01] [-8.35843521e-03 -1.88572360e-04 9.99965050e-01 -8.83339891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.374203822 meters Centerline goodness [0,1] 0.9999572549103422 Centerline is valid? [True, True] Translation: X:278.29, Y:-40.91, Z:-8.84 [[ 9.78812883e-01 2.04576376e-01 8.59344436e-03 2.78286659e+02] [-2.04570385e-01 9.78850582e-01 -1.57989894e-03 -4.09074421e+01] [-8.73490801e-03 -2.11538787e-04 9.99961828e-01 -8.83635158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.40420382200006 meters Centerline goodness [0,1] 0.9998929588319668 Centerline is valid? [True, True] Translation: X:278.31, Y:-40.92, Z:-8.84 [[ 9.78937308e-01 2.03974291e-01 8.73123767e-03 2.78314591e+02] [-2.03968087e-01 9.78976223e-01 -1.60476146e-03 -4.09167043e+01] [-8.87500416e-03 -2.09932976e-04 9.99960594e-01 -8.83580786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.43420382200003 meters Centerline goodness [0,1] 0.999870166403393 Centerline is valid? [True, True] Translation: X:278.34, Y:-40.93, Z:-8.84 [[ 9.79300494e-01 2.02213921e-01 8.94835498e-03 2.78342615e+02] [-2.02207339e-01 9.79341355e-01 -1.64368305e-03 -4.09289554e+01] [-9.09586969e-03 -1.99763430e-04 9.99958612e-01 -8.83765509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.46420382200006 meters Centerline goodness [0,1] 0.9999783942615159 Centerline is valid? [True, True] Translation: X:278.37, Y:-40.94, Z:-8.83 [[ 9.79436486e-01 2.01525247e-01 9.57838638e-03 2.78370925e+02] [-2.01517676e-01 9.79483298e-01 -1.75913006e-03 -4.09378600e+01] [-9.73637861e-03 -2.07257998e-04 9.99952579e-01 -8.83379720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.49420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:278.40, Y:-40.95, Z:-8.83 [[ 9.79696910e-01 2.00266598e-01 9.34097045e-03 2.78399872e+02] [-2.00259347e-01 9.79741422e-01 -1.71478643e-03 -4.09492051e+01] [-9.49515012e-03 -1.90645670e-04 9.99954902e-01 -8.83489919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.52420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:278.43, Y:-40.96, Z:-8.83 [[ 9.79831587e-01 1.99587871e-01 9.73357607e-03 2.78430045e+02] [-1.99579970e-01 9.79879913e-01 -1.78633847e-03 -4.09582398e+01] [-9.89426717e-03 -1.92315961e-04 9.99951032e-01 -8.83429970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.55420382200003 meters Centerline goodness [0,1] 0.9999784798140656 Centerline is valid? [True, True] Translation: X:278.46, Y:-40.96, Z:-8.84 [[ 9.79936959e-01 1.99059587e-01 9.94167861e-03 2.78459713e+02] [-1.99051311e-01 9.79987370e-01 -1.82506056e-03 -4.09648864e+01] [-1.01060153e-02 -1.90459869e-04 9.99948915e-01 -8.83705731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.58420382200006 meters Centerline goodness [0,1] 0.9998920133039609 Centerline is valid? [True, True] Translation: X:278.49, Y:-40.97, Z:-8.84 [[ 9.80001048e-01 1.98777011e-01 9.25447428e-03 2.78489197e+02] [-1.98769835e-01 9.80044728e-01 -1.69807525e-03 -4.09694640e+01] [-9.40733706e-03 -1.75394802e-04 9.99955735e-01 -8.84218955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.61420382200004 meters Centerline goodness [0,1] 0.9998913232481308 Centerline is valid? [True, True] Translation: X:278.52, Y:-40.98, Z:-8.84 [[ 9.79960684e-01 1.98988707e-01 8.97504290e-03 2.78518711e+02] [-1.98981957e-01 9.80001768e-01 -1.64793503e-03 -4.09811499e+01] [-9.12347837e-03 -1.70960061e-04 9.99958366e-01 -8.84089756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.64420382200007 meters Centerline goodness [0,1] 0.9999569549964488 Centerline is valid? [True, True] Translation: X:278.55, Y:-40.98, Z:-8.84 [[ 9.79745911e-01 2.00058806e-01 8.62691814e-03 2.78548619e+02] [-2.00052607e-01 9.79783876e-01 -1.58447398e-03 -4.09848071e+01] [-8.76950327e-03 -1.73455565e-04 9.99961532e-01 -8.84387013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.67420382200004 meters Centerline goodness [0,1] 0.9998501038566137 Centerline is valid? [True, True] Translation: X:278.58, Y:-40.98, Z:-8.85 [[ 9.78966630e-01 2.03909846e-01 6.71661080e-03 2.78578783e+02] [-2.03906178e-01 9.78989657e-01 -1.23373481e-03 -4.09826465e+01] [-6.82706317e-03 -1.61773228e-04 9.99976682e-01 -8.84810891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.70420382200007 meters Centerline goodness [0,1] 0.9998924823671083 Centerline is valid? [True, True] Translation: X:278.61, Y:-40.98, Z:-8.85 [[ 9.78047040e-01 2.08279760e-01 6.59765830e-03 2.78609651e+02] [-2.08276317e-01 9.78069275e-01 -1.21240424e-03 -4.09828612e+01] [-6.70548614e-03 -1.88347592e-04 9.99977500e-01 -8.84720744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.73420382200004 meters Centerline goodness [0,1] 0.9992271361099184 Centerline is valid? [True, True] Translation: X:278.64, Y:-40.98, Z:-8.85 [[ 9.77650125e-01 2.10123391e-01 6.95654321e-03 2.78639000e+02] [-2.10119606e-01 9.77674852e-01 -1.27882702e-03 -4.09802144e+01] [-7.06994882e-03 -2.11460718e-04 9.99974985e-01 -8.85015939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.76420382200007 meters Centerline goodness [0,1] 0.982695557314282 Centerline is valid? [True, True] Translation: X:278.67, Y:-40.97, Z:-8.85 [[ 9.76932622e-01 2.13387489e-01 8.27232713e-03 2.78670157e+02] [-2.13382258e-01 9.76967605e-01 -1.52014376e-03 -4.09682970e+01] [-8.40617528e-03 -2.80089815e-04 9.99964628e-01 -8.85193198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.79420382200004 meters Centerline goodness [0,1] 0.9969308035714286 Centerline is valid? [True, True] Translation: X:278.70, Y:-40.97, Z:-8.85 [[ 9.76728173e-01 2.14281117e-01 9.25630109e-03 2.78698169e+02] [-2.14274610e-01 9.76771979e-01 -1.70074850e-03 -4.09741799e+01] [-9.40573382e-03 -3.22221335e-04 9.99955713e-01 -8.84711100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.8242038220001 meters Centerline goodness [0,1] 0.9977176741606587 Centerline is valid? [True, True] Translation: X:278.73, Y:-40.98, Z:-8.85 [[ 9.76822968e-01 2.13857203e-01 9.05462653e-03 2.78727619e+02] [-2.13850962e-01 9.76864883e-01 -1.66328662e-03 -4.09751362e+01] [-9.20085251e-03 -3.11604025e-04 9.99957623e-01 -8.84722095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.85420382200004 meters Centerline goodness [0,1] 0.9996054448609193 Centerline is valid? [True, True] Translation: X:278.76, Y:-40.98, Z:-8.85 [[ 9.77125434e-01 2.12528563e-01 7.58258116e-03 2.78755494e+02] [-2.12524146e-01 9.77154823e-01 -1.39281775e-03 -4.09842989e+01] [-7.70536930e-03 -2.50523940e-04 9.99970282e-01 -8.84896408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.884203822 meters Centerline goodness [0,1] 0.9988202235140179 Centerline is valid? [True, True] Translation: X:278.78, Y:-40.98, Z:-8.85 [[ 9.77577010e-01 2.10451572e-01 7.30241701e-03 2.78783600e+02] [-2.10447418e-01 9.77604258e-01 -1.34132704e-03 -4.09830381e+01] [-7.42115834e-03 -2.25524329e-04 9.99972437e-01 -8.85181584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.91420382200005 meters Centerline goodness [0,1] 0.9999136535348084 Centerline is valid? [True, True] Translation: X:278.81, Y:-40.99, Z:-8.85 [[ 9.78846830e-01 2.04445848e-01 7.79603903e-03 2.78812911e+02] [-2.04440939e-01 9.78877856e-01 -1.42997454e-03 -4.09908660e+01] [-7.92372233e-03 -1.94103496e-04 9.99968588e-01 -8.85051065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.944203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:278.84, Y:-41.00, Z:-8.85 [[ 9.80467857e-01 1.96461358e-01 9.25828753e-03 2.78841781e+02] [-1.96454078e-01 9.80511556e-01 -1.69815595e-03 -4.10030264e+01] [-9.41147994e-03 -1.53841018e-04 9.99955699e-01 -8.84806298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.97420382200005 meters Centerline goodness [0,1] 0.9999783348137877 Centerline is valid? [True, True] Translation: X:278.87, Y:-41.01, Z:-8.85 [[ 9.81379565e-01 1.91812704e-01 1.01012514e-02 2.78869595e+02] [-1.91803788e-01 9.81431542e-01 -1.85319316e-03 -4.10117034e+01] [-1.02691527e-02 -1.18772384e-04 9.99947264e-01 -8.84873141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.004203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:278.90, Y:-41.03, Z:-8.85 [[ 9.83163605e-01 1.82390539e-01 1.10913582e-02 2.78898367e+02] [-1.82379198e-01 9.83226165e-01 -2.03402982e-03 -4.10260458e+01] [-1.12763014e-02 -2.30489157e-05 9.99936420e-01 -8.84903037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.03420382200005 meters Centerline goodness [0,1] 0.9999783052024125 Centerline is valid? [True, True] Translation: X:278.93, Y:-41.04, Z:-8.85 [[ 9.83999145e-01 1.77813907e-01 1.13091327e-02 2.78929180e+02] [-1.77801854e-01 9.84064131e-01 -2.07050054e-03 -4.10376398e+01] [-1.14970756e-02 2.65860017e-05 9.99933906e-01 -8.84901623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.064203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:278.96, Y:-41.06, Z:-8.85 [[ 9.85359625e-01 1.70106506e-01 1.14099402e-02 2.78957750e+02] [-1.70093692e-01 9.85425676e-01 -2.09135987e-03 -4.10562958e+01] [-1.15994020e-02 1.19982714e-04 9.99932717e-01 -8.85187439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.09420382200005 meters Centerline goodness [0,1] 0.9999565585699082 Centerline is valid? [True, True] Translation: X:278.99, Y:-41.06, Z:-8.85 [[ 9.85889772e-01 1.67062473e-01 1.05587380e-02 2.78989105e+02] [-1.67051285e-01 9.85946301e-01 -1.93904152e-03 -4.10641209e+01] [-1.07342897e-02 1.47830443e-04 9.99942375e-01 -8.85328959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.124203822 meters Centerline goodness [0,1] 0.999957670165933 Centerline is valid? [True, True] Translation: X:279.02, Y:-41.08, Z:-8.86 [[ 9.86463269e-01 1.63709046e-01 9.46397251e-03 2.79018024e+02] [-1.63699923e-01 9.86508653e-01 -1.73595636e-03 -4.10778916e+01] [-9.62048253e-03 1.63205612e-04 9.99953709e-01 -8.85623602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.15420382200006 meters Centerline goodness [0,1] 0.9999352904380837 Centerline is valid? [True, True] Translation: X:279.05, Y:-41.08, Z:-8.86 [[ 9.86576313e-01 1.63112590e-01 7.83971493e-03 2.79049397e+02] [-1.63106294e-01 9.86607451e-01 -1.44009837e-03 -4.10815087e+01] [-7.96961934e-03 1.42060090e-04 9.99968232e-01 -8.85905543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.18420382200003 meters Centerline goodness [0,1] 0.999978233424753 Centerline is valid? [True, True] Translation: X:279.08, Y:-41.09, Z:-8.86 [[ 9.86557824e-01 1.63238109e-01 7.54843798e-03 2.79081826e+02] [-1.63232291e-01 9.86586693e-01 -1.38467893e-03 -4.10884155e+01] [-7.67322083e-03 1.33917007e-04 9.99970551e-01 -8.85743780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.21420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.11, Y:-41.09, Z:-8.86 [[ 9.86105453e-01 1.65954042e-01 7.43582804e-03 2.79113851e+02] [-1.65948458e-01 9.86133481e-01 -1.36605191e-03 -4.10919461e+01] [-7.55942083e-03 1.13107038e-04 9.99971421e-01 -8.85883500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.24420382200003 meters Centerline goodness [0,1] 0.9999783352831578 Centerline is valid? [True, True] Translation: X:279.15, Y:-41.09, Z:-8.86 [[ 9.85686102e-01 1.68439450e-01 7.14555946e-03 2.79145675e+02] [-1.68434352e-01 9.85711998e-01 -1.31378381e-03 -4.10949021e+01] [-7.26475672e-03 9.14207671e-05 9.99973607e-01 -8.85979045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.27420382200006 meters Centerline goodness [0,1] 0.9998923944389446 Centerline is valid? [True, True] Translation: X:279.18, Y:-41.09, Z:-8.87 [[ 9.84636666e-01 1.74464522e-01 7.26401904e-03 2.79176728e+02] [-1.74459378e-01 9.84663459e-01 -1.34073355e-03 -4.10911338e+01] [-7.38652456e-03 5.28591730e-05 9.99972718e-01 -8.86615168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.30420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.21, Y:-41.08, Z:-8.86 [[ 9.83381198e-01 1.81412103e-01 7.14623970e-03 2.79208270e+02] [-1.81407301e-01 9.83407163e-01 -1.31994969e-03 -4.10831093e+01] [-7.26711816e-03 1.63364762e-06 9.99973594e-01 -8.86299484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.33420382200006 meters Centerline goodness [0,1] 0.9998698170930157 Centerline is valid? [True, True] Translation: X:279.24, Y:-41.08, Z:-8.87 [[ 9.82778808e-01 1.84661412e-01 6.78068465e-03 2.79238195e+02] [-1.84657167e-01 9.82802199e-01 -1.25229711e-03 -4.10820845e+01] [-6.89532274e-03 -2.13709560e-05 9.99976227e-01 -8.86762926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.36420382200004 meters Centerline goodness [0,1] 0.9999784923110012 Centerline is valid? [True, True] Translation: X:279.27, Y:-41.08, Z:-8.87 [[ 9.82262181e-01 1.87393106e-01 6.69558597e-03 2.79266687e+02] [-1.87389025e-01 9.82285001e-01 -1.23729676e-03 -4.10827974e+01] [-6.80883455e-03 -3.93295140e-05 9.99976819e-01 -8.86813577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.39420382200007 meters Centerline goodness [0,1] 0.9998262078554049 Centerline is valid? [True, True] Translation: X:279.30, Y:-41.08, Z:-8.87 [[ 9.81419464e-01 1.91746659e-01 7.00385566e-03 2.79295937e+02] [-1.91742308e-01 9.81444453e-01 -1.29376897e-03 -4.10811080e+01] [-7.12197116e-03 -7.32054016e-05 9.99974636e-01 -8.86690627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.42420382200004 meters Centerline goodness [0,1] 0.9998262078554049 Centerline is valid? [True, True] Translation: X:279.32, Y:-41.09, Z:-8.87 [[ 9.81428945e-01 1.91698123e-01 7.00398946e-03 2.79323811e+02] [-1.91693776e-01 9.81453934e-01 -1.29304372e-03 -4.10861601e+01] [-7.12196706e-03 -7.35906484e-05 9.99974636e-01 -8.86777330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.45420382200007 meters Centerline goodness [0,1] 0.9997853386283139 Centerline is valid? [True, True] Translation: X:279.35, Y:-41.09, Z:-8.87 [[ 9.81135670e-01 1.93136844e-01 8.42353769e-03 2.79351893e+02] [-1.93130613e-01 9.81171825e-01 -1.55464127e-03 -4.10868063e+01] [-8.56519635e-03 -1.01528998e-04 9.99963313e-01 -8.86895199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.48420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.38, Y:-41.09, Z:-8.86 [[ 9.80795668e-01 1.94883821e-01 7.75585077e-03 2.79380960e+02] [-1.94878599e-01 9.80826327e-01 -1.43078538e-03 -4.10868774e+01] [-7.88597955e-03 -1.08141231e-04 9.99968899e-01 -8.86495314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.51420382200007 meters Centerline goodness [0,1] 0.9999785080272519 Centerline is valid? [True, True] Translation: X:279.41, Y:-41.09, Z:-8.87 [[ 9.80722457e-01 1.95265524e-01 7.40520509e-03 2.79409356e+02] [-1.95260774e-01 9.80750409e-01 -1.36606611e-03 -4.10882581e+01] [-7.52940353e-03 -1.06214364e-04 9.99971648e-01 -8.86871740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.54420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.44, Y:-41.09, Z:-8.87 [[ 9.80732502e-01 1.95207237e-01 7.60885360e-03 2.79437736e+02] [-1.95202225e-01 9.80762011e-01 -1.40307089e-03 -4.10886706e+01] [-7.73636415e-03 -1.09227923e-04 9.99970068e-01 -8.87044090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.5742038220001 meters Centerline goodness [0,1] 0.9998918895543687 Centerline is valid? [True, True] Translation: X:279.47, Y:-41.09, Z:-8.87 [[ 9.80791840e-01 1.94925981e-01 7.15735445e-03 2.79465996e+02] [-1.94921543e-01 9.80817950e-01 -1.31924030e-03 -4.10924088e+01] [-7.27721593e-03 -1.01222453e-04 9.99973516e-01 -8.87275067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.60420382200004 meters Centerline goodness [0,1] 0.999978400328315 Centerline is valid? [True, True] Translation: X:279.49, Y:-41.10, Z:-8.87 [[ 9.81025271e-01 1.93768161e-01 6.58157417e-03 2.79493777e+02] [-1.93764381e-01 9.81047345e-01 -1.21330071e-03 -4.10956574e+01] [-6.69193491e-03 -8.49959826e-05 9.99977605e-01 -8.87240786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.634203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.52, Y:-41.10, Z:-8.87 [[ 9.81394753e-01 1.91864581e-01 7.23334653e-03 2.79522223e+02] [-1.91859971e-01 9.81421406e-01 -1.33237245e-03 -4.11004488e+01] [-7.35459620e-03 -8.02063253e-05 9.99972951e-01 -8.87190568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.66420382200005 meters Centerline goodness [0,1] 0.9999346846356492 Centerline is valid? [True, True] Translation: X:279.55, Y:-41.11, Z:-8.87 [[ 9.81645344e-01 1.90602716e-01 6.55915535e-03 2.79550582e+02] [-1.90598899e-01 9.81667255e-01 -1.20801912e-03 -4.11055209e+01] [-6.66915975e-03 -6.43214431e-05 9.99977759e-01 -8.87499630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.694203822 meters Centerline goodness [0,1] 0.9999781649853705 Centerline is valid? [True, True] Translation: X:279.58, Y:-41.11, Z:-8.87 [[ 9.81828620e-01 1.89667793e-01 6.22004285e-03 2.79579199e+02] [-1.89664343e-01 9.81848321e-01 -1.14532581e-03 -4.11111106e+01] [-6.32437005e-03 -5.52066799e-05 9.99979999e-01 -8.87359089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.72420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.61, Y:-41.11, Z:-8.88 [[ 9.82186081e-01 1.87812949e-01 6.06620211e-03 2.79607127e+02] [-1.87809632e-01 9.82204813e-01 -1.11702725e-03 -4.11141261e+01] [-6.16804509e-03 -4.21625670e-05 9.99980977e-01 -8.87801806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.754203822 meters Centerline goodness [0,1] 0.9998279754865068 Centerline is valid? [True, True] Translation: X:279.64, Y:-41.12, Z:-8.88 [[ 9.82370089e-01 1.86857126e-01 5.78129640e-03 2.79635823e+02] [-1.86854100e-01 9.82387100e-01 -1.06396772e-03 -4.11182219e+01] [-5.87828095e-03 -3.50488763e-05 9.99982722e-01 -8.87819035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.78420382200005 meters Centerline goodness [0,1] 0.9999569234745526 Centerline is valid? [True, True] Translation: X:279.66, Y:-41.12, Z:-8.88 [[ 9.82782588e-01 1.84646379e-01 6.64073508e-03 2.79663690e+02] [-1.84642338e-01 9.82805023e-01 -1.22186567e-03 -4.11220128e+01] [-6.75216087e-03 -2.53325482e-05 9.99977204e-01 -8.87744926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.814203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.69, Y:-41.13, Z:-8.88 [[ 9.83011584e-01 1.83406050e-01 7.10252581e-03 2.79692365e+02] [-1.83401401e-01 9.83037243e-01 -1.30595965e-03 -4.11279183e+01] [-7.22156829e-03 -1.88397243e-05 9.99973924e-01 -8.87506603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.84420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.72, Y:-41.13, Z:-8.88 [[ 9.83449224e-01 1.80978662e-01 8.62254156e-03 2.79719500e+02] [-1.80971722e-01 9.83487023e-01 -1.58492869e-03 -4.11323771e+01] [-8.76699600e-03 -1.73929901e-06 9.99961569e-01 -8.87570346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.874203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.75, Y:-41.14, Z:-8.88 [[ 9.83705057e-01 1.79544563e-01 9.38672687e-03 2.79748359e+02] [-1.79536283e-01 9.83749841e-01 -1.72435016e-03 -4.11365071e+01] [-9.54378876e-03 1.09939146e-05 9.99954457e-01 -8.87526468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.90420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.78, Y:-41.14, Z:-8.88 [[ 9.83785294e-01 1.79109685e-01 9.28527606e-03 2.79777171e+02] [-1.79101567e-01 9.83829112e-01 -1.70527560e-03 -4.11410749e+01] [-9.44055627e-03 1.46175628e-05 9.99955437e-01 -8.87620397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.93420382200003 meters Centerline goodness [0,1] 0.9998702225682954 Centerline is valid? [True, True] Translation: X:279.81, Y:-41.14, Z:-8.88 [[ 9.83830581e-01 1.78973531e-01 6.77221247e-03 2.79806011e+02] [-1.78969209e-01 9.83853889e-01 -1.24384575e-03 -4.11433359e+01] [-6.88548304e-03 1.17159780e-05 9.99976295e-01 -8.88047653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.96420382200006 meters Centerline goodness [0,1] 0.9999567530164771 Centerline is valid? [True, True] Translation: X:279.83, Y:-41.15, Z:-8.88 [[ 9.83902342e-01 1.78586151e-01 6.57030684e-03 2.79833376e+02] [-1.78582074e-01 9.83924279e-01 -1.20677694e-03 -4.11471805e+01] [-6.68019807e-03 1.40116339e-05 9.99977687e-01 -8.87984397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.99420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.86, Y:-41.15, Z:-8.88 [[ 9.83901889e-01 1.78618917e-01 5.68824654e-03 2.79861565e+02] [-1.78615862e-01 9.83918331e-01 -1.04465743e-03 -4.11499626e+01] [-5.78336562e-03 1.18293607e-05 9.99983276e-01 -8.88218723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.02420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.89, Y:-41.15, Z:-8.89 [[ 9.83721424e-01 1.79658989e-01 3.84814363e-03 2.79891205e+02] [-1.79657599e-01 9.83728950e-01 -7.06765455e-04 -4.11485448e+01] [-3.91250706e-03 3.91207248e-06 9.99992346e-01 -8.88517349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.05420382200003 meters Centerline goodness [0,1] 0.9998928877463582 Centerline is valid? [True, True] Translation: X:279.92, Y:-41.15, Z:-8.89 [[ 9.83479507e-01 1.80951982e-01 4.94364817e-03 2.79919146e+02] [-1.80949706e-01 9.83491932e-01 -9.07594861e-04 -4.11474423e+01] [-5.02626917e-03 -1.95073771e-06 9.99987368e-01 -8.88994618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.08420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.95, Y:-41.15, Z:-8.88 [[ 9.83416729e-01 1.81253777e-01 6.21327026e-03 2.79948084e+02] [-1.81250195e-01 9.83436357e-01 -1.13952637e-03 -4.11505694e+01] [-6.31689933e-03 -5.52715345e-06 9.99980048e-01 -8.88035093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.11420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.98, Y:-41.15, Z:-8.88 [[ 9.83275475e-01 1.81965662e-01 7.60510324e-03 2.79976213e+02] [-1.81960320e-01 9.83304885e-01 -1.39432920e-03 -4.11506617e+01] [-7.73185521e-03 -1.28173147e-05 9.99970109e-01 -8.88166613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.14420382200007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.01, Y:-41.15, Z:-8.88 [[ 9.83182461e-01 1.82475469e-01 7.41293903e-03 2.80005650e+02] [-1.82470414e-01 9.83210406e-01 -1.35835329e-03 -4.11524608e+01] [-7.53634494e-03 -1.71329248e-05 9.99971601e-01 -8.88217774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.17420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.03, Y:-41.15, Z:-8.89 [[ 9.83071227e-01 1.83059660e-01 7.75389631e-03 2.80034186e+02] [-1.83054149e-01 9.83101806e-01 -1.42064261e-03 -4.11524209e+01] [-7.88293182e-03 -2.27900189e-05 9.99968929e-01 -8.88546363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.20420382200007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.06, Y:-41.15, Z:-8.89 [[ 9.82797935e-01 1.84529854e-01 7.54665953e-03 2.80064737e+02] [-1.84524682e-01 9.82826908e-01 -1.38192859e-03 -4.11477957e+01] [-7.67206714e-03 -3.43883885e-05 9.99970569e-01 -8.88743912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.23420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.09, Y:-41.15, Z:-8.89 [[ 9.82779899e-01 1.84678264e-01 6.13258308e-03 2.80093437e+02] [-1.84674852e-01 9.82799032e-01 -1.12300165e-03 -4.11494322e+01] [-6.23449071e-03 -2.88704193e-05 9.99980565e-01 -8.88893038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.26420382200007 meters Centerline goodness [0,1] 0.9999783867900061 Centerline is valid? [True, True] Translation: X:280.12, Y:-41.15, Z:-8.89 [[ 9.82902977e-01 1.84032690e-01 5.80572678e-03 2.80122272e+02] [-1.84029621e-01 9.82920123e-01 -1.06294491e-03 -4.11532587e+01] [-5.90218229e-03 -2.36539845e-05 9.99982582e-01 -8.88972227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.29420382200004 meters Centerline goodness [0,1] 0.9999134555053116 Centerline is valid? [True, True] Translation: X:280.15, Y:-41.16, Z:-8.89 [[ 9.83317743e-01 1.81826439e-01 5.03613861e-03 2.80150825e+02] [-1.81824101e-01 9.83330639e-01 -9.22009284e-04 -4.11580509e+01] [-5.11983506e-03 -9.06328863e-06 9.99986894e-01 -8.89377322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.3242038220001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.18, Y:-41.16, Z:-8.89 [[ 9.83627744e-01 1.80099569e-01 6.37231401e-03 2.80177906e+02] [-1.80095793e-01 9.83648385e-01 -1.16619021e-03 -4.11634544e+01] [-6.47814674e-03 -5.29900603e-07 9.99979017e-01 -8.89341608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.35420382200004 meters Centerline goodness [0,1] 0.9999786164866887 Centerline is valid? [True, True] Translation: X:280.21, Y:-41.17, Z:-8.89 [[ 9.83974134e-01 1.78149326e-01 7.59744917e-03 2.80206195e+02] [-1.78143910e-01 9.84003464e-01 -1.38918757e-03 -4.11667263e+01] [-7.72339913e-03 1.34853301e-05 9.99970174e-01 -8.89325250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.384203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.23, Y:-41.17, Z:-8.89 [[ 9.84270217e-01 1.76530269e-01 7.01454379e-03 2.80234120e+02] [-1.76525610e-01 9.84295212e-01 -1.28272571e-03 -4.11718396e+01] [-7.13082178e-03 2.43020859e-05 9.99974575e-01 -8.89060865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.41420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.26, Y:-41.18, Z:-8.90 [[ 9.84985984e-01 1.72511793e-01 6.50320161e-03 2.80260465e+02] [-1.72507703e-01 9.85007451e-01 -1.18893471e-03 -4.11833854e+01] [-6.61080730e-03 4.92316486e-05 9.99978147e-01 -8.89631186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.444203822 meters Centerline goodness [0,1] 0.9998268548177647 Centerline is valid? [True, True] Translation: X:280.29, Y:-41.19, Z:-8.90 [[ 9.85339895e-01 1.70509610e-01 5.63605214e-03 2.80288673e+02] [-1.70506508e-01 9.85356012e-01 -1.02999145e-03 -4.11905641e+01] [-5.72914130e-03 5.39080936e-05 9.99983587e-01 -8.89840420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.47420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.32, Y:-41.20, Z:-8.90 [[ 9.86015845e-01 1.66574325e-01 5.07418591e-03 2.80316060e+02] [-1.66571759e-01 9.86028899e-01 -9.27151302e-04 -4.12009522e+01] [-5.15773355e-03 6.89698026e-05 9.99986696e-01 -8.89631752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.504203822 meters Centerline goodness [0,1] 0.9998492776091122 Centerline is valid? [True, True] Translation: X:280.34, Y:-41.21, Z:-8.90 [[ 9.86194294e-01 1.65515184e-01 5.05360023e-03 2.80342550e+02] [-1.65512623e-01 9.86207239e-01 -9.23807393e-04 -4.12072848e+01] [-5.13680128e-03 7.46189499e-05 9.99986804e-01 -8.90109296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.53420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.37, Y:-41.21, Z:-8.90 [[ 9.86394656e-01 1.64309625e-01 5.28478833e-03 2.80370837e+02] [-1.64306813e-01 9.86408810e-01 -9.64952889e-04 -4.12131794e+01] [-5.37151281e-03 8.34976468e-05 9.99985570e-01 -8.89802639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.564203822 meters Centerline goodness [0,1] 0.9999783179029076 Centerline is valid? [True, True] Translation: X:280.40, Y:-41.22, Z:-8.90 [[ 9.86570100e-01 1.63277657e-01 4.45463679e-03 2.80398788e+02] [-1.63275646e-01 9.86580154e-01 -8.13748321e-04 -4.12180785e+01] [-4.52772317e-03 7.54860622e-05 9.99989747e-01 -8.89888075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.59420382200005 meters Centerline goodness [0,1] 0.9999783474796466 Centerline is valid? [True, True] Translation: X:280.43, Y:-41.22, Z:-8.90 [[ 9.86441866e-01 1.64020590e-01 5.44891391e-03 2.80426201e+02] [-1.64017597e-01 9.86456912e-01 -9.94597323e-04 -4.12247135e+01] [-5.53825323e-03 8.73946711e-05 9.99984660e-01 -8.89927226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.624203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.45, Y:-41.23, Z:-8.90 [[ 9.86222211e-01 1.65317129e-01 5.99986324e-03 2.80454093e+02] [-1.65313529e-01 9.86240457e-01 -1.09457553e-03 -4.12279570e+01] [-6.09825995e-03 8.76361381e-05 9.99981402e-01 -8.90029136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.65420382200006 meters Centerline goodness [0,1] 0.9999357436600411 Centerline is valid? [True, True] Translation: X:280.48, Y:-41.22, Z:-8.90 [[ 9.85342970e-01 1.70474780e-01 6.13038723e-03 2.80483242e+02] [-1.70471121e-01 9.85362038e-01 -1.11843534e-03 -4.12213583e+01] [-6.23131587e-03 5.69884213e-05 9.99980584e-01 -8.90421159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.68420382200003 meters Centerline goodness [0,1] 0.9999131737176843 Centerline is valid? [True, True] Translation: X:280.51, Y:-41.22, Z:-8.90 [[ 9.84868826e-01 1.73226011e-01 5.11317040e-03 2.80512596e+02] [-1.73223507e-01 9.84882099e-01 -9.32045021e-04 -4.12200511e+01] [-5.19732443e-03 3.22207781e-05 9.99986493e-01 -8.90457349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.71420382200006 meters Centerline goodness [0,1] 0.999978526026456 Centerline is valid? [True, True] Translation: X:280.54, Y:-41.22, Z:-8.90 [[ 9.84451078e-01 1.75574994e-01 5.43099412e-03 2.80542190e+02] [-1.75572206e-01 9.84466059e-01 -9.89614439e-04 -4.12201121e+01] [-5.52038093e-03 2.06953801e-05 9.99984762e-01 -8.90176831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.74420382200003 meters Centerline goodness [0,1] 0.9999784626650299 Centerline is valid? [True, True] Translation: X:280.57, Y:-41.21, Z:-8.90 [[ 9.83402137e-01 1.81324991e-01 6.44078565e-03 2.80572488e+02] [-1.81321198e-01 9.83423229e-01 -1.17300262e-03 -4.12126367e+01] [-6.54671291e-03 -1.43176879e-05 9.99978570e-01 -8.90196313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.77420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.60, Y:-41.21, Z:-8.90 [[ 9.82968736e-01 1.83644703e-01 6.86195927e-03 2.80601297e+02] [-1.83640452e-01 9.82992687e-01 -1.24985114e-03 -4.12125999e+01] [-6.97478432e-03 -3.15687056e-05 9.99975675e-01 -8.90255626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.80420382200003 meters Centerline goodness [0,1] 0.9999787111745045 Centerline is valid? [True, True] Translation: X:280.63, Y:-41.21, Z:-8.90 [[ 9.82535356e-01 1.85920932e-01 7.59486990e-03 2.80628669e+02] [-1.85915797e-01 9.82564707e-01 -1.38280424e-03 -4.12117186e+01] [-7.71954337e-03 -5.33522343e-05 9.99970202e-01 -8.90409282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.83420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.66, Y:-41.22, Z:-8.91 [[ 9.82857065e-01 1.84244072e-01 6.79060218e-03 2.80657061e+02] [-1.84239935e-01 9.82880522e-01 -1.23515846e-03 -4.12176343e+01] [-6.90192124e-03 -3.71158820e-05 9.99976181e-01 -8.90607287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.86420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.68, Y:-41.22, Z:-8.91 [[ 9.83316549e-01 1.81788352e-01 6.44667165e-03 2.80684264e+02] [-1.81784569e-01 9.83337681e-01 -1.17294416e-03 -4.12242440e+01] [-6.55248274e-03 -1.85300185e-05 9.99978532e-01 -8.90774529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.89420382200007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.71, Y:-41.24, Z:-8.91 [[ 9.84365797e-01 1.76042806e-01 5.73664662e-03 2.80711481e+02] [-1.76039717e-01 9.84382512e-01 -1.04301054e-03 -4.12370047e+01] [-5.83066911e-03 1.68262503e-05 9.99983001e-01 -8.90825283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.92420382200004 meters Centerline goodness [0,1] 0.9999785352451275 Centerline is valid? [True, True] Translation: X:280.74, Y:-41.25, Z:-8.91 [[ 9.84818779e-01 1.73516275e-01 4.90661748e-03 2.80738830e+02] [-1.73513984e-01 9.84831002e-01 -8.92067552e-04 -4.12468281e+01] [-4.98697725e-03 2.71581312e-05 9.99987565e-01 -8.90987284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.95420382200007 meters Centerline goodness [0,1] 0.9998707035879755 Centerline is valid? [True, True] Translation: X:280.77, Y:-41.25, Z:-8.92 [[ 9.85066162e-01 1.72144424e-01 3.30951139e-03 2.80766403e+02] [-1.72143373e-01 9.85071722e-01 -6.02032730e-04 -4.12543504e+01] [-3.36374266e-03 2.33316162e-05 9.99994342e-01 -8.91551431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.98420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.79, Y:-41.26, Z:-8.91 [[ 9.85353441e-01 1.70493152e-01 3.26818185e-03 2.80793557e+02] [-1.70492117e-01 9.85358861e-01 -5.94700827e-04 -4.12630377e+01] [-3.32172437e-03 2.87912637e-05 9.99994483e-01 -8.91451773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.01420382200007 meters Centerline goodness [0,1] 0.9999783582574069 Centerline is valid? [True, True] Translation: X:280.82, Y:-41.27, Z:-8.92 [[ 9.85064641e-01 1.72156695e-01 3.11859877e-03 2.80821336e+02] [-1.72155762e-01 9.85069577e-01 -5.67040917e-04 -4.12694573e+01] [-3.16965667e-03 2.16872071e-05 9.99994976e-01 -8.91628062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.04420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.85, Y:-41.27, Z:-8.92 [[ 9.84832323e-01 1.73475703e-01 3.38752209e-03 2.80849482e+02] [-1.73474611e-01 9.84838149e-01 -6.15969899e-04 -4.12725339e+01] [-3.44301680e-03 1.89779901e-05 9.99994073e-01 -8.91619216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.0742038220001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.88, Y:-41.27, Z:-8.91 [[ 9.84140102e-01 1.77324455e-01 4.92917099e-03 2.80879966e+02] [-1.77322193e-01 9.84152446e-01 -8.95703216e-04 -4.12694360e+01] [-5.00988577e-03 7.44604520e-06 9.99987450e-01 -8.91445599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.10420382200004 meters Centerline goodness [0,1] 0.9997390623640949 Centerline is valid? [True, True] Translation: X:280.91, Y:-41.27, Z:-8.91 [[ 9.83817034e-01 1.79094795e-01 5.39421270e-03 2.80908907e+02] [-1.79092122e-01 9.83831822e-01 -9.78633067e-04 -4.12718850e+01] [-5.48226620e-03 -3.26511587e-06 9.99984972e-01 -8.91431299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.134203822 meters Centerline goodness [0,1] 0.9999570769395858 Centerline is valid? [True, True] Translation: X:280.94, Y:-41.27, Z:-8.92 [[ 9.83311025e-01 1.81845581e-01 5.62251031e-03 2.80936537e+02] [-1.81842718e-01 9.83327099e-01 -1.02064213e-03 -4.12716076e+01] [-5.71436602e-03 -1.88038920e-05 9.99983673e-01 -8.91741883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.16420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.97, Y:-41.27, Z:-8.91 [[ 9.83156042e-01 1.82660595e-01 6.26931032e-03 2.80965817e+02] [-1.82657046e-01 9.83176030e-01 -1.13892448e-03 -4.12749930e+01] [-6.37187226e-03 -2.53932220e-05 9.99979699e-01 -8.91334393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.194203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.99, Y:-41.28, Z:-8.91 [[ 9.82746413e-01 1.84787256e-01 7.94718353e-03 2.80993995e+02] [-1.84781662e-01 9.82778544e-01 -1.43881134e-03 -4.12768419e+01] [-8.07619546e-03 -5.45070974e-05 9.99967386e-01 -8.91265669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.22420382200005 meters Centerline goodness [0,1] 0.99997842363044 Centerline is valid? [True, True] Translation: X:281.02, Y:-41.28, Z:-8.92 [[ 9.82556276e-01 1.85794389e-01 7.97549984e-03 2.81021760e+02] [-1.85788793e-01 9.82588643e-01 -1.44340407e-03 -4.12797488e+01] [-8.10481194e-03 -6.35327621e-05 9.99967153e-01 -8.91547761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.254203822 meters Centerline goodness [0,1] 0.9999785867237687 Centerline is valid? [True, True] Translation: X:281.05, Y:-41.28, Z:-8.92 [[ 9.82290096e-01 1.87208803e-01 7.68321532e-03 2.81050493e+02] [-1.87203637e-01 9.82320141e-01 -1.39256086e-03 -4.12815640e+01] [-7.80807681e-03 -7.04271136e-05 9.99969514e-01 -8.91610033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.28420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:281.08, Y:-41.28, Z:-8.92 [[ 9.82146054e-01 1.87976514e-01 7.34568531e-03 2.81078229e+02] [-1.87971840e-01 9.82173521e-01 -1.32781909e-03 -4.12830624e+01] [-7.46433640e-03 -7.66696975e-05 9.99972139e-01 -8.91876969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.314203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:281.11, Y:-41.29, Z:-8.92 [[ 9.82181231e-01 1.87792641e-01 7.34523705e-03 2.81105296e+02] [-1.87787943e-01 9.82208694e-01 -1.33030465e-03 -4.12877375e+01] [-7.46437711e-03 -7.27467017e-05 9.99972139e-01 -8.91961057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.34420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:281.13, Y:-41.29, Z:-8.92 [[ 9.82061040e-01 1.88417171e-01 7.42184765e-03 2.81133670e+02] [-1.88412407e-01 9.82089081e-01 -1.34226306e-03 -4.12904243e+01] [-7.54182095e-03 -8.01839227e-05 9.99971557e-01 -8.91914520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.374203822 meters Centerline goodness [0,1] 0.999913517253308 Centerline is valid? [True, True] Translation: X:281.16, Y:-41.30, Z:-8.92 [[ 9.82099474e-01 1.88236430e-01 6.90430307e-03 2.81161865e+02] [-1.88232329e-01 9.82123740e-01 -1.24494504e-03 -4.12968388e+01] [-7.01522396e-03 -7.69531818e-05 9.99975390e-01 -8.92240925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.40420382200006 meters Centerline goodness [0,1] 0.9999783132007547 Centerline is valid? [True, True] Translation: X:281.19, Y:-41.30, Z:-8.92 [[ 9.82506277e-01 1.86073588e-01 7.61809198e-03 2.81189619e+02] [-1.86068534e-01 9.82535809e-01 -1.37309667e-03 -4.13046396e+01] [-7.74054519e-03 -6.84111060e-05 9.99970039e-01 -8.91925644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.43420382200003 meters Centerline goodness [0,1] 0.9999784217681204 Centerline is valid? [True, True] Translation: X:281.22, Y:-41.31, Z:-8.92 [[ 9.82723345e-01 1.84911550e-01 7.90864755e-03 2.81217020e+02] [-1.84906067e-01 9.82755165e-01 -1.42528789e-03 -4.13103418e+01] [-8.03581643e-03 -6.16932256e-05 9.99967710e-01 -8.91970102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.46420382200006 meters Centerline goodness [0,1] 0.9999136386208087 Centerline is valid? [True, True] Translation: X:281.24, Y:-41.32, Z:-8.92 [[ 9.83150182e-01 1.82652768e-01 7.32704551e-03 2.81243879e+02] [-1.82648000e-01 9.83177484e-01 -1.32043397e-03 -4.13176463e+01] [-7.44496709e-03 -4.00853039e-05 9.99972285e-01 -8.92367358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.49420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:281.27, Y:-41.32, Z:-8.92 [[ 9.83330973e-01 1.81665463e-01 7.60636206e-03 2.81270756e+02] [-1.81660301e-01 9.83360391e-01 -1.36982366e-03 -4.13234218e+01] [-7.72864482e-03 -3.47839914e-05 9.99970133e-01 -8.92161379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.52420382200006 meters Centerline goodness [0,1] 0.9999787586558477 Centerline is valid? [True, True] Translation: X:281.30, Y:-41.33, Z:-8.92 [[ 9.83727435e-01 1.79464739e-01 8.52886101e-03 2.81297544e+02] [-1.79458174e-01 9.83764406e-01 -1.53517586e-03 -4.13306180e+01] [-8.66589982e-03 -2.03792127e-05 9.99962450e-01 -8.92178627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.55420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:281.33, Y:-41.34, Z:-8.92 [[ 9.83941768e-01 1.78247128e-01 9.30363743e-03 2.81326175e+02] [-1.78239271e-01 9.83985753e-01 -1.67365615e-03 -4.13370673e+01] [-9.45297108e-03 -1.14933613e-05 9.99955320e-01 -8.91815945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.58420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:281.35, Y:-41.35, Z:-8.92 [[ 9.84367845e-01 1.75834375e-01 1.01102897e-02 2.81353801e+02] [-1.75824976e-01 9.84419764e-01 -1.81812893e-03 -4.13476798e+01] [-1.02724586e-02 1.20662154e-05 9.99947237e-01 -8.91714945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.61420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:281.38, Y:-41.36, Z:-8.92 [[ 9.84735819e-01 1.73719038e-01 1.08195548e-02 2.81380476e+02] [-1.73708153e-01 9.84795255e-01 -1.94501453e-03 -4.13592785e+01] [-1.09929323e-02 3.58805992e-05 9.99939575e-01 -8.91860199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.64420382200007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:281.41, Y:-41.37, Z:-8.92 [[ 9.84925411e-01 1.72618803e-01 1.11661992e-02 2.81408278e+02] [-1.72607145e-01 9.84988704e-01 -2.00672076e-03 -4.13662510e+01] [-1.13449778e-02 4.91045111e-05 9.99935642e-01 -8.91806057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.67420382200004 meters Centerline goodness [0,1] 0.9998919876433864 Centerline is valid? [True, True] Translation: X:281.44, Y:-41.37, Z:-8.92 [[ 9.85128185e-01 1.71481420e-01 1.07972898e-02 2.81436521e+02] [-1.71470457e-01 9.85187352e-01 -1.93994466e-03 -4.13727168e+01] [-1.09700178e-02 5.96779601e-05 9.99939826e-01 -8.92190872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.70420382200007 meters Centerline goodness [0,1] 0.9999132038624281 Centerline is valid? [True, True] Translation: X:281.46, Y:-41.38, Z:-8.92 [[ 9.85394774e-01 1.69976029e-01 1.02610691e-02 2.81464467e+02] [-1.69966051e-01 9.85448195e-01 -1.84316327e-03 -4.13810813e+01] [-1.04250456e-02 7.22100650e-05 9.99945655e-01 -8.92310889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.73420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:281.49, Y:-41.39, Z:-8.92 [[ 9.85470244e-01 1.69534123e-01 1.03237098e-02 2.81490855e+02] [-1.69523991e-01 9.85524315e-01 -1.85511459e-03 -4.13876188e+01] [-1.04887722e-02 7.80437479e-05 9.99944988e-01 -8.92242769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.76420382200007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:281.52, Y:-41.40, Z:-8.92 [[ 9.85442013e-01 1.69775600e-01 8.96019755e-03 2.81518195e+02] [-1.69767995e-01 9.85482745e-01 -1.60821324e-03 -4.13964529e+01] [-9.10315545e-03 6.36461226e-05 9.99958563e-01 -8.92412659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.79420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:281.55, Y:-41.41, Z:-8.93 [[ 9.85369653e-01 1.70213559e-01 8.60183973e-03 2.81545201e+02] [-1.70206567e-01 9.85407196e-01 -1.54378749e-03 -4.14057681e+01] [-8.73908833e-03 5.71117314e-05 9.99961812e-01 -8.92658065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.8242038220001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:281.57, Y:-41.42, Z:-8.93 [[ 9.85122777e-01 1.71634579e-01 8.64206453e-03 2.81572191e+02] [-1.71627581e-01 9.85160682e-01 -1.55043704e-03 -4.14150022e+01] [-8.77993079e-03 4.41542134e-05 9.99961455e-01 -8.92782544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.85420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:281.60, Y:-41.42, Z:-8.93 [[ 9.85000470e-01 1.72272143e-01 9.81745266e-03 2.81600638e+02] [-1.72263155e-01 9.85049393e-01 -1.76020777e-03 -4.14198014e+01] [-9.97391055e-03 4.26201096e-05 9.99950258e-01 -8.92552079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.884203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:281.63, Y:-41.43, Z:-8.93 [[ 9.84680768e-01 1.73961904e-01 1.18760528e-02 2.81627918e+02] [-1.73948886e-01 9.84752383e-01 -2.12838270e-03 -4.14284217e+01] [-1.20652288e-02 2.99513509e-05 9.99927212e-01 -8.92587009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.91420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:281.66, Y:-41.44, Z:-8.93 [[ 9.84468056e-01 1.75204000e-01 1.12340840e-02 2.81655661e+02] [-1.75192438e-01 9.84532152e-01 -2.01283837e-03 -4.14357380e+01] [-1.14129743e-02 1.34485172e-05 9.99934870e-01 -8.92580537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.944203822 meters Centerline goodness [0,1] 0.9999786539159391 Centerline is valid? [True, True] Translation: X:281.68, Y:-41.44, Z:-8.93 [[ 9.83824030e-01 1.78816343e-01 1.07235184e-02 2.81682269e+02] [-1.78806022e-01 9.83882470e-01 -1.92137112e-03 -4.14415276e+01] [-1.08942544e-02 -2.71385947e-05 9.99940655e-01 -8.92941364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.97420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:281.71, Y:-41.45, Z:-8.93 [[ 9.83411286e-01 1.81080230e-01 1.05920991e-02 2.81711110e+02] [-1.81070305e-01 9.83468326e-01 -1.89657900e-03 -4.14463298e+01] [-1.07604269e-02 -5.27974177e-05 9.99942104e-01 -8.92959940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.004203822 meters Centerline goodness [0,1] 0.9999787816418766 Centerline is valid? [True, True] Translation: X:281.74, Y:-41.45, Z:-8.93 [[ 9.82509542e-01 1.85985040e-01 9.19594246e-03 2.81739359e+02] [-1.85977777e-01 9.82552572e-01 -1.64631782e-03 -4.14499771e+01] [-9.34168740e-03 -9.27179699e-05 9.99956361e-01 -8.93407395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.03420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:281.77, Y:-41.45, Z:-8.93 [[ 9.81959674e-01 1.88866285e-01 9.20461572e-03 2.81767951e+02] [-1.88859138e-01 9.82002806e-01 -1.64745907e-03 -4.14546688e+01] [-9.35010794e-03 -1.20637417e-04 9.99956280e-01 -8.93117815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.064203822 meters Centerline goodness [0,1] 0.9999154316158904 Centerline is valid? [True, True] Translation: X:281.80, Y:-41.45, Z:-8.93 [[ 9.80642334e-01 1.95525946e-01 1.04984670e-02 2.81797791e+02] [-1.95517041e-01 9.80698506e-01 -1.87803850e-03 -4.14511459e+01] [-1.06630362e-02 -2.10945149e-04 9.99943126e-01 -8.93207759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.09420382200005 meters Centerline goodness [0,1] 0.999914639351259 Centerline is valid? [True, True] Translation: X:281.83, Y:-41.45, Z:-8.93 [[ 9.79928834e-01 1.99082237e-01 1.02831816e-02 2.81827467e+02] [-1.99073895e-01 9.79982756e-01 -1.83889524e-03 -4.14533157e+01] [-1.04434320e-02 -2.45126541e-04 9.99945436e-01 -8.93309599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.124203822 meters Centerline goodness [0,1] 0.9994640253837578 Centerline is valid? [True, True] Translation: X:281.86, Y:-41.45, Z:-8.94 [[ 9.78665548e-01 2.05251711e-01 9.24561586e-03 2.81858382e+02] [-2.05245248e-01 9.78709179e-01 -1.65273281e-03 -4.14526790e+01] [-9.38799534e-03 -2.80146059e-04 9.99955893e-01 -8.93519380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.15420382200006 meters Centerline goodness [0,1] 0.9975934679845294 Centerline is valid? [True, True] Translation: X:281.89, Y:-41.45, Z:-8.94 [[ 9.78207395e-01 2.07421695e-01 9.30232060e-03 2.81887430e+02] [-2.07415244e-01 9.78251578e-01 -1.66356753e-03 -4.14537848e+01] [-9.44506980e-03 -3.02129037e-04 9.99955349e-01 -8.93706837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.18420382200003 meters Centerline goodness [0,1] 0.9885586956055964 Centerline is valid? [True, True] Translation: X:281.92, Y:-41.46, Z:-8.94 [[ 9.77739062e-01 2.09669787e-01 8.05653176e-03 2.81916754e+02] [-2.09665025e-01 9.77772214e-01 -1.44062245e-03 -4.14561445e+01] [-8.17950789e-03 -2.80620090e-04 9.99966508e-01 -8.94383190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.21420382200006 meters Centerline goodness [0,1] 0.9791269740463187 Centerline is valid? [True, True] Translation: X:281.94, Y:-41.46, Z:-8.94 [[ 9.77702706e-01 2.09835187e-01 8.16170967e-03 2.81944432e+02] [-2.09830304e-01 9.77736730e-01 -1.45965069e-03 -4.14566156e+01] [-8.28628940e-03 -2.85469593e-04 9.99965627e-01 -8.94491539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.24420382200003 meters Centerline goodness [0,1] 0.9972388107622167 Centerline is valid? [True, True] Translation: X:281.97, Y:-41.47, Z:-8.94 [[ 9.78071965e-01 2.08143397e-01 7.18032162e-03 2.81971386e+02] [-2.08139576e-01 9.78098292e-01 -1.28369104e-03 -4.14700121e+01] [-7.29025213e-03 -2.38966884e-04 9.99973397e-01 -8.94414395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.27420382200006 meters Centerline goodness [0,1] 0.9973838269036948 Centerline is valid? [True, True] Translation: X:282.00, Y:-41.48, Z:-8.95 [[ 9.78496744e-01 2.06139009e-01 7.12959723e-03 2.81998478e+02] [-2.06135184e-01 9.78522693e-01 -1.27512809e-03 -4.14754282e+01] [-7.23932632e-03 -2.21952155e-04 9.99973771e-01 -8.94558337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.30420382200003 meters Centerline goodness [0,1] 0.9998927015601193 Centerline is valid? [True, True] Translation: X:282.03, Y:-41.49, Z:-8.95 [[ 9.79615153e-01 2.00800336e-01 5.77728939e-03 2.82026242e+02] [-2.00797744e-01 9.79632177e-01 -1.03115916e-03 -4.14926827e+01] [-5.86667569e-03 -1.49927538e-04 9.99982780e-01 -8.94540623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.33420382200006 meters Centerline goodness [0,1] 0.9998274746603407 Centerline is valid? [True, True] Translation: X:282.05, Y:-41.50, Z:-8.95 [[ 9.80258013e-01 1.97635515e-01 5.86786234e-03 2.82054451e+02] [-1.97632773e-01 9.80275566e-01 -1.04931643e-03 -4.15010083e+01] [-5.95950427e-03 -1.31081062e-04 9.99982233e-01 -8.94644677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.36420382200004 meters Centerline goodness [0,1] 0.9999566301637212 Centerline is valid? [True, True] Translation: X:282.08, Y:-41.52, Z:-8.95 [[ 9.81723259e-01 1.90202297e-01 6.52147806e-03 2.82081579e+02] [-1.90198762e-01 9.81744914e-01 -1.16373933e-03 -4.15183819e+01] [-6.62377381e-03 -9.79070841e-05 9.99978058e-01 -8.94616365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.39420382200007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.11, Y:-41.54, Z:-8.94 [[ 9.83222226e-01 1.82227507e-01 8.19691235e-03 2.82107297e+02] [-1.82221642e-01 9.83256392e-01 -1.46308414e-03 -4.15380291e+01] [-8.32628064e-03 -5.51179845e-05 9.99965334e-01 -8.94397300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.42420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.13, Y:-41.55, Z:-8.94 [[ 9.83860333e-01 1.78728783e-01 8.65261915e-03 2.82134886e+02] [-1.78722113e-01 9.83898380e-01 -1.54432750e-03 -4.15483932e+01] [-8.78931374e-03 -2.70118070e-05 9.99961373e-01 -8.94178861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.45420382200007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.16, Y:-41.56, Z:-8.95 [[ 9.84755605e-01 1.73761671e-01 7.95493112e-03 2.82160581e+02] [-1.73755870e-01 9.84787734e-01 -1.41994321e-03 -4.15613394e+01] [-8.08065030e-03 1.60810540e-05 9.99967351e-01 -8.94731356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.48420382200004 meters Centerline goodness [0,1] 0.9998482384823848 Centerline is valid? [True, True] Translation: X:282.19, Y:-41.57, Z:-8.95 [[ 9.84982996e-01 1.72517969e-01 6.78585753e-03 2.82188466e+02] [-1.72513722e-01 9.85006371e-01 -1.21065061e-03 -4.15699514e+01] [-6.89297188e-03 2.18167268e-05 9.99976243e-01 -8.94902936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.51420382200007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.22, Y:-41.58, Z:-8.95 [[ 9.85071227e-01 1.72043314e-01 5.98122531e-03 2.82215404e+02] [-1.72040005e-01 9.85089386e-01 -1.06727971e-03 -4.15791098e+01] [-6.07565991e-03 2.23364992e-05 9.99981543e-01 -8.94974352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.54420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.24, Y:-41.58, Z:-8.95 [[ 9.84973994e-01 1.72587408e-01 6.31015659e-03 2.82244183e+02] [-1.72583742e-01 9.84994206e-01 -1.12513474e-03 -4.15835906e+01] [-6.40965177e-03 1.91980271e-05 9.99979458e-01 -8.94953469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.5742038220001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.27, Y:-41.59, Z:-8.95 [[ 9.84854329e-01 1.73257255e-01 6.62370893e-03 2.82272554e+02] [-1.73253233e-01 9.84876603e-01 -1.18063610e-03 -4.15884711e+01] [-6.72808972e-03 1.51755862e-05 9.99977366e-01 -8.94931954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.60420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.30, Y:-41.59, Z:-8.95 [[ 9.84622248e-01 1.74565752e-01 6.76948518e-03 2.82299667e+02] [-1.74561582e-01 9.84645519e-01 -1.20662916e-03 -4.15943536e+01] [-6.87617937e-03 6.38186952e-06 9.99976359e-01 -8.95267856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.634203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.33, Y:-41.60, Z:-8.95 [[ 9.84234057e-01 1.76686065e-01 8.08425899e-03 2.82328800e+02] [-1.76680200e-01 9.84267258e-01 -1.43964542e-03 -4.15978125e+01] [-8.21143671e-03 -1.13804372e-05 9.99966286e-01 -8.94896588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.66420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.36, Y:-41.60, Z:-8.95 [[ 9.83920646e-01 1.78429007e-01 7.95312832e-03 2.82356163e+02] [-1.78423388e-01 9.83952788e-01 -1.41632191e-03 -4.16003008e+01] [-8.07821570e-03 -2.54757279e-05 9.99967370e-01 -8.95078002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.694203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.39, Y:-41.60, Z:-8.95 [[ 9.83194708e-01 1.82410922e-01 7.37705524e-03 2.82385793e+02] [-1.82406205e-01 9.83222382e-01 -1.31294903e-03 -4.16000761e+01] [-7.49278207e-03 -5.47361172e-05 9.99971927e-01 -8.95243511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.72420382200005 meters Centerline goodness [0,1] 0.9997647411082833 Centerline is valid? [True, True] Translation: X:282.41, Y:-41.60, Z:-8.96 [[ 9.82808041e-01 1.84484842e-01 7.32792690e-03 2.82413917e+02] [-1.84480243e-01 9.82835357e-01 -1.30444354e-03 -4.16021821e+01] [-7.44279571e-03 -6.98401323e-05 9.99972300e-01 -8.95697683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.754203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.44, Y:-41.61, Z:-8.95 [[ 9.82262385e-01 1.87369324e-01 7.30373002e-03 2.82442086e+02] [-1.87364841e-01 9.82289534e-01 -1.29932182e-03 -4.16067983e+01] [-7.41783061e-03 -9.21872660e-05 9.99972483e-01 -8.95231517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.78420382200005 meters Centerline goodness [0,1] 0.9999787901925851 Centerline is valid? [True, True] Translation: X:282.47, Y:-41.61, Z:-8.95 [[ 9.82089384e-01 1.88263321e-01 7.57383506e-03 2.82469571e+02] [-1.88258531e-01 9.82118583e-01 -1.34681360e-03 -4.16098147e+01] [-7.69195975e-03 -1.03147729e-04 9.99970411e-01 -8.95376524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.814203822 meters Centerline goodness [0,1] 0.9998702197612044 Centerline is valid? [True, True] Translation: X:282.50, Y:-41.61, Z:-8.96 [[ 9.82098250e-01 1.88235450e-01 7.10228794e-03 2.82496908e+02] [-1.88231241e-01 9.82123926e-01 -1.26261203e-03 -4.16111661e+01] [-7.21299526e-03 -9.68634102e-05 9.99973981e-01 -8.95911492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.84420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.52, Y:-41.62, Z:-8.96 [[ 9.82181602e-01 1.87797019e-01 7.18198486e-03 2.82524989e+02] [-1.87792708e-01 9.82207855e-01 -1.27602798e-03 -4.16165905e+01] [-7.29383619e-03 -9.54331846e-05 9.99973395e-01 -8.95737524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.874203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.55, Y:-41.62, Z:-8.96 [[ 9.82342020e-01 1.86967803e-01 6.87001160e-03 2.82553290e+02] [-1.86963840e-01 9.82366038e-01 -1.22034476e-03 -4.16239442e+01] [-6.97703126e-03 -8.56478062e-05 9.99975657e-01 -8.95814003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.90420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.58, Y:-41.63, Z:-8.96 [[ 9.82683598e-01 1.85182883e-01 6.34393913e-03 2.82580622e+02] [-1.85179468e-01 9.82704073e-01 -1.12671682e-03 -4.16331408e+01] [-6.44286349e-03 -6.75611356e-05 9.99979242e-01 -8.95941987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.93420382200003 meters Centerline goodness [0,1] 0.9999786844012448 Centerline is valid? [True, True] Translation: X:282.61, Y:-41.64, Z:-8.96 [[ 9.82766008e-01 1.84740466e-01 6.47561675e-03 2.82607634e+02] [-1.84736898e-01 9.82787340e-01 -1.15003630e-03 -4.16381879e+01] [-6.57661240e-03 -6.60687660e-05 9.99978372e-01 -8.96365362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.96420382200006 meters Centerline goodness [0,1] 0.9999354588873112 Centerline is valid? [True, True] Translation: X:282.64, Y:-41.65, Z:-8.96 [[ 9.82878502e-01 1.84165262e-01 5.74520049e-03 2.82635790e+02] [-1.84162447e-01 9.82895291e-01 -1.01985095e-03 -4.16470647e+01] [-5.83475163e-03 -5.56606031e-05 9.99982976e-01 -8.96315665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.99420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.66, Y:-41.65, Z:-8.96 [[ 9.82945587e-01 1.83795318e-01 6.10360605e-03 2.82664371e+02] [-1.83792136e-01 9.82964535e-01 -1.08308458e-03 -4.16527039e+01] [-6.19869416e-03 -5.71815852e-05 9.99980786e-01 -8.96276175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.02420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.69, Y:-41.66, Z:-8.96 [[ 9.83191717e-01 1.82472205e-01 6.15969858e-03 2.82692233e+02] [-1.82468940e-01 9.83211011e-01 -1.09270410e-03 -4.16579124e+01] [-6.25567159e-03 -4.96160475e-05 9.99980432e-01 -8.96393155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.05420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.72, Y:-41.66, Z:-8.97 [[ 9.83423249e-01 1.81229381e-01 5.88431300e-03 2.82719876e+02] [-1.81226380e-01 9.83440852e-01 -1.04361014e-03 -4.16636190e+01] [-5.97600661e-03 -4.00822741e-05 9.99982143e-01 -8.96828488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.08420382200006 meters Centerline goodness [0,1] 0.9999783596624108 Centerline is valid? [True, True] Translation: X:282.75, Y:-41.67, Z:-8.97 [[ 9.83682804e-01 1.79835469e-01 5.22923231e-03 2.82747475e+02] [-1.79833080e-01 9.83696703e-01 -9.27330689e-04 -4.16719207e+01] [-5.31074554e-03 -2.81897011e-05 9.99985897e-01 -8.96770680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.11420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.78, Y:-41.68, Z:-8.97 [[ 9.84166976e-01 1.77156035e-01 5.57700576e-03 2.82775171e+02] [-1.77153277e-01 9.84182777e-01 -9.88616953e-04 -4.16818954e+01] [-5.66393248e-03 -1.50206882e-05 9.99983960e-01 -8.96810271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.14420382200007 meters Centerline goodness [0,1] 0.9999783849213211 Centerline is valid? [True, True] Translation: X:282.80, Y:-41.69, Z:-8.97 [[ 9.84631996e-01 1.74580039e-01 4.65208852e-03 2.82802272e+02] [-1.74578091e-01 9.84642986e-01 -8.24684402e-04 -4.16920132e+01] [-4.72461977e-03 -1.42084067e-07 9.99988839e-01 -8.97018388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.17420382200004 meters Centerline goodness [0,1] 0.9999783685565338 Centerline is valid? [True, True] Translation: X:282.83, Y:-41.70, Z:-8.97 [[ 9.84837830e-01 1.73425631e-01 4.24244976e-03 2.82828854e+02] [-1.73423998e-01 9.84846968e-01 -7.52641121e-04 -4.16982723e+01] [-4.30869105e-03 5.48684981e-06 9.99990718e-01 -8.97276155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.20420382200007 meters Centerline goodness [0,1] 0.9999782887166461 Centerline is valid? [True, True] Translation: X:282.86, Y:-41.70, Z:-8.97 [[ 9.85009211e-01 1.72432994e-01 4.86992678e-03 2.82857205e+02] [-1.72430837e-01 9.85021250e-01 -8.62612937e-04 -4.17042411e+01] [-4.94572429e-03 9.95613833e-06 9.99987770e-01 -8.97111739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.23420382200004 meters Centerline goodness [0,1] 0.9999782887166461 Centerline is valid? [True, True] Translation: X:282.89, Y:-41.71, Z:-8.97 [[ 9.85017773e-01 1.72384076e-01 4.86996957e-03 2.82885115e+02] [-1.72381919e-01 9.85029812e-01 -8.62371080e-04 -4.17090848e+01] [-4.94572425e-03 9.95613827e-06 9.99987770e-01 -8.97198444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.26420382200007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.91, Y:-41.72, Z:-8.97 [[ 9.85366511e-01 1.70277934e-01 7.63308477e-03 2.82911903e+02] [-1.70272580e-01 9.85396075e-01 -1.35067600e-03 -4.17162560e+01] [-7.75160209e-03 3.12058658e-05 9.99969955e-01 -8.96962428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.29420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.94, Y:-41.72, Z:-8.97 [[ 9.85665559e-01 1.68515610e-01 8.11758403e-03 2.82940051e+02] [-1.68509505e-01 9.85698984e-01 -1.43519261e-03 -4.17234415e+01] [-8.24334669e-03 4.67298574e-05 9.99966022e-01 -8.97074543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.3242038220001 meters Centerline goodness [0,1] 0.9999352247700479 Centerline is valid? [True, True] Translation: X:282.97, Y:-41.73, Z:-8.97 [[ 9.85830232e-01 1.67562317e-01 7.85008180e-03 2.82969325e+02] [-1.67556582e-01 9.85861485e-01 -1.38737032e-03 -4.17290922e+01] [-7.97156429e-03 5.23787328e-05 9.99968225e-01 -8.97194150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.35420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:283.00, Y:-41.74, Z:-8.97 [[ 9.85965110e-01 1.66754172e-01 8.11464402e-03 2.82998011e+02] [-1.66748017e-01 9.85998500e-01 -1.43390903e-03 -4.17358620e+01] [-8.24013714e-03 6.06834725e-05 9.99966048e-01 -8.96949779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.384203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:283.03, Y:-41.74, Z:-8.97 [[ 9.86097410e-01 1.65961673e-01 8.28380200e-03 2.83026171e+02] [-1.65955236e-01 9.86132201e-01 -1.46328597e-03 -4.17432768e+01] [-8.41177329e-03 6.82021951e-05 9.99964618e-01 -8.97125214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.41420382200005 meters Centerline goodness [0,1] 0.9998482187384808 Centerline is valid? [True, True] Translation: X:283.06, Y:-41.75, Z:-8.98 [[ 9.86145844e-01 1.65721968e-01 7.25290325e-03 2.83055913e+02] [-1.65717029e-01 9.86172513e-01 -1.28084449e-03 -4.17483584e+01] [-7.36487790e-03 6.11698904e-05 9.99972877e-01 -8.97542162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.444203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:283.08, Y:-41.75, Z:-8.97 [[ 9.86221812e-01 1.65251507e-01 7.64705572e-03 2.83084447e+02] [-1.65246001e-01 9.86251456e-01 -1.35073713e-03 -4.17547687e+01] [-7.76513118e-03 6.84810476e-05 9.99969849e-01 -8.97434826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.47420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:283.11, Y:-41.76, Z:-8.98 [[ 9.86186073e-01 1.65498761e-01 6.86952865e-03 2.83113187e+02] [-1.65494324e-01 9.86209996e-01 -1.21334778e-03 -4.17596077e+01] [-6.97560537e-03 5.97186866e-05 9.99975668e-01 -8.97814834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.504203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:283.14, Y:-41.76, Z:-8.98 [[ 9.86155218e-01 1.65694202e-01 6.58163773e-03 2.83141299e+02] [-1.65690130e-01 9.86177179e-01 -1.16299401e-03 -4.17640078e+01] [-6.68336230e-03 5.63801987e-05 9.99977664e-01 -8.98083643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.53420382200005 meters Centerline goodness [0,1] 0.9999786219723368 Centerline is valid? [True, True] Translation: X:283.17, Y:-41.77, Z:-8.98 [[ 9.86178924e-01 1.65542000e-01 6.85391779e-03 2.83170812e+02] [-1.65537584e-01 9.86202739e-01 -1.21054730e-03 -4.17679795e+01] [-6.95974892e-03 5.92352433e-05 9.99975779e-01 -8.97818230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.564203822 meters Centerline goodness [0,1] 0.9999571816994584 Centerline is valid? [True, True] Translation: X:283.20, Y:-41.78, Z:-8.98 [[ 9.86353842e-01 1.64452288e-01 7.84489627e-03 2.83198700e+02] [-1.64446473e-01 9.86385036e-01 -1.38498431e-03 -4.17774928e+01] [-7.96585213e-03 7.60190728e-05 9.99968269e-01 -8.97802378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.59420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:283.23, Y:-41.78, Z:-8.98 [[ 9.86499132e-01 1.63561812e-01 8.18509580e-03 2.83228655e+02] [-1.63555454e-01 9.86533084e-01 -1.44465147e-03 -4.17845576e+01] [-8.31115761e-03 8.64303630e-05 9.99965458e-01 -8.97740369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.624203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:283.26, Y:-41.79, Z:-8.98 [[ 9.86736954e-01 1.62027231e-01 9.86716373e-03 2.83257475e+02] [-1.62017918e-01 9.86786280e-01 -1.74128025e-03 -4.17940182e+01] [-1.00189166e-02 1.19528239e-04 9.99949802e-01 -8.97683514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.65420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:283.29, Y:-41.80, Z:-8.97 [[ 9.86809319e-01 1.61530979e-01 1.07289419e-02 2.83288437e+02] [-1.61519940e-01 9.86867633e-01 -1.89328409e-03 -4.18003256e+01] [-1.08938695e-02 1.35372337e-04 9.99940651e-01 -8.97473874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.68420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:283.32, Y:-41.81, Z:-8.97 [[ 9.86749364e-01 1.61889336e-01 1.08414006e-02 2.83320008e+02] [-1.61878115e-01 9.86808911e-01 -1.91050907e-03 -4.18087275e+01] [-1.10076818e-02 1.30208108e-04 9.99939405e-01 -8.97481482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.71420382200006 meters Centerline goodness [0,1] 0.9999785476777862 Centerline is valid? [True, True] Translation: X:283.35, Y:-41.82, Z:-8.98 [[ 9.86653562e-01 1.62453626e-01 1.11161296e-02 2.83350743e+02] [-1.62441839e-01 9.86716171e-01 -1.96124393e-03 -4.18154805e+01] [-1.12870760e-02 1.29343787e-04 9.99936291e-01 -8.97693320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.74420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:283.38, Y:-41.82, Z:-8.98 [[ 9.86531536e-01 1.63183647e-01 1.12528337e-02 2.83380869e+02] [-1.63171561e-01 9.86595703e-01 -1.99009490e-03 -4.18208707e+01] [-1.14267483e-02 1.27148943e-04 9.99934704e-01 -8.97847124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.77420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:283.41, Y:-41.83, Z:-8.98 [[ 9.86173128e-01 1.65438453e-01 9.62702430e-03 2.83411954e+02] [-1.65429716e-01 9.86220113e-01 -1.70237741e-03 -4.18255928e+01] [-9.77600368e-03 8.62429587e-05 9.99952210e-01 -8.98213850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.80420382200003 meters Centerline goodness [0,1] 0.9998706087856635 Centerline is valid? [True, True] Translation: X:283.44, Y:-41.83, Z:-8.98 [[ 9.85657634e-01 1.68469863e-01 9.84551105e-03 2.83443289e+02] [-1.68460874e-01 9.85706803e-01 -1.74125265e-03 -4.18278437e+01] [-9.99813582e-03 5.76955721e-05 9.99950016e-01 -8.98332536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.83420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:283.47, Y:-41.83, Z:-8.98 [[ 9.85290845e-01 1.70537400e-01 1.09062351e-02 2.83472332e+02] [-1.70526484e-01 9.85351203e-01 -1.92994677e-03 -4.18324623e+01] [-1.10756000e-02 4.17569568e-05 9.99938663e-01 -8.98353794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.86420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:283.50, Y:-41.84, Z:-8.99 [[ 9.84969993e-01 1.72407020e-01 1.04848811e-02 2.83501147e+02] [-1.72397039e-01 9.85025796e-01 -1.85525301e-03 -4.18364268e+01] [-1.06477370e-02 1.98060915e-05 9.99943311e-01 -8.98551757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.89420382200007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:283.53, Y:-41.84, Z:-8.99 [[ 9.84391614e-01 1.75838441e-01 7.34798330e-03 2.83531141e+02] [-1.75833634e-01 9.84419038e-01 -1.30023049e-03 -4.18384916e+01] [-7.46212515e-03 -1.20866093e-05 9.99972158e-01 -8.98770429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.92420382200004 meters Centerline goodness [0,1] 0.9999785688262146 Centerline is valid? [True, True] Translation: X:283.56, Y:-41.84, Z:-8.99 [[ 9.84099333e-01 1.77475929e-01 7.12718450e-03 2.83560065e+02] [-1.77471446e-01 9.84125142e-01 -1.26166833e-03 -4.18413998e+01] [-7.23795722e-03 -2.32647721e-05 9.99973805e-01 -8.99201538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.95420382200007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:283.59, Y:-41.85, Z:-8.99 [[ 9.83592357e-01 1.80233860e-01 7.86330913e-03 2.83588678e+02] [-1.80228493e-01 9.83623786e-01 -1.39184020e-03 -4.18457520e+01] [-7.98539463e-03 -4.81889676e-05 9.99968115e-01 -8.98983823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.98420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:283.62, Y:-41.85, Z:-8.99 [[ 9.83305150e-01 1.81800323e-01 7.72170204e-03 2.83616559e+02] [-1.81795208e-01 9.83335466e-01 -1.36509287e-03 -4.18499074e+01] [-7.84119780e-03 -6.14655818e-05 9.99969255e-01 -8.99120346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.01420382200007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:283.64, Y:-41.85, Z:-8.99 [[ 9.82815138e-01 1.84368492e-01 9.09192235e-03 2.83644204e+02] [-1.84361496e-01 9.82857187e-01 -1.60890855e-03 -4.18511636e+01] [-9.23269327e-03 -9.49407211e-05 9.99957373e-01 -8.99436144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.04420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:283.67, Y:-41.86, Z:-8.99 [[ 9.82546969e-01 1.85761754e-01 9.69665419e-03 2.83672557e+02] [-1.85753874e-01 9.82594808e-01 -1.71491748e-03 -4.18578882e+01] [-9.84644815e-03 -1.16204109e-04 9.99951516e-01 -8.99144649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.0742038220001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:283.70, Y:-41.87, Z:-8.99 [[ 9.82088834e-01 1.88243866e-01 8.10979484e-03 2.83701478e+02] [-1.88238444e-01 9.82122311e-01 -1.43360187e-03 -4.18650312e+01] [-8.23467720e-03 -1.18650773e-04 9.99966087e-01 -8.99126595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.10420382200004 meters Centerline goodness [0,1] 0.9999785117218557 Centerline is valid? [True, True] Translation: X:283.73, Y:-41.87, Z:-9.00 [[ 9.81820342e-01 1.89667417e-01 7.42201437e-03 2.83730110e+02] [-1.89662916e-01 9.81848388e-01 -1.31203756e-03 -4.18673669e+01] [-7.53614362e-03 -1.19495726e-04 9.99971596e-01 -8.99524441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.134203822 meters Centerline goodness [0,1] 0.9999785052554651 Centerline is valid? [True, True] Translation: X:283.76, Y:-41.87, Z:-9.00 [[ 9.81215543e-01 1.92737258e-01 8.27084049e-03 2.83758636e+02] [-1.92731776e-01 9.81250388e-01 -1.46237670e-03 -4.18668662e+01] [-8.39761992e-03 -1.59147029e-04 9.99964727e-01 -8.99695329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.16420382200005 meters Centerline goodness [0,1] 0.9999569420224332 Centerline is valid? [True, True] Translation: X:283.79, Y:-41.87, Z:-9.00 [[ 9.80974682e-01 1.93931827e-01 8.89495550e-03 2.83786872e+02] [-1.93925542e-01 9.81014991e-01 -1.57200955e-03 -4.18696411e+01] [-9.03094738e-03 -1.82857495e-04 9.99959203e-01 -8.99756108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.194203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:283.81, Y:-41.88, Z:-8.99 [[ 9.80683176e-01 1.95408309e-01 8.72355033e-03 2.83814921e+02] [-1.95402328e-01 9.80721956e-01 -1.54101610e-03 -4.18769040e+01] [-8.85650470e-03 -1.93353481e-04 9.99960762e-01 -8.99412995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.22420382200005 meters Centerline goodness [0,1] 0.9999782073354109 Centerline is valid? [True, True] Translation: X:283.84, Y:-41.88, Z:-8.99 [[ 9.80603352e-01 1.95794686e-01 9.02812712e-03 2.83842462e+02] [-1.95788299e-01 9.80644889e-01 -1.59456392e-03 -4.18806202e+01] [-9.16559386e-03 -2.03966933e-04 9.99957974e-01 -8.99457878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.254203822 meters Centerline goodness [0,1] 0.9999565415788444 Centerline is valid? [True, True] Translation: X:283.87, Y:-41.88, Z:-9.00 [[ 9.80519429e-01 1.96195948e-01 9.42330447e-03 2.83870764e+02] [-1.96189017e-01 9.80564686e-01 -1.66341416e-03 -4.18848631e+01] [-9.56651471e-03 -2.17738939e-04 9.99954216e-01 -8.99523913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.28420382200005 meters Centerline goodness [0,1] 0.9999784566332026 Centerline is valid? [True, True] Translation: X:283.90, Y:-41.89, Z:-9.00 [[ 9.80376354e-01 1.96971282e-01 8.03236440e-03 2.83897631e+02] [-1.96966271e-01 9.80409240e-01 -1.41800480e-03 -4.18895352e+01] [-8.15431050e-03 -1.91926486e-04 9.99966735e-01 -8.99876952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.314203822 meters Centerline goodness [0,1] 0.9999783741701088 Centerline is valid? [True, True] Translation: X:283.93, Y:-41.90, Z:-9.00 [[ 9.80560835e-01 1.96046171e-01 8.14543280e-03 2.83926202e+02] [-1.96040988e-01 9.80594648e-01 -1.43778152e-03 -4.18962236e+01] [-8.26923938e-03 -1.87006444e-04 9.99965792e-01 -8.99824778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.34420382200005 meters Centerline goodness [0,1] 0.9999786077953194 Centerline is valid? [True, True] Translation: X:283.95, Y:-41.90, Z:-9.00 [[ 9.80831617e-01 1.94617963e-01 9.65333310e-03 2.83953245e+02] [-1.94610630e-01 9.80879098e-01 -1.70224794e-03 -4.19010282e+01] [-9.80004069e-03 -2.09022644e-04 9.99951957e-01 -8.99902196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.374203822 meters Centerline goodness [0,1] 0.9999363219561895 Centerline is valid? [True, True] Translation: X:283.98, Y:-41.91, Z:-9.00 [[ 9.81271181e-01 1.92347100e-01 1.04624146e-02 2.83980842e+02] [-1.92338366e-01 9.81326934e-01 -1.84411402e-03 -4.19058349e+01] [-1.06217592e-02 -2.02747793e-04 9.99943567e-01 -9.00292626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.40420382200006 meters Centerline goodness [0,1] 0.9999568155809384 Centerline is valid? [True, True] Translation: X:284.01, Y:-41.93, Z:-9.00 [[ 9.82305385e-01 1.87016438e-01 1.00490551e-02 2.84007711e+02] [-1.87008113e-01 9.82356774e-01 -1.77013546e-03 -4.19250662e+01] [-1.02028018e-02 -1.40441237e-04 9.99947940e-01 -9.00039719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.43420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.04, Y:-41.94, Z:-9.00 [[ 9.82834832e-01 1.84226221e-01 9.81796173e-03 2.84036595e+02] [-1.84218143e-01 9.82883863e-01 -1.72870623e-03 -4.19361450e+01] [-9.96838917e-03 -1.09613978e-04 9.99950308e-01 -9.00038495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.46420382200006 meters Centerline goodness [0,1] 0.9998928234588014 Centerline is valid? [True, True] Translation: X:284.07, Y:-41.95, Z:-9.01 [[ 9.83578084e-01 1.80254780e-01 9.07565067e-03 2.84065516e+02] [-1.80247740e-01 9.83619952e-01 -1.59454450e-03 -4.19506192e+01] [-9.21441535e-03 -6.75065011e-05 9.99957544e-01 -9.00807070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.49420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.10, Y:-41.96, Z:-9.01 [[ 9.83793185e-01 1.79068952e-01 9.23472115e-03 2.84095083e+02] [-1.79061563e-01 9.83836525e-01 -1.62752897e-03 -4.19604862e+01] [-9.37689588e-03 -5.24316963e-05 9.99956035e-01 -9.00559825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.52420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.13, Y:-41.97, Z:-9.01 [[ 9.83803661e-01 1.79037806e-01 8.70752751e-03 2.84125236e+02] [-1.79031238e-01 9.83842193e-01 -1.53435580e-03 -4.19663663e+01] [-8.84154066e-03 -4.94145754e-05 9.99960912e-01 -9.00792098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.55420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.15, Y:-41.97, Z:-9.01 [[ 9.83737327e-01 1.79432605e-01 8.05052387e-03 2.84154368e+02] [-1.79426999e-01 9.83770267e-01 -1.41919124e-03 -4.19711498e+01] [-8.17451520e-03 -4.83699426e-05 9.99966587e-01 -9.01083564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.58420382200006 meters Centerline goodness [0,1] 0.999956642386403 Centerline is valid? [True, True] Translation: X:284.18, Y:-41.98, Z:-9.01 [[ 9.83513706e-01 1.80698126e-01 6.99832846e-03 2.84184471e+02] [-1.80693926e-01 9.83538604e-01 -1.23309980e-03 -4.19780058e+01] [-7.10594503e-03 -5.17848892e-05 9.99974751e-01 -9.01275148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.61420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.21, Y:-41.98, Z:-9.01 [[ 9.83298149e-01 1.81870087e-01 6.92984470e-03 2.84214637e+02] [-1.81865995e-01 9.83322566e-01 -1.22140348e-03 -4.19840717e+01] [-7.03640943e-03 -5.92993247e-05 9.99975242e-01 -9.01077525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.64420382200007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.24, Y:-41.99, Z:-9.01 [[ 9.83089621e-01 1.82992376e-01 6.97051032e-03 2.84244766e+02] [-1.82988264e-01 9.83114330e-01 -1.22857090e-03 -4.19884742e+01] [-7.07762769e-03 -6.77262834e-05 9.99974951e-01 -9.01114811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.67420382200004 meters Centerline goodness [0,1] 0.9999568919064554 Centerline is valid? [True, True] Translation: X:284.28, Y:-41.99, Z:-9.01 [[ 9.82485334e-01 1.86207506e-01 7.02377598e-03 2.84275184e+02] [-1.86203413e-01 9.82510436e-01 -1.23795911e-03 -4.19896282e+01] [-7.13145048e-03 -9.15743916e-05 9.99974567e-01 -9.01028786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.70420382200007 meters Centerline goodness [0,1] 0.9999573078318782 Centerline is valid? [True, True] Translation: X:284.30, Y:-41.99, Z:-9.02 [[ 9.82125806e-01 1.88095917e-01 6.98760134e-03 2.84304910e+02] [-1.88091912e-01 9.82150658e-01 -1.23188415e-03 -4.19905295e+01] [-7.09458963e-03 -1.04446086e-04 9.99974828e-01 -9.01502247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.73420382200004 meters Centerline goodness [0,1] 0.9999570215966477 Centerline is valid? [True, True] Translation: X:284.33, Y:-41.99, Z:-9.01 [[ 9.81343528e-01 1.92114083e-01 7.55370677e-03 2.84334987e+02] [-1.92109521e-01 9.81372589e-01 -1.33181640e-03 -4.19902672e+01] [-7.66886146e-03 -1.44169583e-04 9.99970583e-01 -9.01359421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.76420382200007 meters Centerline goodness [0,1] 0.9999567371130675 Centerline is valid? [True, True] Translation: X:284.36, Y:-41.99, Z:-9.01 [[ 9.80909363e-01 1.94311226e-01 7.74392319e-03 2.84364855e+02] [-1.94306501e-01 9.80939917e-01 -1.36514909e-03 -4.19910336e+01] [-7.86158717e-03 -1.65607094e-04 9.99969084e-01 -9.01351763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.79420382200004 meters Centerline goodness [0,1] 0.9999361810755616 Centerline is valid? [True, True] Translation: X:284.39, Y:-41.99, Z:-9.02 [[ 9.80101220e-01 1.98330196e-01 8.16895069e-03 2.84394876e+02] [-1.98325075e-01 9.80135241e-01 -1.44031532e-03 -4.19853744e+01] [-8.29233447e-03 -2.08452954e-04 9.99965596e-01 -9.01533757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.8242038220001 meters Centerline goodness [0,1] 0.9998297002724795 Centerline is valid? [True, True] Translation: X:284.42, Y:-41.99, Z:-9.01 [[ 9.79781080e-01 1.99885534e-01 8.64915114e-03 2.84424136e+02] [-1.99879858e-01 9.79819227e-01 -1.52452767e-03 -4.19867146e+01] [-8.77933561e-03 -2.35087734e-04 9.99961433e-01 -9.01482751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.85420382200004 meters Centerline goodness [0,1] 0.9999360422973607 Centerline is valid? [True, True] Translation: X:284.45, Y:-41.99, Z:-9.01 [[ 9.79592470e-01 2.00764679e-01 9.59874665e-03 2.84452781e+02] [-2.00757737e-01 9.79639459e-01 -1.69129252e-03 -4.19886222e+01] [-9.74286278e-03 -2.70245237e-04 9.99952501e-01 -9.01390074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.884203822 meters Centerline goodness [0,1] 0.9998931715238014 Centerline is valid? [True, True] Translation: X:284.48, Y:-41.99, Z:-9.01 [[ 9.79727570e-01 2.00051903e-01 1.06360070e-02 2.84480711e+02] [-2.00043343e-01 9.79785257e-01 -1.87358832e-03 -4.19898260e+01] [-1.07958178e-02 -2.92056258e-04 9.99941681e-01 -9.01407959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.91420382200005 meters Centerline goodness [0,1] 0.9999363462762572 Centerline is valid? [True, True] Translation: X:284.51, Y:-42.00, Z:-9.01 [[ 9.80042474e-01 1.98510314e-01 1.05073387e-02 2.84509039e+02] [-1.98501879e-01 9.80098761e-01 -1.85011527e-03 -4.19970510e+01] [-1.06654966e-02 -2.72534931e-04 9.99943085e-01 -9.01459147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.944203822 meters Centerline goodness [0,1] 0.9998070325900514 Centerline is valid? [True, True] Translation: X:284.54, Y:-42.01, Z:-9.02 [[ 9.81057820e-01 1.93434456e-01 1.04242700e-02 2.84537915e+02] [-1.93425880e-01 9.81113176e-01 -1.83428134e-03 -4.20061963e+01] [-1.05822018e-02 -2.16787548e-04 9.99943983e-01 -9.01964556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.97420382200005 meters Centerline goodness [0,1] 0.9999571615224795 Centerline is valid? [True, True] Translation: X:284.57, Y:-42.02, Z:-9.02 [[ 9.81705537e-01 1.90108508e-01 1.06298920e-02 2.84566195e+02] [-1.90099394e-01 9.81763068e-01 -1.87058362e-03 -4.20166573e+01] [-1.07916492e-02 -1.84373726e-04 9.99941751e-01 -9.01721045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.004203822 meters Centerline goodness [0,1] 0.9999573588043409 Centerline is valid? [True, True] Translation: X:284.59, Y:-42.03, Z:-9.02 [[ 9.82971208e-01 1.83477448e-01 1.01799449e-02 2.84594200e+02] [-1.83468744e-01 9.83023914e-01 -1.79042478e-03 -4.20293739e+01] [-1.03356318e-02 -1.07765688e-04 9.99946580e-01 -9.02042782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.03420382200005 meters Centerline goodness [0,1] 0.9998493716646583 Centerline is valid? [True, True] Translation: X:284.62, Y:-42.04, Z:-9.02 [[ 9.83569931e-01 1.80257568e-01 9.86909422e-03 2.84623066e+02] [-1.80249222e-01 9.83619441e-01 -1.73612099e-03 -4.20410840e+01] [-1.00203819e-02 -7.13001458e-05 9.99949792e-01 -9.02271842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.064203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.65, Y:-42.05, Z:-9.02 [[ 9.84074032e-01 1.77517487e-01 9.26506953e-03 2.84653044e+02] [-1.77510017e-01 9.84117645e-01 -1.62907428e-03 -4.20523009e+01] [-9.40710758e-03 -4.15129577e-05 9.99955751e-01 -9.02149317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.09420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.68, Y:-42.07, Z:-9.02 [[ 9.84770840e-01 1.73591538e-01 9.61102028e-03 2.84682996e+02] [-1.73583336e-01 9.84817738e-01 -1.68744395e-03 -4.20672456e+01] [-9.75802925e-03 -6.56736580e-06 9.99952389e-01 -9.02126738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.124203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.71, Y:-42.07, Z:-9.02 [[ 9.84741049e-01 1.73760467e-01 9.61072682e-03 2.84714151e+02] [-1.73752257e-01 9.84787947e-01 -1.68911189e-03 -4.20728797e+01] [-9.75802880e-03 -6.54765863e-06 9.99952389e-01 -9.02223694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.15420382200006 meters Centerline goodness [0,1] 0.9998915165979605 Centerline is valid? [True, True] Translation: X:284.75, Y:-42.08, Z:-9.03 [[ 9.84921439e-01 1.72807947e-01 8.19592498e-03 2.84745280e+02] [-1.72801938e-01 9.84955539e-01 -1.44110299e-03 -4.20813514e+01] [-8.32165575e-03 3.10150919e-06 9.99965374e-01 -9.02776217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.18420382200003 meters Centerline goodness [0,1] 0.9997198819194553 Centerline is valid? [True, True] Translation: X:284.78, Y:-42.09, Z:-9.03 [[ 9.84853728e-01 1.73206070e-01 7.92408061e-03 2.84777089e+02] [-1.73200457e-01 9.84885606e-01 -1.39450999e-03 -4.20871268e+01] [-8.04585053e-03 9.33984380e-07 9.99967632e-01 -9.02956830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.21420382200006 meters Centerline goodness [0,1] 0.9998272399421254 Centerline is valid? [True, True] Translation: X:284.81, Y:-42.09, Z:-9.03 [[ 9.84686438e-01 1.74124957e-01 8.55088538e-03 2.84808606e+02] [-1.74118438e-01 9.84723565e-01 -1.50676811e-03 -4.20936294e+01] [-8.68262427e-03 -5.17268178e-06 9.99962305e-01 -9.02983018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.24420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.84, Y:-42.10, Z:-9.03 [[ 9.84282946e-01 1.76384577e-01 8.69268859e-03 2.84839867e+02] [-1.76377913e-01 9.84321330e-01 -1.53338411e-03 -4.21016245e+01] [-8.82686410e-03 -2.39144414e-05 9.99961042e-01 -9.02729737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.27420382200006 meters Centerline goodness [0,1] 0.999935036812473 Centerline is valid? [True, True] Translation: X:284.87, Y:-42.11, Z:-9.03 [[ 9.83668920e-01 1.79751347e-01 9.21460542e-03 2.84871348e+02] [-1.79743988e-01 9.83712077e-01 -1.62742183e-03 -4.21068591e+01] [-9.35704990e-03 -5.54256587e-05 9.99956220e-01 -9.02913896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.30420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.90, Y:-42.11, Z:-9.03 [[ 9.83381038e-01 1.81314404e-01 9.31782501e-03 2.84902425e+02] [-1.81306930e-01 9.83425179e-01 -1.64768174e-03 -4.21107050e+01] [-9.46213216e-03 -6.90872660e-05 9.99955231e-01 -9.03084300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.33420382200006 meters Centerline goodness [0,1] 0.9999147248811479 Centerline is valid? [True, True] Translation: X:284.93, Y:-42.12, Z:-9.03 [[ 9.83010904e-01 1.83273518e-01 1.00190096e-02 2.84931887e+02] [-1.83264926e-01 9.83061956e-01 -1.77682734e-03 -4.21151622e+01] [-1.01749526e-02 -8.94924161e-05 9.99948230e-01 -9.03411634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.36420382200004 meters Centerline goodness [0,1] 0.9999787532401309 Centerline is valid? [True, True] Translation: X:284.96, Y:-42.12, Z:-9.03 [[ 9.82460129e-01 1.86153563e-01 1.09062387e-02 2.84962441e+02] [-1.86143555e-01 9.82520653e-01 -1.93457171e-03 -4.21204794e+01] [-1.10757322e-02 -1.29486473e-04 9.99938654e-01 -9.03084004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.39420382200007 meters Centerline goodness [0,1] 0.9999785297148747 Centerline is valid? [True, True] Translation: X:284.99, Y:-42.12, Z:-9.03 [[ 9.82056391e-01 1.88231466e-01 1.15827227e-02 2.84993130e+02] [-1.88220323e-01 9.82124681e-01 -2.05456788e-03 -4.21241682e+01] [-1.17624122e-02 -1.62402296e-04 9.99930807e-01 -9.02982164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.42420382200004 meters Centerline goodness [0,1] 0.999957373345553 Centerline is valid? [True, True] Translation: X:285.02, Y:-42.12, Z:-9.03 [[ 9.81089611e-01 1.93164731e-01 1.22703368e-02 2.85023200e+02] [-1.93152610e-01 9.81166312e-01 -2.17655759e-03 -4.21233888e+01] [-1.24596753e-02 -2.34649544e-04 9.99922348e-01 -9.02958060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.45420382200007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.05, Y:-42.13, Z:-9.03 [[ 9.80596447e-01 1.95662647e-01 1.21135155e-02 2.85053161e+02] [-1.95651025e-01 9.80671229e-01 -2.14870796e-03 -4.21281329e+01] [-1.22997981e-02 -2.63006346e-04 9.99924320e-01 -9.02890303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.48420382200004 meters Centerline goodness [0,1] 0.9998940543289401 Centerline is valid? [True, True] Translation: X:285.09, Y:-42.12, Z:-9.03 [[ 9.79227971e-01 2.02656759e-01 6.54364148e-03 2.85085180e+02] [-2.02574604e-01 9.79200110e-01 -1.14313297e-02 -4.21209410e+01] [-8.72417069e-03 9.86830220e-03 9.99913249e-01 -9.03262364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.51420382200007 meters Centerline goodness [0,1] 0.9997210420153642 Centerline is valid? [True, True] Translation: X:285.11, Y:-42.13, Z:-9.04 [[ 9.79050845e-01 2.03232899e-01 1.24832730e-02 2.85111045e+02] [-2.03340391e-01 9.79075137e-01 8.03500477e-03 -4.21327386e+01] [-1.05890849e-02 -1.04050318e-02 9.99889797e-01 -9.03678590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.54420382200004 meters Centerline goodness [0,1] 0.9995299747895569 Centerline is valid? [True, True] Translation: X:285.14, Y:-42.12, Z:-9.04 [[ 9.78231847e-01 2.07268339e-01 1.01137712e-02 2.85142104e+02] [-2.07260861e-01 9.78284069e-01 -1.79351053e-03 -4.21243916e+01] [-1.02658792e-02 -3.41719819e-04 9.99947246e-01 -9.03759231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.5742038220001 meters Centerline goodness [0,1] 0.99954970409126 Centerline is valid? [True, True] Translation: X:285.17, Y:-42.13, Z:-9.04 [[ 9.78011752e-01 2.08307966e-01 1.00401257e-02 2.85170273e+02] [-2.08300642e-01 9.78063224e-01 -1.78137277e-03 -4.21273144e+01] [-1.01909518e-02 -3.49161110e-04 9.99948010e-01 -9.03814153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.60420382200004 meters Centerline goodness [0,1] 0.9992724938482935 Centerline is valid? [True, True] Translation: X:285.20, Y:-42.13, Z:-9.04 [[ 9.77926435e-01 2.08713518e-01 9.92749344e-03 2.85199488e+02] [-2.08706387e-01 9.77976761e-01 -1.76055622e-03 -4.21296647e+01] [-1.00763098e-02 -3.50236813e-04 9.99949171e-01 -9.03996492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.634203822 meters Centerline goodness [0,1] 0.9998912381449578 Centerline is valid? [True, True] Translation: X:285.23, Y:-42.14, Z:-9.04 [[ 9.78268444e-01 2.07090721e-01 1.02120119e-02 2.85227103e+02] [-2.07083091e-01 9.78321683e-01 -1.81050042e-03 -4.21382016e+01] [-1.03655705e-02 -3.43579559e-04 9.99946217e-01 -9.03937166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.66420382200005 meters Centerline goodness [0,1] 0.9989350599561244 Centerline is valid? [True, True] Translation: X:285.26, Y:-42.14, Z:-9.05 [[ 9.78878379e-01 2.04197524e-01 1.00245216e-02 2.85256622e+02] [-2.04190031e-01 9.78929658e-01 -1.77629299e-03 -4.21387011e+01] [-1.01760161e-02 -3.08132575e-04 9.99948176e-01 -9.04568054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.694203822 meters Centerline goodness [0,1] 0.9999143303848708 Centerline is valid? [True, True] Translation: X:285.28, Y:-42.15, Z:-9.04 [[ 9.79169267e-01 2.02819520e-01 9.58062124e-03 2.85284057e+02] [-2.02812607e-01 9.79216096e-01 -1.69792506e-03 -4.21488411e+01] [-9.72587088e-03 -2.80514731e-04 9.99952663e-01 -9.04408991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.72420382200005 meters Centerline goodness [0,1] 0.9999785278708236 Centerline is valid? [True, True] Translation: X:285.31, Y:-42.15, Z:-9.05 [[ 9.79748471e-01 2.00002784e-01 9.58226485e-03 2.85313440e+02] [-1.99995741e-01 9.79795296e-01 -1.69743623e-03 -4.21548498e+01] [-9.72815000e-03 -2.53351613e-04 9.99952648e-01 -9.04523591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.754203822 meters Centerline goodness [0,1] 0.9999573342435362 Centerline is valid? [True, True] Translation: X:285.34, Y:-42.16, Z:-9.05 [[ 9.80104733e-01 1.98216358e-01 1.02463350e-02 2.85341601e+02] [-1.98208216e-01 9.80158258e-01 -1.81425559e-03 -4.21616374e+01] [-1.04026450e-02 -2.52747301e-04 9.99945859e-01 -9.04564060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.78420382200005 meters Centerline goodness [0,1] 0.9999572009415792 Centerline is valid? [True, True] Translation: X:285.37, Y:-42.17, Z:-9.05 [[ 9.80580527e-01 1.95829833e-01 1.06068902e-02 2.85371027e+02] [-1.95820967e-01 9.80637864e-01 -1.87826760e-03 -4.21693828e+01] [-1.07693390e-02 -2.35258862e-04 9.99941981e-01 -9.04544256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.814203822 meters Centerline goodness [0,1] 0.9997437977710406 Centerline is valid? [True, True] Translation: X:285.40, Y:-42.18, Z:-9.05 [[ 9.81633190e-01 1.90417751e-01 1.17200909e-02 2.85399074e+02] [-1.90406562e-01 9.81703133e-01 -2.07354348e-03 -4.21792574e+01] [-1.19004894e-02 -1.96123110e-04 9.99929167e-01 -9.04870675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.84420382200005 meters Centerline goodness [0,1] 0.9998066013408974 Centerline is valid? [True, True] Translation: X:285.43, Y:-42.19, Z:-9.04 [[ 9.82810784e-01 1.84187978e-01 1.25599274e-02 2.85428274e+02] [-1.84174605e-01 9.82891028e-01 -2.22323369e-03 -4.21945381e+01] [-1.27545329e-02 -1.28201616e-04 9.99918649e-01 -9.04478285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.874203822 meters Centerline goodness [0,1] 0.9999786260847262 Centerline is valid? [True, True] Translation: X:285.46, Y:-42.20, Z:-9.05 [[ 9.83360236e-01 1.81206698e-01 1.29143088e-02 2.85457993e+02] [-1.81192314e-01 9.83445028e-01 -2.28502973e-03 -4.22037507e+01] [-1.31145754e-02 -9.29661161e-05 9.99913996e-01 -9.04528769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.90420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.49, Y:-42.21, Z:-9.05 [[ 9.83790503e-01 1.78816953e-01 1.34440903e-02 2.85488011e+02] [-1.78801134e-01 9.83882358e-01 -2.37931212e-03 -4.22129032e+01] [-1.36528646e-02 -6.30739123e-05 9.99906793e-01 -9.04592559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.93420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.52, Y:-42.22, Z:-9.04 [[ 9.84332572e-01 1.75727297e-01 1.44673967e-02 2.85519550e+02] [-1.75708610e-01 9.84438884e-01 -2.56268888e-03 -4.22221450e+01] [-1.46926022e-02 -1.95080316e-05 9.99892058e-01 -9.04245947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.96420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.55, Y:-42.23, Z:-9.04 [[ 9.84483869e-01 1.74894253e-01 1.42657673e-02 2.85551021e+02] [-1.74875951e-01 9.84587223e-01 -2.53016741e-03 -4.22298057e+01] [-1.44884039e-02 -3.83061459e-06 9.99895038e-01 -9.04471808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.99420382200003 meters Centerline goodness [0,1] 0.9999567137044412 Centerline is valid? [True, True] Translation: X:285.58, Y:-42.23, Z:-9.05 [[ 9.84379084e-01 1.75558181e-01 1.33095467e-02 2.85583180e+02] [-1.75542304e-01 9.84469057e-01 -2.36104324e-03 -4.22346994e+01] [-1.35173373e-02 -1.22269053e-05 9.99908637e-01 -9.04697056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.02420382200006 meters Centerline goodness [0,1] 0.9999570732544912 Centerline is valid? [True, True] Translation: X:285.61, Y:-42.24, Z:-9.05 [[ 9.84192222e-01 1.76631470e-01 1.29226295e-02 2.85614965e+02] [-1.76616569e-01 9.84277056e-01 -2.29435611e-03 -4.22371393e+01] [-1.31247032e-02 -2.42630546e-05 9.99913867e-01 -9.04907501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.05420382200003 meters Centerline goodness [0,1] 0.9998495464901346 Centerline is valid? [True, True] Translation: X:285.65, Y:-42.24, Z:-9.05 [[ 9.83680299e-01 1.79519582e-01 1.20743034e-02 2.85645866e+02] [-1.79506731e-01 9.83754399e-01 -2.14864341e-03 -4.22378636e+01] [-1.22638727e-02 -5.38405473e-05 9.99924794e-01 -9.05418838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.08420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.68, Y:-42.24, Z:-9.05 [[ 9.83363503e-01 1.81249479e-01 1.20352230e-02 2.85677153e+02] [-1.81236837e-01 9.83437146e-01 -2.14199285e-03 -4.22412808e+01] [-1.22241205e-02 -7.48681665e-05 9.99925280e-01 -9.05116318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.11420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.71, Y:-42.24, Z:-9.05 [[ 9.82972542e-01 1.83305668e-01 1.28067847e-02 2.85708082e+02] [-1.83291530e-01 9.83055960e-01 -2.27911096e-03 -4.22420668e+01] [-1.30075600e-02 -1.07071677e-04 9.99915392e-01 -9.05255666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.14420382200007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.74, Y:-42.24, Z:-9.05 [[ 9.82389134e-01 1.86393384e-01 1.30036720e-02 2.85739563e+02] [-1.86379061e-01 9.82475182e-01 -2.31549131e-03 -4.22422134e+01] [-1.32073773e-02 -1.48898673e-04 9.99912768e-01 -9.05080845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.17420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.77, Y:-42.24, Z:-9.05 [[ 9.82232004e-01 1.87282302e-01 1.20677021e-02 2.85770557e+02] [-1.87270028e-01 9.82306122e-01 -2.14931142e-03 -4.22438715e+01] [-1.22567056e-02 -1.48796443e-04 9.99924873e-01 -9.05325615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.20420382200007 meters Centerline goodness [0,1] 0.9998268435748144 Centerline is valid? [True, True] Translation: X:285.80, Y:-42.25, Z:-9.06 [[ 9.82213897e-01 1.87403646e-01 1.16504609e-02 2.85801778e+02] [-1.87392216e-01 9.82282980e-01 -2.07489194e-03 -4.22481387e+01] [-1.18328917e-02 -1.45217976e-04 9.99929978e-01 -9.05664871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.23420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.83, Y:-42.25, Z:-9.06 [[ 9.82359836e-01 1.86662098e-01 1.12433536e-02 2.85830745e+02] [-1.86651393e-01 9.82424167e-01 -2.00338613e-03 -4.22510052e+01] [-1.14196986e-02 -1.30541533e-04 9.99934785e-01 -9.05794703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.26420382200007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.86, Y:-42.26, Z:-9.06 [[ 9.82661458e-01 1.85074564e-01 1.11294535e-02 2.85859791e+02] [-1.85063974e-01 9.82724475e-01 -1.98294174e-03 -4.22555287e+01] [-1.13041784e-02 -1.11100460e-04 9.99936100e-01 -9.06239046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.29420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.89, Y:-42.26, Z:-9.06 [[ 9.82835465e-01 1.84124878e-01 1.15098993e-02 2.85889239e+02] [-1.84113489e-01 9.82902853e-01 -2.05056660e-03 -4.22627956e+01] [-1.16906732e-02 -1.03758134e-04 9.99931656e-01 -9.06076572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.3242038220001 meters Centerline goodness [0,1] 0.999957152344838 Centerline is valid? [True, True] Translation: X:285.92, Y:-42.27, Z:-9.06 [[ 9.83122637e-01 1.82590953e-01 1.14203195e-02 2.85918810e+02] [-1.82579641e-01 9.83188963e-01 -2.03423913e-03 -4.22695703e+01] [-1.15997657e-02 -8.52112912e-05 9.99932717e-01 -9.06177643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.35420382200004 meters Centerline goodness [0,1] 0.9999569836968211 Centerline is valid? [True, True] Translation: X:285.95, Y:-42.28, Z:-9.06 [[ 9.83240373e-01 1.81946452e-01 1.15696937e-02 2.85948447e+02] [-1.81934797e-01 9.83308437e-01 -2.06084635e-03 -4.22751879e+01] [-1.17515411e-02 -7.86225474e-05 9.99930945e-01 -9.06148041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.384203822 meters Centerline goodness [0,1] 0.9998913869881612 Centerline is valid? [True, True] Translation: X:285.98, Y:-42.28, Z:-9.06 [[ 9.83459083e-01 1.80712464e-01 1.22978963e-02 2.85979128e+02] [-1.80699202e-01 9.83535968e-01 -2.19033066e-03 -4.22794340e+01] [-1.24912434e-02 -6.81194721e-05 9.99921979e-01 -9.06344759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.41420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.01, Y:-42.28, Z:-9.06 [[ 9.83562199e-01 1.80137325e-01 1.24878252e-02 2.86009256e+02] [-1.80123602e-01 9.83641469e-01 -2.22432366e-03 -4.22842730e+01] [-1.26842265e-02 -6.15913988e-05 9.99919550e-01 -9.06308616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.444203822 meters Centerline goodness [0,1] 0.9998912736208059 Centerline is valid? [True, True] Translation: X:286.04, Y:-42.29, Z:-9.07 [[ 9.83851591e-01 1.78523241e-01 1.28646316e-02 2.86038799e+02] [-1.78508537e-01 9.83935694e-01 -2.29161692e-03 -4.22920158e+01] [-1.30670771e-02 -4.18356033e-05 9.99914621e-01 -9.06699236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.47420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.07, Y:-42.30, Z:-9.06 [[ 9.84000417e-01 1.77676863e-01 1.31951617e-02 2.86069362e+02] [-1.77661318e-01 9.84088884e-01 -2.35046148e-03 -4.22989853e+01] [-1.34028346e-02 -3.14147464e-05 9.99910177e-01 -9.06457649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.504203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.10, Y:-42.31, Z:-9.07 [[ 9.84375443e-01 1.75592490e-01 1.31249997e-02 2.86100298e+02] [-1.75576954e-01 9.84462939e-01 -2.33573538e-03 -4.23095310e+01] [-1.33312134e-02 -5.20693607e-06 9.99911135e-01 -9.06547224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.53420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.13, Y:-42.32, Z:-9.07 [[ 9.84554237e-01 1.74602383e-01 1.29213535e-02 2.86131855e+02] [-1.74587212e-01 9.84639024e-01 -2.30167480e-03 -4.23182990e+01] [-1.31247468e-02 1.02206056e-05 9.99913867e-01 -9.06727167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.564203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.16, Y:-42.33, Z:-9.07 [[ 9.84729043e-01 1.73653485e-01 1.23765361e-02 2.86163400e+02] [-1.73639468e-01 9.84806817e-01 -2.20652018e-03 -4.23267596e+01] [-1.25716670e-02 2.37693692e-05 9.99920973e-01 -9.06829295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.59420382200005 meters Centerline goodness [0,1] 0.9999572622176636 Centerline is valid? [True, True] Translation: X:286.19, Y:-42.34, Z:-9.07 [[ 9.84996474e-01 1.72113801e-01 1.26010454e-02 2.86194115e+02] [-1.72099117e-01 9.85077072e-01 -2.24866210e-03 -4.23377373e+01] [-1.28000267e-02 4.62954526e-05 9.99918075e-01 -9.06974121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.624203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.22, Y:-42.35, Z:-9.07 [[ 9.85040866e-01 1.71873205e-01 1.24134927e-02 2.86224577e+02] [-1.71858906e-01 9.85119079e-01 -2.21753996e-03 -4.23463102e+01] [-1.26099042e-02 5.09982129e-05 9.99920491e-01 -9.07290101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.65420382200006 meters Centerline goodness [0,1] 0.9998497692885503 Centerline is valid? [True, True] Translation: X:286.26, Y:-42.35, Z:-9.08 [[ 9.84838835e-01 1.73158615e-01 1.04193175e-02 2.86255565e+02] [-1.73148597e-01 9.84893950e-01 -1.86289135e-03 -4.23519849e+01] [-1.05844984e-02 3.05575419e-05 9.99943982e-01 -9.07930965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.68420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.29, Y:-42.36, Z:-9.08 [[ 9.84612708e-01 1.74409058e-01 1.09222924e-02 2.86287584e+02] [-1.74398109e-01 9.84673286e-01 -1.95438557e-03 -4.23555300e+01] [-1.10957521e-02 1.94857364e-05 9.99938440e-01 -9.07574037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.71420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.32, Y:-42.36, Z:-9.08 [[ 9.84025328e-01 1.77678744e-01 1.11542562e-02 2.86319379e+02] [-1.77667478e-01 9.84088545e-01 -2.00085668e-03 -4.23583399e+01] [-1.13322855e-02 -1.28549212e-05 9.99935788e-01 -9.07590218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.74420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.35, Y:-42.36, Z:-9.08 [[ 9.83704184e-01 1.79493149e-01 1.04061167e-02 2.86351113e+02] [-1.79483474e-01 9.83759223e-01 -1.86388814e-03 -4.23636118e+01] [-1.05716684e-02 -3.42114218e-05 9.99944118e-01 -9.07735662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.77420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.38, Y:-42.37, Z:-9.08 [[ 9.83016047e-01 1.83190462e-01 1.09866428e-02 2.86381524e+02] [-1.83179849e-01 9.83077438e-01 -1.97323755e-03 -4.23664519e+01] [-1.11621989e-02 -7.28073880e-05 9.99937698e-01 -9.07776845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.80420382200003 meters Centerline goodness [0,1] 0.9999786132854271 Centerline is valid? [True, True] Translation: X:286.41, Y:-42.37, Z:-9.08 [[ 9.82695201e-01 1.84872311e-01 1.15052625e-02 2.86410870e+02] [-1.84860780e-01 9.82762545e-01 -2.06701004e-03 -4.23696790e+01] [-1.16890740e-02 -9.56309588e-05 9.99931676e-01 -9.07845851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.83420382200006 meters Centerline goodness [0,1] 0.9999570317535341 Centerline is valid? [True, True] Translation: X:286.44, Y:-42.37, Z:-9.08 [[ 9.82132570e-01 1.87787304e-01 1.23103122e-02 2.86441694e+02] [-1.87774337e-01 9.82209707e-01 -2.21124294e-03 -4.23701197e+01] [-1.25065514e-02 -1.39826987e-04 9.99921780e-01 -9.07762711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.86420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.47, Y:-42.37, Z:-9.08 [[ 9.81863595e-01 1.89138876e-01 1.30524492e-02 2.86472230e+02] [-1.89124418e-01 9.81950334e-01 -2.34454949e-03 -4.23739098e+01] [-1.32603023e-02 -1.66509057e-04 9.99912064e-01 -9.07602351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.89420382200007 meters Centerline goodness [0,1] 0.9999785550384938 Centerline is valid? [True, True] Translation: X:286.50, Y:-42.38, Z:-9.08 [[ 9.81605725e-01 1.90389701e-01 1.42113669e-02 2.86502768e+02] [-1.90372692e-01 9.81708573e-01 -2.55272037e-03 -4.23778159e+01] [-1.44374323e-02 -1.99691230e-04 9.99895755e-01 -9.07549499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.92420382200004 meters Centerline goodness [0,1] 0.999913618105645 Centerline is valid? [True, True] Translation: X:286.53, Y:-42.38, Z:-9.08 [[ 9.81337028e-01 1.91768967e-01 1.42232395e-02 2.86532965e+02] [-1.91752080e-01 9.81440072e-01 -2.55445224e-03 -4.23849660e+01] [-1.44491219e-02 -2.20557180e-04 9.99895582e-01 -9.07865534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.95420382200007 meters Centerline goodness [0,1] 0.9999786884896532 Centerline is valid? [True, True] Translation: X:286.56, Y:-42.39, Z:-9.08 [[ 9.81374235e-01 1.91607597e-01 1.38253326e-02 2.86563355e+02] [-1.91591653e-01 9.81471590e-01 -2.48107063e-03 -4.23938357e+01] [-1.40445632e-02 -2.13959545e-04 9.99901347e-01 -9.07880540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.98420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.59, Y:-42.40, Z:-9.08 [[ 9.81505282e-01 1.90955203e-01 1.35459052e-02 2.86592763e+02] [-1.90939771e-01 9.81598733e-01 -2.43553422e-03 -4.23992531e+01] [-1.37617213e-02 -1.95962350e-04 9.99905284e-01 -9.08133753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.01420382200007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.62, Y:-42.41, Z:-9.08 [[ 9.81687305e-01 1.90129068e-01 1.18731965e-02 2.86623731e+02] [-1.90117187e-01 9.81759090e-01 -2.13186334e-03 -4.24078796e+01] [-1.20619478e-02 -1.64475548e-04 9.99927239e-01 -9.08358864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.04420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.65, Y:-42.41, Z:-9.08 [[ 9.81682610e-01 1.90153362e-01 1.18723433e-02 2.86654063e+02] [-1.90141425e-01 9.81754385e-01 -2.13660315e-03 -4.24133806e+01] [-1.20620074e-02 -1.59958135e-04 9.99927239e-01 -9.08453279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.0742038220001 meters Centerline goodness [0,1] 0.9998710343048749 Centerline is valid? [True, True] Translation: X:286.68, Y:-42.42, Z:-9.09 [[ 9.81709485e-01 1.90028919e-01 1.16403120e-02 2.86684491e+02] [-1.90017463e-01 9.81778481e-01 -2.09256040e-03 -4.24196408e+01] [-1.18258549e-02 -1.57576164e-04 9.99930060e-01 -9.08936989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.10420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.71, Y:-42.42, Z:-9.09 [[ 9.81592812e-01 1.90625978e-01 1.17169872e-02 2.86714197e+02] [-1.90614354e-01 9.81662727e-01 -2.11132492e-03 -4.24248967e+01] [-1.19046030e-02 -1.60964572e-04 9.99929125e-01 -9.08747740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.134203822 meters Centerline goodness [0,1] 0.9999783507609707 Centerline is valid? [True, True] Translation: X:286.74, Y:-42.43, Z:-9.09 [[ 9.81308757e-01 1.92120943e-01 1.10755235e-02 2.86744418e+02] [-1.92110655e-01 9.81371242e-01 -1.99549298e-03 -4.24314763e+01] [-1.12525763e-02 -1.69531344e-04 9.99936673e-01 -9.08652882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.16420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.77, Y:-42.43, Z:-9.09 [[ 9.81116847e-01 1.93109892e-01 1.08767261e-02 2.86774460e+02] [-1.93100028e-01 9.81177119e-01 -1.95980948e-03 -4.24346858e+01] [-1.10504534e-02 -1.77494028e-04 9.99938926e-01 -9.08983462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.194203822 meters Centerline goodness [0,1] 0.9999786530045897 Centerline is valid? [True, True] Translation: X:286.80, Y:-42.44, Z:-9.09 [[ 9.80674675e-01 1.95331894e-01 1.10739498e-02 2.86804330e+02] [-1.95321801e-01 9.80737176e-01 -1.99620905e-03 -4.24368541e+01] [-1.12505575e-02 -2.05352154e-04 9.99936689e-01 -9.09043285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.22420382200005 meters Centerline goodness [0,1] 0.9999358919565775 Centerline is valid? [True, True] Translation: X:286.83, Y:-42.44, Z:-9.09 [[ 9.80482702e-01 1.96279613e-01 1.13130030e-02 2.86833562e+02] [-1.96269146e-01 9.80547941e-01 -2.03900344e-03 -4.24395831e+01] [-1.14931566e-02 -2.21185843e-04 9.99933927e-01 -9.09094682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.254203822 meters Centerline goodness [0,1] 0.9999784682298731 Centerline is valid? [True, True] Translation: X:286.86, Y:-42.44, Z:-9.09 [[ 9.80385565e-01 1.96738234e-01 1.17563618e-02 2.86863962e+02] [-1.96726973e-01 9.80456022e-01 -2.11813903e-03 -4.24449729e+01] [-1.19433146e-02 -2.36200533e-04 9.99928648e-01 -9.09014602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.28420382200005 meters Centerline goodness [0,1] 0.999914334054355 Centerline is valid? [True, True] Translation: X:286.89, Y:-42.45, Z:-9.09 [[ 9.80457479e-01 1.96346375e-01 1.22977128e-02 2.86894496e+02] [-1.96334022e-01 9.80534570e-01 -2.21567403e-03 -4.24496735e+01] [-1.24933720e-02 -2.42085242e-04 9.99921925e-01 -9.09101964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.314203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.92, Y:-42.46, Z:-9.09 [[ 9.80819717e-01 1.94543599e-01 1.20611169e-02 2.86923821e+02] [-1.94531581e-01 9.80893848e-01 -2.17304664e-03 -4.24557145e+01] [-1.22534277e-02 -2.14901144e-04 9.99924901e-01 -9.09313744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.34420382200005 meters Centerline goodness [0,1] 0.9999785972647305 Centerline is valid? [True, True] Translation: X:286.95, Y:-42.46, Z:-9.10 [[ 9.81107763e-01 1.93097116e-01 1.18769160e-02 2.86952574e+02] [-1.93085353e-01 9.81179630e-01 -2.14008253e-03 -4.24631712e+01] [-1.20666318e-02 -1.93606932e-04 9.99927177e-01 -9.09543028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.374203822 meters Centerline goodness [0,1] 0.9996549567617692 Centerline is valid? [True, True] Translation: X:286.98, Y:-42.47, Z:-9.10 [[ 9.81520634e-01 1.90959804e-01 1.23125550e-02 2.86982083e+02] [-1.90947005e-01 9.81597842e-01 -2.21774788e-03 -4.24744546e+01] [-1.25094781e-02 -1.74280189e-04 9.99921738e-01 -9.09690765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.40420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.01, Y:-42.48, Z:-9.10 [[ 9.82078473e-01 1.88115696e-01 1.15912917e-02 2.87012327e+02] [-1.88104181e-01 9.82146867e-01 -2.08552042e-03 -4.24842429e+01] [-1.17766699e-02 -1.32225725e-04 9.99930644e-01 -9.09690947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.43420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.04, Y:-42.49, Z:-9.10 [[ 9.82378913e-01 1.86554699e-01 1.13584586e-02 2.87043991e+02] [-1.86543497e-01 9.82444570e-01 -2.04725237e-03 -4.24929783e+01] [-1.15409805e-02 -1.07669013e-04 9.99933395e-01 -9.09678959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.46420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.07, Y:-42.50, Z:-9.10 [[ 9.82919658e-01 1.83573948e-01 1.30212029e-02 2.87073786e+02] [-1.83558972e-01 9.83005899e-01 -2.34633696e-03 -4.25030145e+01] [-1.32306456e-02 -8.38978912e-05 9.99912468e-01 -9.09763936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.49420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.11, Y:-42.51, Z:-9.10 [[ 9.83148625e-01 1.82303952e-01 1.35664857e-02 2.87105046e+02] [-1.82287542e-01 9.83242221e-01 -2.44696748e-03 -4.25116131e+01] [-1.37852334e-02 -6.72686182e-05 9.99904977e-01 -9.09739091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.52420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.14, Y:-42.52, Z:-9.10 [[ 9.83591971e-01 1.79908514e-01 1.34075271e-02 2.87137162e+02] [-1.79892240e-01 9.83683346e-01 -2.42002222e-03 -4.25209631e+01] [-1.36241437e-02 -3.15956527e-05 9.99907187e-01 -9.09678795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.55420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.17, Y:-42.53, Z:-9.10 [[ 9.83772219e-01 1.78943205e-01 1.30977333e-02 2.87169202e+02] [-1.78927556e-01 9.83859405e-01 -2.36651910e-03 -4.25282583e+01] [-1.33098006e-02 -1.54296579e-05 9.99911421e-01 -9.09794680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.58420382200006 meters Centerline goodness [0,1] 0.9999351014580539 Centerline is valid? [True, True] Translation: X:287.20, Y:-42.54, Z:-9.11 [[ 9.84075345e-01 1.77382756e-01 1.14487267e-02 2.87198622e+02] [-1.77370638e-01 9.84141940e-01 -2.07341889e-03 -4.25367008e+01] [-1.16349609e-02 9.73244753e-06 9.99932312e-01 -9.10633518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.61420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.23, Y:-42.54, Z:-9.10 [[ 9.84026532e-01 1.77669572e-01 1.11941281e-02 2.87231411e+02] [-1.77658040e-01 9.84090201e-01 -2.02422689e-03 -4.25425524e+01] [-1.13756753e-02 3.16610872e-06 9.99935295e-01 -9.10351162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.64420382200007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.26, Y:-42.55, Z:-9.10 [[ 9.83965903e-01 1.77982724e-01 1.15434384e-02 2.87262541e+02] [-1.77970431e-01 9.84033612e-01 -2.09182565e-03 -4.25473160e+01] [-1.17314402e-02 3.89440939e-06 9.99931184e-01 -9.10425382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.67420382200004 meters Centerline goodness [0,1] 0.9998712777825453 Centerline is valid? [True, True] Translation: X:287.30, Y:-42.55, Z:-9.11 [[ 9.83866262e-01 1.78513477e-01 1.18371090e-02 2.87295507e+02] [-1.78500596e-01 9.83937467e-01 -2.14443062e-03 -4.25518167e+01] [-1.20297848e-02 -3.09807280e-06 9.99927640e-01 -9.10695080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.70420382200007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.33, Y:-42.56, Z:-9.11 [[ 9.83672103e-01 1.79574222e-01 1.19286105e-02 2.87326839e+02] [-1.79561173e-01 9.83744427e-01 -2.16484598e-03 -4.25565184e+01] [-1.21234546e-02 -1.24166955e-05 9.99926508e-01 -9.10684361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.73420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.36, Y:-42.56, Z:-9.10 [[ 9.83646101e-01 1.79661920e-01 1.27256718e-02 2.87358852e+02] [-1.79647063e-01 9.83728415e-01 -2.31048634e-03 -4.25624797e+01] [-1.29337114e-02 -1.34286882e-05 9.99916356e-01 -9.10426010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.76420382200007 meters Centerline goodness [0,1] 0.9998924777428928 Centerline is valid? [True, True] Translation: X:287.39, Y:-42.57, Z:-9.11 [[ 9.83872708e-01 1.78437314e-01 1.24346134e-02 2.87390801e+02] [-1.78423011e-01 9.83951282e-01 -2.25919343e-03 -4.25700501e+01] [-1.26381782e-02 4.13759096e-06 9.99920135e-01 -9.10801927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.79420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.42, Y:-42.58, Z:-9.11 [[ 9.83977409e-01 1.77922431e-01 1.14920234e-02 2.87420965e+02] [-1.77910150e-01 9.84044515e-01 -2.09053615e-03 -4.25774609e+01] [-1.16806159e-02 1.24927458e-05 9.99931779e-01 -9.10754089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.8242038220001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.45, Y:-42.59, Z:-9.11 [[ 9.84210249e-01 1.76644463e-01 1.12658118e-02 2.87452320e+02] [-1.76632565e-01 9.84274724e-01 -2.05037266e-03 -4.25885938e+01] [-1.14508408e-02 2.80885408e-05 9.99934437e-01 -9.10893989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.85420382200004 meters Centerline goodness [0,1] 0.9999129640106184 Centerline is valid? [True, True] Translation: X:287.48, Y:-42.60, Z:-9.11 [[ 9.84398530e-01 1.75672763e-01 9.93048160e-03 2.87482469e+02] [-1.75663451e-01 9.84448617e-01 -1.80915151e-03 -4.25996221e+01] [-1.00938675e-02 3.65034196e-05 9.99949055e-01 -9.11472856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.884203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.51, Y:-42.61, Z:-9.12 [[ 9.84278840e-01 1.76340074e-01 9.96715385e-03 2.87513451e+02] [-1.76330711e-01 9.84329303e-01 -1.81742165e-03 -4.26070933e+01] [-1.01314459e-02 3.13343464e-05 9.99948675e-01 -9.11528896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.91420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.54, Y:-42.61, Z:-9.12 [[ 9.84136435e-01 1.77163150e-01 9.41782963e-03 2.87544499e+02] [-1.77154811e-01 9.84181496e-01 -1.71912522e-03 -4.26135388e+01] [-9.57341930e-03 2.34399441e-05 9.99954173e-01 -9.11641515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.944203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.58, Y:-42.62, Z:-9.11 [[ 9.83534788e-01 1.80396158e-01 1.07957423e-02 2.87576662e+02] [-1.80385365e-01 9.83594035e-01 -1.97329264e-03 -4.26154527e+01] [-1.09746022e-02 -6.59196647e-06 9.99939777e-01 -9.11297293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.97420382200005 meters Centerline goodness [0,1] 0.9999785766313896 Centerline is valid? [True, True] Translation: X:287.61, Y:-42.62, Z:-9.11 [[ 9.83076622e-01 1.82807650e-01 1.19045515e-02 2.87607851e+02] [-1.82794668e-01 9.83148698e-01 -2.17889486e-03 -4.26171686e+01] [-1.21022630e-02 -3.40679425e-05 9.99926764e-01 -9.11276545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.004203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.64, Y:-42.62, Z:-9.11 [[ 9.82245610e-01 1.87157315e-01 1.28725236e-02 2.87641439e+02] [-1.87142485e-01 9.82329950e-01 -2.35788071e-03 -4.26183887e+01] [-1.30863601e-02 -9.29780772e-05 9.99914366e-01 -9.11012390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.03420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.67, Y:-42.62, Z:-9.11 [[ 9.81797274e-01 1.89453992e-01 1.34646833e-02 2.87674261e+02] [-1.89437940e-01 9.81889591e-01 -2.46938903e-03 -4.26215789e+01] [-1.36886680e-02 -1.26282450e-04 9.99906298e-01 -9.11002073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.064203822 meters Centerline goodness [0,1] 0.9999571201921016 Centerline is valid? [True, True] Translation: X:287.71, Y:-42.62, Z:-9.11 [[ 9.80967819e-01 1.93690021e-01 1.36497217e-02 2.87706371e+02] [-1.93673886e-01 9.81062761e-01 -2.50681157e-03 -4.26205639e+01] [-1.38767781e-02 -1.84493175e-04 9.99903696e-01 -9.11119652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.09420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.74, Y:-42.63, Z:-9.11 [[ 9.80607506e-01 1.95566633e-01 1.27519173e-02 2.87738603e+02] [-1.95552690e-01 9.80690396e-01 -2.34347156e-03 -4.26251854e+01] [-1.29639877e-02 -1.95645926e-04 9.99915945e-01 -9.11284350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.124203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.77, Y:-42.63, Z:-9.11 [[ 9.79995741e-01 1.98636738e-01 1.23204651e-02 2.87770400e+02] [-1.98623906e-01 9.80073159e-01 -2.26884759e-03 -4.26275588e+01] [-1.25256336e-02 -2.23677927e-04 9.99921526e-01 -9.11275847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.15420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.80, Y:-42.63, Z:-9.11 [[ 9.79701642e-01 2.00107836e-01 1.18973294e-02 2.87802038e+02] [-2.00095975e-01 9.79773851e-01 -2.19119415e-03 -4.26307098e+01] [-1.20951673e-02 -2.33891212e-04 9.99926823e-01 -9.11317082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.18420382200003 meters Centerline goodness [0,1] 0.9999783881913077 Centerline is valid? [True, True] Translation: X:287.83, Y:-42.63, Z:-9.11 [[ 9.79408822e-01 2.01529199e-01 1.20142548e-02 2.87832603e+02] [-2.01517201e-01 9.79482475e-01 -2.21351529e-03 -4.26313516e+01] [-1.22138400e-02 -2.53142615e-04 9.99925376e-01 -9.11456193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.21420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.86, Y:-42.63, Z:-9.12 [[ 9.79461002e-01 2.01242596e-01 1.25524346e-02 2.87862136e+02] [-2.01229473e-01 9.79541398e-01 -2.31289391e-03 -4.26348196e+01] [-1.27610821e-02 -2.60530400e-04 9.99918540e-01 -9.11670142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.24420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.89, Y:-42.65, Z:-9.11 [[ 9.79893494e-01 1.99098781e-01 1.29775226e-02 2.87891980e+02] [-1.99084577e-01 9.79979396e-01 -2.39038499e-03 -4.26451342e+01] [-1.31936275e-02 -2.41301903e-04 9.99912931e-01 -9.11459421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.27420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.92, Y:-42.65, Z:-9.12 [[ 9.80219347e-01 1.97451333e-01 1.35278607e-02 2.87922550e+02] [-1.97435769e-01 9.80312663e-01 -2.48980721e-03 -4.26513625e+01] [-1.37531489e-02 -2.30326392e-04 9.99905394e-01 -9.11700205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.30420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.95, Y:-42.66, Z:-9.12 [[ 9.80640740e-01 1.95373951e-01 1.31437702e-02 2.87953013e+02] [-1.95359047e-01 9.80728801e-01 -2.42095979e-03 -4.26625103e+01] [-1.33634665e-02 -1.93662612e-04 9.99910686e-01 -9.11714473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.33420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.98, Y:-42.68, Z:-9.12 [[ 9.81538952e-01 1.90864296e-01 1.23330945e-02 2.87981878e+02] [-1.90850791e-01 9.81616425e-01 -2.27373888e-03 -4.26764951e+01] [-1.25403437e-02 -1.22017571e-04 9.99921359e-01 -9.12147915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.36420382200004 meters Centerline goodness [0,1] 0.9998934015563373 Centerline is valid? [True, True] Translation: X:288.01, Y:-42.69, Z:-9.13 [[ 9.81974603e-01 1.88646374e-01 1.17653900e-02 2.88011192e+02] [-1.88633903e-01 9.82045079e-01 -2.17090381e-03 -4.26860199e+01] [-1.19636765e-02 -8.75790298e-05 9.99928429e-01 -9.12697311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.39420382200007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.04, Y:-42.70, Z:-9.13 [[ 9.82415453e-01 1.86404608e-01 1.06395282e-02 2.88042707e+02] [-1.86394273e-01 9.82473063e-01 -1.96362767e-03 -4.26980585e+01] [-1.08190791e-02 -5.40489457e-05 9.99941471e-01 -9.12635456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.42420382200004 meters Centerline goodness [0,1] 0.9998717126363054 Centerline is valid? [True, True] Translation: X:288.07, Y:-42.71, Z:-9.13 [[ 9.82625581e-01 1.85301118e-01 1.05101739e-02 2.88074461e+02] [-1.85290950e-01 9.82681787e-01 -1.94163546e-03 -4.27071532e+01] [-1.06879437e-02 -3.95394356e-05 9.99942882e-01 -9.12921094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.45420382200007 meters Centerline goodness [0,1] 0.9998931715238014 Centerline is valid? [True, True] Translation: X:288.10, Y:-42.72, Z:-9.13 [[ 9.82840945e-01 1.84208603e-01 9.53240530e-03 2.88104395e+02] [-1.84200166e-01 9.82887171e-01 -1.76316362e-03 -4.27152312e+01] [-9.69406878e-03 -2.29612351e-05 9.99953011e-01 -9.13221514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.48420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.13, Y:-42.72, Z:-9.13 [[ 9.82794246e-01 1.84497213e-01 8.73208235e-03 2.88134557e+02] [-1.84490136e-01 9.82833037e-01 -1.61617099e-03 -4.27222841e+01] [-8.88035806e-03 -2.26195104e-05 9.99960569e-01 -9.13329227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.51420382200007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.17, Y:-42.73, Z:-9.13 [[ 9.82863046e-01 1.84145388e-01 8.40889776e-03 2.88165590e+02] [-1.84138807e-01 9.82899016e-01 -1.55686943e-03 -4.27336281e+01] [-8.55178765e-03 -1.82149748e-05 9.99963433e-01 -9.13161847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.54420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.20, Y:-42.74, Z:-9.13 [[ 9.82737208e-01 1.84786222e-01 9.03508797e-03 2.88197200e+02] [-1.84778630e-01 9.82778740e-01 -1.67525819e-03 -4.27401727e+01] [-9.18905700e-03 -2.31526182e-05 9.99957779e-01 -9.13121949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.5742038220001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.23, Y:-42.74, Z:-9.13 [[ 9.82261624e-01 1.87206902e-01 1.07553925e-02 2.88228410e+02] [-1.87196253e-01 9.82320504e-01 -1.99746225e-03 -4.27435648e+01] [-1.09391813e-02 -5.13386537e-05 9.99940164e-01 -9.12959436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.60420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.26, Y:-42.75, Z:-9.13 [[ 9.81894564e-01 1.89068117e-01 1.16752907e-02 2.88259891e+02] [-1.89055657e-01 9.81963972e-01 -2.17188968e-03 -4.27468410e+01] [-1.18753499e-02 -7.47130844e-05 9.99929483e-01 -9.12999311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.634203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.29, Y:-42.74, Z:-9.13 [[ 9.80805972e-01 1.94637892e-01 1.16505933e-02 2.88291963e+02] [-1.94625876e-01 9.80875156e-01 -2.16736640e-03 -4.27444492e+01] [-1.18496292e-02 -1.41741021e-04 9.99929781e-01 -9.13132518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.66420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.32, Y:-42.75, Z:-9.13 [[ 9.80151299e-01 1.97952979e-01 1.08650616e-02 2.88323813e+02] [-1.97942717e-01 9.80211503e-01 -2.02260530e-03 -4.27465533e+01] [-1.10504391e-02 -1.68200603e-04 9.99938928e-01 -9.13250835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.694203822 meters Centerline goodness [0,1] 0.9999574902227513 Centerline is valid? [True, True] Translation: X:288.36, Y:-42.74, Z:-9.13 [[ 9.78858871e-01 2.04229718e-01 1.12041827e-02 2.88355306e+02] [-2.04219157e-01 9.78922961e-01 -2.09092130e-03 -4.27385022e+01] [-1.13950600e-02 -2.41391874e-04 9.99935045e-01 -9.13444366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.72420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.39, Y:-42.74, Z:-9.13 [[ 9.78364114e-01 2.06565450e-01 1.15920437e-02 2.88385635e+02] [-2.06554314e-01 9.78432745e-01 -2.16292428e-03 -4.27427491e+01] [-1.17888206e-02 -2.78259130e-04 9.99930471e-01 -9.13076741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.754203822 meters Centerline goodness [0,1] 0.9999572338878673 Centerline is valid? [True, True] Translation: X:288.42, Y:-42.74, Z:-9.13 [[ 9.77777661e-01 2.09333728e-01 1.14121241e-02 2.88415591e+02] [-2.09323117e-01 9.77844209e-01 -2.12982752e-03 -4.27407458e+01] [-1.16051242e-02 -3.06323632e-04 9.99932611e-01 -9.13399444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.78420382200005 meters Centerline goodness [0,1] 0.9999355794627327 Centerline is valid? [True, True] Translation: X:288.45, Y:-42.75, Z:-9.14 [[ 9.77801746e-01 2.09268619e-01 1.05067229e-02 2.88445111e+02] [-2.09259624e-01 9.77858152e-01 -1.96063879e-03 -4.27455894e+01] [-1.06843848e-02 -2.81516843e-04 9.99942881e-01 -9.13610138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.814203822 meters Centerline goodness [0,1] 0.9999573851529873 Centerline is valid? [True, True] Translation: X:288.47, Y:-42.75, Z:-9.14 [[ 9.78378086e-01 2.06568925e-01 1.02762217e-02 2.88473636e+02] [-2.06560177e-01 9.78432020e-01 -1.91709259e-03 -4.27485899e+01] [-1.04505961e-02 -2.47016798e-04 9.99945361e-01 -9.13963154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.84420382200005 meters Centerline goodness [0,1] 0.9999572549103422 Centerline is valid? [True, True] Translation: X:288.50, Y:-42.76, Z:-9.14 [[ 9.78950268e-01 2.03825357e-01 1.05638916e-02 2.88501954e+02] [-2.03815951e-01 9.79007239e-01 -1.97091462e-03 -4.27562103e+01] [-1.07438487e-02 -2.23662208e-04 9.99942258e-01 -9.14106782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.874203822 meters Centerline goodness [0,1] 0.9998709538660071 Centerline is valid? [True, True] Translation: X:288.53, Y:-42.77, Z:-9.14 [[ 9.79705128e-01 2.00152304e-01 1.08128521e-02 2.88531060e+02] [-2.00142236e-01 9.79764778e-01 -2.01638533e-03 -4.27689354e+01] [-1.09976358e-02 -1.88645341e-04 9.99939506e-01 -9.14236307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.90420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.56, Y:-42.78, Z:-9.14 [[ 9.81170193e-01 1.92819208e-01 1.12162986e-02 2.88560501e+02] [-1.92807899e-01 9.81234294e-01 -2.09130166e-03 -4.27847841e+01] [-1.14090599e-02 -1.10668103e-04 9.99934908e-01 -9.13870413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.93420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.59, Y:-42.79, Z:-9.14 [[ 9.81137423e-01 1.92985864e-01 1.12166943e-02 2.88591597e+02] [-1.92974590e-01 9.81201530e-01 -2.08918174e-03 -4.27907330e+01] [-1.14090202e-02 -1.14762591e-04 9.99934908e-01 -9.13967347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.96420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.62, Y:-42.80, Z:-9.14 [[ 9.81683806e-01 1.90154720e-01 1.17510350e-02 2.88621750e+02] [-1.90142113e-01 9.81754132e-01 -2.19127077e-03 -4.27981179e+01] [-1.19533076e-02 -8.32315874e-05 9.99928553e-01 -9.14257984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.99420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.65, Y:-42.81, Z:-9.14 [[ 9.82434789e-01 1.86226888e-01 1.18925004e-02 2.88652032e+02] [-1.86213664e-01 9.82506766e-01 -2.21955567e-03 -4.28094866e+01] [-1.20978031e-02 -3.39773723e-05 9.99926818e-01 -9.14373153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.02420382200006 meters Centerline goodness [0,1] 0.9997870709479602 Centerline is valid? [True, True] Translation: X:288.68, Y:-42.82, Z:-9.15 [[ 9.82623089e-01 1.85255728e-01 1.14969703e-02 2.88684338e+02] [-1.85243287e-01 9.82690345e-01 -2.14700437e-03 -4.28182886e+01] [-1.16957065e-02 -2.00404956e-05 9.99931603e-01 -9.14780805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.05420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.72, Y:-42.82, Z:-9.14 [[ 9.82684858e-01 1.84959092e-01 1.09819441e-02 2.88716491e+02] [-1.84947699e-01 9.82746221e-01 -2.05300335e-03 -4.28245977e+01] [-1.11721857e-02 -1.36299780e-05 9.99937589e-01 -9.14416753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.08420382200006 meters Centerline goodness [0,1] 0.9999351995852773 Centerline is valid? [True, True] Translation: X:288.75, Y:-42.83, Z:-9.15 [[ 9.82673354e-01 1.85013154e-01 1.11001149e-02 2.88748508e+02] [-1.85001497e-01 9.82736044e-01 -2.07689167e-03 -4.28277787e+01] [-1.12927353e-02 -1.26317733e-05 9.99936235e-01 -9.14766736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.11420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.78, Y:-42.83, Z:-9.15 [[ 9.82503857e-01 1.85885990e-01 1.15139067e-02 2.88780022e+02] [-1.85873477e-01 9.82571320e-01 -2.15694790e-03 -4.28326347e+01] [-1.17141809e-02 -2.09202498e-05 9.99931386e-01 -9.14648742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.14420382200007 meters Centerline goodness [0,1] 0.9999361457579499 Centerline is valid? [True, True] Translation: X:288.81, Y:-42.83, Z:-9.15 [[ 9.82095525e-01 1.88007572e-01 1.18967258e-02 2.88811512e+02] [-1.87994338e-01 9.82167578e-01 -2.23116361e-03 -4.28334990e+01] [-1.21040540e-02 -4.53012994e-05 9.99926742e-01 -9.14950228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.17420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.84, Y:-42.84, Z:-9.15 [[ 9.81802177e-01 1.89513262e-01 1.22151304e-02 2.88843625e+02] [-1.89499404e-01 9.81878159e-01 -2.29273038e-03 -4.28358587e+01] [-1.24282726e-02 -6.37522553e-05 9.99922764e-01 -9.14564510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.20420382200007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.88, Y:-42.84, Z:-9.15 [[ 9.81324569e-01 1.91949233e-01 1.25531867e-02 2.88875539e+02] [-1.91934763e-01 9.81404852e-01 -2.35879441e-03 -4.28359585e+01] [-1.27725271e-02 -9.46499993e-05 9.99918423e-01 -9.14767648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.23420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.91, Y:-42.84, Z:-9.15 [[ 9.81150729e-01 1.92829537e-01 1.26498103e-02 2.88906548e+02] [-1.92814857e-01 9.81232266e-01 -2.38148651e-03 -4.28400971e+01] [-1.28716230e-02 -1.02474156e-04 9.99917152e-01 -9.14666130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.26420382200007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.94, Y:-42.84, Z:-9.15 [[ 9.80803077e-01 1.94558114e-01 1.31325699e-02 2.88938090e+02] [-1.94542438e-01 9.80890985e-01 -2.47315851e-03 -4.28370319e+01] [-1.33627925e-02 -1.29160689e-04 9.99910706e-01 -9.14624682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.29420382200004 meters Centerline goodness [0,1] 0.9998933242303343 Centerline is valid? [True, True] Translation: X:288.97, Y:-42.84, Z:-9.15 [[ 9.80694828e-01 1.95091579e-01 1.33015027e-02 2.88967590e+02] [-1.95075543e-01 9.80785021e-01 -2.50518227e-03 -4.28375126e+01] [-1.35346546e-02 -1.37978573e-04 9.99908393e-01 -9.15147219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.3242038220001 meters Centerline goodness [0,1] 0.9999787663233889 Centerline is valid? [True, True] Translation: X:289.00, Y:-42.84, Z:-9.15 [[ 9.80553398e-01 1.95866714e-01 1.22989828e-02 2.88998156e+02] [-1.95853064e-01 9.80630517e-01 -2.31646008e-03 -4.28375251e+01] [-1.25144753e-02 -1.37380656e-04 9.99921681e-01 -9.15089612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.35420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.03, Y:-42.84, Z:-9.15 [[ 9.80535229e-01 1.95983910e-01 1.18731462e-02 2.89027480e+02] [-1.95971198e-01 9.80607102e-01 -2.23620796e-03 -4.28381651e+01] [-1.20811523e-02 -1.34114008e-04 9.99927011e-01 -9.15365066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.384203822 meters Centerline goodness [0,1] 0.9999784696206347 Centerline is valid? [True, True] Translation: X:289.06, Y:-42.84, Z:-9.15 [[ 9.80519328e-01 1.96024103e-01 1.25058988e-02 2.89056174e+02] [-1.96010007e-01 9.80599067e-01 -2.35507881e-03 -4.28398047e+01] [-1.27249249e-02 -1.42081027e-04 9.99919025e-01 -9.15229010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.41420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.09, Y:-42.84, Z:-9.15 [[ 9.80476053e-01 1.96183570e-01 1.33684927e-02 2.89085767e+02] [-1.96167487e-01 9.80567174e-01 -2.51678651e-03 -4.28373579e+01] [-1.36024573e-02 -1.54814705e-04 9.99907470e-01 -9.14985530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.444203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.12, Y:-42.84, Z:-9.15 [[ 9.80474807e-01 1.96234194e-01 1.27001258e-02 2.89115026e+02] [-1.96219690e-01 9.80557045e-01 -2.39040063e-03 -4.28389655e+01] [-1.29222761e-02 -1.48287153e-04 9.99916493e-01 -9.15147625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.47420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.14, Y:-42.84, Z:-9.15 [[ 9.80583146e-01 1.95673929e-01 1.29771579e-02 2.89143736e+02] [-1.95658743e-01 9.80669003e-01 -2.44205707e-03 -4.28356953e+01] [-1.32041434e-02 -1.44454406e-04 9.99912811e-01 -9.15485488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.504203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.17, Y:-42.84, Z:-9.15 [[ 9.80774694e-01 1.94715212e-01 1.29223018e-02 2.89172173e+02] [-1.94700085e-01 9.80859811e-01 -2.43069878e-03 -4.28389262e+01] [-1.31482606e-02 -1.32005413e-04 9.99913549e-01 -9.15492757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.53420382200005 meters Centerline goodness [0,1] 0.9999788274650124 Centerline is valid? [True, True] Translation: X:289.20, Y:-42.84, Z:-9.16 [[ 9.81190514e-01 1.92605457e-01 1.29735193e-02 2.89200543e+02] [-1.92590031e-01 9.81276275e-01 -2.43988893e-03 -4.28382668e+01] [-1.32005426e-02 -1.04574610e-04 9.99912864e-01 -9.15875519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.564203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.23, Y:-42.84, Z:-9.16 [[ 9.81562738e-01 1.90728087e-01 1.25454206e-02 2.89228594e+02] [-1.90713524e-01 9.81642904e-01 -2.35821618e-03 -4.28437366e+01] [-1.27649012e-02 -7.78442403e-05 9.99918522e-01 -9.15866539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.59420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.26, Y:-42.85, Z:-9.16 [[ 9.82538647e-01 1.85637544e-01 1.25103403e-02 2.89257111e+02] [-1.85622652e-01 9.82618289e-01 -2.35138985e-03 -4.28495906e+01] [-1.27293954e-02 -1.18711434e-05 9.99918978e-01 -9.15966163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.624203822 meters Centerline goodness [0,1] 0.9999785913080711 Centerline is valid? [True, True] Translation: X:289.28, Y:-42.86, Z:-9.16 [[ 9.83100465e-01 1.82646370e-01 1.24007467e-02 2.89284640e+02] [-1.82631505e-01 9.83178673e-01 -2.33039193e-03 -4.28553818e+01] [-1.26177873e-02 2.62423685e-05 9.99920392e-01 -9.16347044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.65420382200006 meters Centerline goodness [0,1] 0.9998702197612044 Centerline is valid? [True, True] Translation: X:289.31, Y:-42.86, Z:-9.16 [[ 9.84133577e-01 1.77086892e-01 1.10152449e-02 2.89313695e+02] [-1.77074827e-01 9.84195217e-01 -2.06884223e-03 -4.28622484e+01] [-1.12075162e-02 8.54945112e-05 9.99937190e-01 -9.16481574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.68420382200003 meters Centerline goodness [0,1] 0.9999782995529708 Centerline is valid? [True, True] Translation: X:289.34, Y:-42.87, Z:-9.17 [[ 9.84528594e-01 1.74915234e-01 1.03975448e-02 2.89342023e+02] [-1.74904360e-01 9.84583491e-01 -1.95311348e-03 -4.28676525e+01] [-1.05788803e-02 1.04320138e-04 9.99944037e-01 -9.16502857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.71420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.37, Y:-42.87, Z:-9.17 [[ 9.85116164e-01 1.71601857e-01 9.94715437e-03 2.89369628e+02] [-1.71591743e-01 9.85166374e-01 -1.86780708e-03 -4.28746524e+01] [-1.01201212e-02 1.33157385e-04 9.99948781e-01 -9.16642421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.74420382200003 meters Centerline goodness [0,1] 0.9998291036486371 Centerline is valid? [True, True] Translation: X:289.40, Y:-42.88, Z:-9.17 [[ 9.85335750e-01 1.70321300e-01 1.02036108e-02 2.89397650e+02] [-1.70310594e-01 9.85388569e-01 -1.91552881e-03 -4.28819214e+01] [-1.03807768e-02 1.49656003e-04 9.99946107e-01 -9.17195679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.77420382200006 meters Centerline goodness [0,1] 0.999827422555872 Centerline is valid? [True, True] Translation: X:289.43, Y:-42.88, Z:-9.17 [[ 9.85417061e-01 1.69849633e-01 1.02135853e-02 2.89426774e+02] [-1.69838882e-01 9.85469978e-01 -1.91727897e-03 -4.28819375e+01] [-1.03908308e-02 1.54655495e-04 9.99946002e-01 -9.16841568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.80420382200003 meters Centerline goodness [0,1] 0.9999784913858 Centerline is valid? [True, True] Translation: X:289.46, Y:-42.88, Z:-9.17 [[ 9.85145852e-01 1.71380103e-01 1.07939864e-02 2.89455685e+02] [-1.71368194e-01 9.85204973e-01 -2.02558411e-03 -4.28815172e+01] [-1.09814339e-02 1.45749832e-04 9.99939692e-01 -9.16687707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.83420382200006 meters Centerline goodness [0,1] 0.9999785958904109 Centerline is valid? [True, True] Translation: X:289.48, Y:-42.88, Z:-9.17 [[ 9.84963993e-01 1.72391739e-01 1.12703329e-02 2.89483624e+02] [-1.72378827e-01 9.85028461e-01 -2.11456108e-03 -4.28838675e+01] [-1.14661316e-02 1.39999755e-04 9.99934252e-01 -9.16753159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.86420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.51, Y:-42.89, Z:-9.17 [[ 9.84777282e-01 1.73445573e-01 1.14165322e-02 2.89511110e+02] [-1.73432402e-01 9.84843448e-01 -2.14129634e-03 -4.28861979e+01] [-1.16148953e-02 1.28703391e-04 9.99932537e-01 -9.16838746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.89420382200007 meters Centerline goodness [0,1] 0.999935143548945 Centerline is valid? [True, True] Translation: X:289.54, Y:-42.88, Z:-9.17 [[ 9.84428331e-01 1.75323582e-01 1.27476714e-02 2.89541158e+02] [-1.75307335e-01 9.84510857e-01 -2.38966661e-03 -4.28845472e+01] [-1.29691858e-02 1.17695213e-04 9.99915890e-01 -9.16656504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.92420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.57, Y:-42.89, Z:-9.16 [[ 9.84187297e-01 1.76587389e-01 1.38657461e-02 2.89570559e+02] [-1.76568304e-01 9.84284960e-01 -2.59842841e-03 -4.28868673e+01] [-1.41066950e-02 1.09088961e-04 9.99900490e-01 -9.16397204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.95420382200007 meters Centerline goodness [0,1] 0.9999146921452793 Centerline is valid? [True, True] Translation: X:289.60, Y:-42.89, Z:-9.17 [[ 9.83832357e-01 1.78529364e-01 1.41830831e-02 2.89599069e+02] [-1.78509605e-01 9.83934581e-01 -2.65734084e-03 -4.28864833e+01] [-1.44296393e-02 8.25613365e-05 9.99895884e-01 -9.16893533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.98420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.63, Y:-42.89, Z:-9.16 [[ 9.83715084e-01 1.79187507e-01 1.40167876e-02 2.89628140e+02] [-1.79168291e-01 9.83814938e-01 -2.62513865e-03 -4.28881406e+01] [-1.42603171e-02 7.10246204e-05 9.99898314e-01 -9.16498765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.01420382200007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.66, Y:-42.89, Z:-9.17 [[ 9.83514088e-01 1.80273265e-01 1.41981911e-02 2.89656016e+02] [-1.80253669e-01 9.83616565e-01 -2.65854426e-03 -4.28907327e+01] [-1.44448404e-02 5.54396862e-05 9.99895666e-01 -9.16809122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.04420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.68, Y:-42.90, Z:-9.17 [[ 9.83508180e-01 1.80320367e-01 1.40080361e-02 2.89684672e+02] [-1.80301314e-01 9.83607931e-01 -2.62181940e-03 -4.28950790e+01] [-1.42511829e-02 5.29135092e-05 9.99898445e-01 -9.16852859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.0742038220001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.71, Y:-42.90, Z:-9.17 [[ 9.83461297e-01 1.80541046e-01 1.44501880e-02 2.89712218e+02] [-1.80520801e-01 9.83567450e-01 -2.70407324e-03 -4.28984261e+01] [-1.47009308e-02 5.07918518e-05 9.99891934e-01 -9.17092924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.10420382200004 meters Centerline goodness [0,1] 0.9998504880497234 Centerline is valid? [True, True] Translation: X:289.74, Y:-42.90, Z:-9.17 [[ 9.83449239e-01 1.80644166e-01 1.39742583e-02 2.89740823e+02] [-1.80625261e-01 9.83548516e-01 -2.61382019e-03 -4.29024274e+01] [-1.42165324e-02 4.64554240e-05 9.99898939e-01 -9.17220762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.134203822 meters Centerline goodness [0,1] 0.9999783867900061 Centerline is valid? [True, True] Translation: X:289.77, Y:-42.91, Z:-9.17 [[ 9.83324747e-01 1.81352099e-01 1.35594565e-02 2.89769061e+02] [-1.81334375e-01 9.83418230e-01 -2.53560881e-03 -4.29065903e+01] [-1.37944547e-02 3.45313127e-05 9.99904851e-01 -9.17014525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.16420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.80, Y:-42.91, Z:-9.17 [[ 9.82958887e-01 1.83293314e-01 1.39781255e-02 2.89797485e+02] [-1.83274680e-01 9.83058269e-01 -2.61356596e-03 -4.29080812e+01] [-1.42203611e-02 7.19139988e-06 9.99898886e-01 -9.17188352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.194203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.83, Y:-42.91, Z:-9.17 [[ 9.82724576e-01 1.84523252e-01 1.42680709e-02 2.89826318e+02] [-1.84503990e-01 9.82828148e-01 -2.66616855e-03 -4.29108798e+01] [-1.45150318e-02 -1.24066593e-05 9.99894651e-01 -9.17129609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.22420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.86, Y:-42.91, Z:-9.17 [[ 9.82206901e-01 1.87267984e-01 1.41529826e-02 2.89855172e+02] [-1.87249319e-01 9.82308862e-01 -2.64440608e-03 -4.29097689e+01] [-1.43978129e-02 -5.27824729e-05 9.99896345e-01 -9.17294728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.254203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.88, Y:-42.91, Z:-9.17 [[ 9.81899827e-01 1.88859882e-01 1.43064786e-02 2.89883967e+02] [-1.88841003e-01 9.82004042e-01 -2.67143426e-03 -4.29113110e+01] [-1.45535465e-02 -7.85689323e-05 9.99894088e-01 -9.17373635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.28420382200005 meters Centerline goodness [0,1] 0.9999572622176636 Centerline is valid? [True, True] Translation: X:289.91, Y:-42.91, Z:-9.17 [[ 9.81153054e-01 1.92695924e-01 1.43863147e-02 2.89913318e+02] [-1.92677254e-01 9.81258509e-01 -2.68581718e-03 -4.29083059e+01] [-1.46342397e-02 -1.36717881e-04 9.99892904e-01 -9.17373644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.314203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.94, Y:-42.91, Z:-9.17 [[ 9.80715908e-01 1.94917218e-01 1.42683725e-02 2.89942776e+02] [-1.94899104e-01 9.80819682e-01 -2.66271545e-03 -4.29074823e+01] [-1.45137097e-02 -1.69525609e-04 9.99894656e-01 -9.17429776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.34420382200005 meters Centerline goodness [0,1] 0.9999783470108048 Centerline is valid? [True, True] Translation: X:289.97, Y:-42.90, Z:-9.18 [[ 9.79770825e-01 1.99623434e-01 1.41285107e-02 2.89973283e+02] [-1.99606175e-01 9.79872659e-01 -2.63571024e-03 -4.28993293e+01] [-1.43702908e-02 -2.37745978e-04 9.99896714e-01 -9.17561854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.374203822 meters Centerline goodness [0,1] 0.9999785729590743 Centerline is valid? [True, True] Translation: X:290.00, Y:-42.90, Z:-9.18 [[ 9.79347372e-01 2.01720138e-01 1.37007354e-02 2.90002744e+02] [-2.01704088e-01 9.79443168e-01 -2.55769100e-03 -4.28992398e+01] [-1.39350294e-02 -2.58626370e-04 9.99902869e-01 -9.17749113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.40420382200006 meters Centerline goodness [0,1] 0.999914801167224 Centerline is valid? [True, True] Translation: X:290.03, Y:-42.90, Z:-9.18 [[ 9.79029401e-01 2.03292827e-01 1.31703969e-02 2.90031044e+02] [-2.03278192e-01 9.79117946e-01 -2.45464484e-03 -4.28972425e+01] [-1.33943836e-02 -2.74084985e-04 9.99910254e-01 -9.18101075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.43420382200003 meters Centerline goodness [0,1] 0.9999573369739115 Centerline is valid? [True, True] Translation: X:290.06, Y:-42.90, Z:-9.18 [[ 9.78924705e-01 2.03789900e-01 1.32701828e-02 2.90059948e+02] [-2.03775074e-01 9.79014605e-01 -2.47431926e-03 -4.28991992e+01] [-1.34959441e-02 -2.81960233e-04 9.99908886e-01 -9.18032617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.46420382200006 meters Centerline goodness [0,1] 0.9999347882792801 Centerline is valid? [True, True] Translation: X:290.09, Y:-42.90, Z:-9.18 [[ 9.79713565e-01 1.99994734e-01 1.27842775e-02 2.90088564e+02] [-1.99980679e-01 9.79796947e-01 -2.38151699e-03 -4.29048255e+01] [-1.30022869e-02 -2.23403983e-04 9.99915442e-01 -9.18291890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.49420382200003 meters Centerline goodness [0,1] 0.9999785582572152 Centerline is valid? [True, True] Translation: X:290.12, Y:-42.91, Z:-9.19 [[ 9.80274812e-01 1.97264385e-01 1.21678055e-02 2.90116638e+02] [-1.97251488e-01 9.80350309e-01 -2.26300398e-03 -4.29074532e+01] [-1.23751220e-02 -1.81751943e-04 9.99923409e-01 -9.18686666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.52420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.14, Y:-42.92, Z:-9.19 [[ 9.80943600e-01 1.93944288e-01 1.16304329e-02 2.90144493e+02] [-1.93932283e-01 9.81012536e-01 -2.16213517e-03 -4.29167298e+01] [-1.18289343e-02 -1.34583753e-04 9.99930027e-01 -9.18623136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.55420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.17, Y:-42.93, Z:-9.19 [[ 9.82304911e-01 1.86861844e-01 1.26377981e-02 2.90171913e+02] [-1.86847066e-01 9.82386201e-01 -2.35061846e-03 -4.29300316e+01] [-1.28544393e-02 -5.23114322e-05 9.99917377e-01 -9.18552906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.58420382200006 meters Centerline goodness [0,1] 0.9998921995601742 Centerline is valid? [True, True] Translation: X:290.20, Y:-42.94, Z:-9.19 [[ 9.82868215e-01 1.83838367e-01 1.31729226e-02 2.90199480e+02] [-1.83822097e-01 9.82956487e-01 -2.44584381e-03 -4.29379195e+01] [-1.33980496e-02 -1.75321040e-05 9.99910242e-01 -9.18736417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.61420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.23, Y:-42.95, Z:-9.19 [[ 9.83706978e-01 1.79294950e-01 1.31872174e-02 2.90226366e+02] [-1.79278242e-01 9.83795364e-01 -2.44803684e-03 -4.29461869e+01] [-1.34124440e-02 4.39697693e-05 9.99910048e-01 -9.18676761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.64420382200007 meters Centerline goodness [0,1] 0.9999136535348084 Centerline is valid? [True, True] Translation: X:290.25, Y:-42.95, Z:-9.19 [[ 9.83997329e-01 1.77667026e-01 1.35530018e-02 2.90254359e+02] [-1.77649234e-01 9.84090658e-01 -2.51525906e-03 -4.29509923e+01] [-1.37842611e-02 6.73278141e-05 9.99904990e-01 -9.18795894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.67420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.28, Y:-42.95, Z:-9.19 [[ 9.84238252e-01 1.76439991e-01 1.19997234e-02 2.90282807e+02] [-1.76425966e-01 9.84311396e-01 -2.22588938e-03 -4.29538365e+01] [-1.22042003e-02 7.37426892e-05 9.99925523e-01 -9.18869049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.70420382200007 meters Centerline goodness [0,1] 0.9998281122427055 Centerline is valid? [True, True] Translation: X:290.31, Y:-42.96, Z:-9.19 [[ 9.84336552e-01 1.75906875e-01 1.17610928e-02 2.90310486e+02] [-1.75893368e-01 9.84406809e-01 -2.18128121e-03 -4.29567553e+01] [-1.19614022e-02 7.84166027e-05 9.99928457e-01 -9.19455997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.73420382200004 meters Centerline goodness [0,1] 0.9999784696206347 Centerline is valid? [True, True] Translation: X:290.34, Y:-42.96, Z:-9.19 [[ 9.84384392e-01 1.75702059e-01 1.07775364e-02 2.90337897e+02] [-1.75690710e-01 9.84443386e-01 -1.99832367e-03 -4.29600996e+01] [-1.09609840e-02 7.36056078e-05 9.99939924e-01 -9.19398673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.76420382200007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.37, Y:-42.96, Z:-9.19 [[ 9.84565820e-01 1.74711563e-01 1.02963569e-02 2.90366826e+02] [-1.74701159e-01 9.84619654e-01 -1.90832889e-03 -4.29635455e+01] [-1.04714025e-02 8.00899142e-05 9.99945170e-01 -9.19406665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.79420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.39, Y:-42.97, Z:-9.20 [[ 9.84664047e-01 1.74184747e-01 9.81773636e-03 2.90393362e+02] [-1.74175264e-01 9.84712987e-01 -1.81944549e-03 -4.29702733e+01] [-9.98457215e-03 8.15357370e-05 9.99950150e-01 -9.19892692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.8242038220001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.42, Y:-42.97, Z:-9.20 [[ 9.84804416e-01 1.73376826e-01 1.00368521e-02 2.90420664e+02] [-1.73366877e-01 9.84855557e-01 -1.85955611e-03 -4.29747914e+01] [-1.02072535e-02 9.12413704e-05 9.99947900e-01 -9.19902483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.85420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.45, Y:-42.98, Z:-9.20 [[ 9.84816564e-01 1.73307803e-01 1.00369820e-02 2.90447714e+02] [-1.73297858e-01 9.84867705e-01 -1.85885441e-03 -4.29796595e+01] [-1.02072534e-02 9.12431393e-05 9.99947900e-01 -9.19986638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.884203822 meters Centerline goodness [0,1] 0.999912798936147 Centerline is valid? [True, True] Translation: X:290.48, Y:-42.98, Z:-9.20 [[ 9.84624698e-01 1.74317027e-01 1.13039209e-02 2.90477506e+02] [-1.74304496e-01 9.84689579e-01 -2.09201237e-03 -4.29769769e+01] [-1.14955265e-02 8.95228186e-05 9.99933920e-01 -9.19674369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.91420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.51, Y:-42.98, Z:-9.20 [[ 9.84395100e-01 1.75621515e-01 1.11072547e-02 2.90505491e+02] [-1.75609497e-01 9.84457758e-01 -2.05582640e-03 -4.29792971e+01] [-1.12956704e-02 7.32060230e-05 9.99936199e-01 -9.19702025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.944203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.53, Y:-42.98, Z:-9.20 [[ 9.84054750e-01 1.77502519e-01 1.13624699e-02 2.90534179e+02] [-1.77490089e-01 9.84120345e-01 -2.10118328e-03 -4.29810827e+01] [-1.15550031e-02 5.09535983e-05 9.99933237e-01 -9.19706806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.97420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.56, Y:-42.98, Z:-9.20 [[ 9.83133760e-01 1.82525961e-01 1.15014181e-02 2.90562994e+02] [-1.82513566e-01 9.83201034e-01 -2.12709442e-03 -4.29788456e+01] [-1.16964561e-02 -7.94649293e-06 9.99931594e-01 -9.19885266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.004203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.59, Y:-42.98, Z:-9.20 [[ 9.82654912e-01 1.85108793e-01 1.11381899e-02 2.90591894e+02] [-1.85097328e-01 9.82718033e-01 -2.06053360e-03 -4.29783898e+01] [-1.13271230e-02 -3.68557299e-05 9.99935845e-01 -9.19986064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.03420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.62, Y:-42.97, Z:-9.20 [[ 9.81653783e-01 1.90323173e-01 1.15299722e-02 2.90620965e+02] [-1.90311287e-01 9.81721488e-01 -2.12951717e-03 -4.29712937e+01] [-1.17245179e-02 -1.03835260e-04 9.99931260e-01 -9.20160061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.064203822 meters Centerline goodness [0,1] 0.9999784501336092 Centerline is valid? [True, True] Translation: X:290.65, Y:-42.97, Z:-9.20 [[ 9.81301749e-01 1.92075513e-01 1.24046394e-02 2.90649399e+02] [-1.92061896e-01 9.81380140e-01 -2.29101534e-03 -4.29721815e+01] [-1.26137147e-02 -1.34281199e-04 9.99920435e-01 -9.20039058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.09420382200005 meters Centerline goodness [0,1] 0.9999570990368734 Centerline is valid? [True, True] Translation: X:290.68, Y:-42.97, Z:-9.20 [[ 9.80795493e-01 1.94525141e-01 1.41481323e-02 2.90677828e+02] [-1.94507761e-01 9.80897513e-01 -2.60750788e-03 -4.29693186e+01] [-1.43850937e-02 -1.94489566e-04 9.99896510e-01 -9.19838413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.124203822 meters Centerline goodness [0,1] 0.9999786739459597 Centerline is valid? [True, True] Translation: X:290.71, Y:-42.97, Z:-9.20 [[ 9.80657005e-01 1.95188456e-01 1.46049708e-02 2.90705760e+02] [-1.95170035e-01 9.80765732e-01 -2.68994403e-03 -4.29700492e+01] [-1.48491009e-02 -2.12540204e-04 9.99889723e-01 -9.20000892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.15420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.73, Y:-42.98, Z:-9.20 [[ 9.80753603e-01 1.94686700e-01 1.48141707e-02 2.90734292e+02] [-1.94667679e-01 9.80865458e-01 -2.72925560e-03 -4.29760037e+01] [-1.50620581e-02 -2.07112949e-04 9.99886539e-01 -9.19941200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.18420382200003 meters Centerline goodness [0,1] 0.9999573824287754 Centerline is valid? [True, True] Translation: X:290.76, Y:-42.98, Z:-9.20 [[ 9.81295916e-01 1.91860072e-01 1.57492086e-02 2.90760746e+02] [-1.91838285e-01 9.81422275e-01 -2.89682652e-03 -4.29847289e+01] [-1.60124095e-02 -1.78657131e-04 9.99871777e-01 -9.19953933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.21420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.79, Y:-43.00, Z:-9.20 [[ 9.82361470e-01 1.86464746e-01 1.40300265e-02 2.90788353e+02] [-1.86446888e-01 9.82461649e-01 -2.58178482e-03 -4.29957513e+01] [-1.42653748e-02 -7.96088469e-05 9.99898241e-01 -9.20208344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.24420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.81, Y:-43.00, Z:-9.20 [[ 9.82938551e-01 1.83430577e-01 1.36024992e-02 2.90814815e+02] [-1.83413526e-01 9.83032666e-01 -2.50128548e-03 -4.30037723e+01] [-1.38305133e-02 -3.62724243e-05 9.99904353e-01 -9.20396287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.27420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.84, Y:-43.02, Z:-9.21 [[ 9.83932025e-01 1.78068590e-01 1.30133339e-02 2.90841664e+02] [-1.78052580e-01 9.84018077e-01 -2.38800572e-03 -4.30185921e+01] [-1.32305847e-02 3.25776216e-05 9.99912471e-01 -9.20578191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.30420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.87, Y:-43.03, Z:-9.21 [[ 9.84384443e-01 1.75590714e-01 1.24566782e-02 2.90868066e+02] [-1.75575850e-01 9.84463253e-01 -2.28550707e-03 -4.30292655e+01] [-1.26644558e-02 6.27257371e-05 9.99919801e-01 -9.21030086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.33420382200006 meters Centerline goodness [0,1] 0.9999135826473956 Centerline is valid? [True, True] Translation: X:290.90, Y:-43.04, Z:-9.21 [[ 9.84796877e-01 1.73248357e-01 1.26537701e-02 2.90895735e+02] [-1.73232839e-01 9.84878164e-01 -2.32062678e-03 -4.30368561e+01] [-1.28644667e-02 9.32974767e-05 9.99917245e-01 -9.21046559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.36420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.92, Y:-43.05, Z:-9.21 [[ 9.85333959e-01 1.70201165e-01 1.21881862e-02 2.90923309e+02] [-1.70186542e-01 9.85409330e-01 -2.23467187e-03 -4.30466715e+01] [-1.23906962e-02 1.27632821e-04 9.99923224e-01 -9.20902429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.39420382200007 meters Centerline goodness [0,1] 0.999914216474726 Centerline is valid? [True, True] Translation: X:290.95, Y:-43.06, Z:-9.22 [[ 9.85550505e-01 1.68976490e-01 1.17110607e-02 2.90949945e+02] [-1.68962906e-01 9.85620072e-01 -2.14688351e-03 -4.30566092e+01] [-1.19054294e-02 1.37127269e-04 9.99929118e-01 -9.21539321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.42420382200004 meters Centerline goodness [0,1] 0.9999783540413005 Centerline is valid? [True, True] Translation: X:290.98, Y:-43.06, Z:-9.21 [[ 9.85510960e-01 1.69253029e-01 1.10254216e-02 2.90978431e+02] [-1.69241016e-01 9.85572624e-01 -2.02036695e-03 -4.30611995e+01] [-1.12083069e-02 1.25140223e-04 9.99937177e-01 -9.21402787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.45420382200007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.01, Y:-43.07, Z:-9.21 [[ 9.85361494e-01 1.70170997e-01 1.02253726e-02 2.91005489e+02] [-1.70160715e-01 9.85414543e-01 -1.87359643e-03 -4.30661110e+01] [-1.03950626e-02 1.06213064e-04 9.99945964e-01 -9.21493433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.48420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.03, Y:-43.07, Z:-9.22 [[ 9.84947263e-01 1.72506873e-01 1.09666748e-02 2.91033097e+02] [-1.72495195e-01 9.85008310e-01 -2.00914300e-03 -4.30698720e+01] [-1.11488568e-02 8.72011954e-05 9.99937846e-01 -9.21564552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.51420382200007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.06, Y:-43.07, Z:-9.22 [[ 9.84667043e-01 1.74045746e-01 1.17852629e-02 2.91060543e+02] [-1.74032392e-01 9.84737565e-01 -2.15728074e-03 -4.30738916e+01] [-1.19808567e-02 7.31857534e-05 9.99928224e-01 -9.21575135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.54420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.09, Y:-43.07, Z:-9.22 [[ 9.83944645e-01 1.78081621e-01 1.18267093e-02 2.91090031e+02] [-1.78068475e-01 9.84015719e-01 -2.16391107e-03 -4.30744914e+01] [-1.20230207e-02 2.32046194e-05 9.99927721e-01 -9.21542811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.5742038220001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.12, Y:-43.08, Z:-9.22 [[ 9.83603982e-01 1.79918711e-01 1.23476260e-02 2.91117762e+02] [-1.79904532e-01 9.83681482e-01 -2.25875286e-03 -4.30773830e+01] [-1.25525230e-02 3.24425325e-07 9.99921214e-01 -9.21772680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.60420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.15, Y:-43.08, Z:-9.22 [[ 9.83129274e-01 1.82428331e-01 1.32941770e-02 2.91146381e+02] [-1.82412141e-01 9.83219153e-01 -2.43069022e-03 -4.30805300e+01] [-1.35145162e-02 -3.53365694e-05 9.99908674e-01 -9.21631272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.634203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.17, Y:-43.09, Z:-9.22 [[ 9.83006530e-01 1.83097932e-01 1.31647060e-02 2.91174716e+02] [-1.83082124e-01 9.83094678e-01 -2.40639874e-03 -4.30860899e+01] [-1.33827590e-02 -4.47166462e-05 9.99910446e-01 -9.21678148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.66420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.20, Y:-43.09, Z:-9.22 [[ 9.82835202e-01 1.84043265e-01 1.27687723e-02 2.91203371e+02] [-1.84028480e-01 9.82918142e-01 -2.33344619e-03 -4.30911280e+01] [-1.29801130e-02 -5.64247050e-05 9.99915753e-01 -9.21754536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.694203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.23, Y:-43.09, Z:-9.22 [[ 9.82305829e-01 1.86813828e-01 1.32609001e-02 2.91231951e+02] [-1.86798141e-01 9.82395330e-01 -2.42285896e-03 -4.30907492e+01] [-1.34800699e-02 -9.71230091e-05 9.99909135e-01 -9.21754909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.72420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.26, Y:-43.09, Z:-9.22 [[ 9.81770751e-01 1.89643473e-01 1.27100758e-02 2.91260727e+02] [-1.89629283e-01 9.81853012e-01 -2.32348786e-03 -4.30939105e+01] [-1.29200605e-02 -1.29070139e-04 9.99916524e-01 -9.21989800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.754203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.29, Y:-43.10, Z:-9.22 [[ 9.81693076e-01 1.90141250e-01 1.11807801e-02 2.91288330e+02] [-1.90130316e-01 9.81756737e-01 -2.04264226e-03 -4.31010883e+01] [-1.13651967e-02 -1.20557483e-04 9.99935407e-01 -9.22297748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.78420382200005 meters Centerline goodness [0,1] 0.9999785674482404 Centerline is valid? [True, True] Translation: X:291.32, Y:-43.11, Z:-9.23 [[ 9.81741931e-01 1.89945963e-01 1.01642612e-02 2.91315226e+02] [-1.89936948e-01 9.81794540e-01 -1.85389569e-03 -4.31058735e+01] [-1.03313562e-02 -1.10521617e-04 9.99946624e-01 -9.22954347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.814203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.34, Y:-43.11, Z:-9.23 [[ 9.82000551e-01 1.88680268e-01 8.64144641e-03 2.91343438e+02] [-1.88673692e-01 9.82038568e-01 -1.57741943e-03 -4.31121800e+01] [-8.78386158e-03 -8.13868486e-05 9.99961418e-01 -9.23221621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.84420382200005 meters Centerline goodness [0,1] 0.999913359902963 Centerline is valid? [True, True] Translation: X:291.37, Y:-43.12, Z:-9.23 [[ 9.82197511e-01 1.87679047e-01 8.03900220e-03 2.91372091e+02] [-1.87673330e-01 9.82230406e-01 -1.46645897e-03 -4.31178771e+01] [-8.17137602e-03 -6.83539598e-05 9.99966611e-01 -9.23322222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.874203822 meters Centerline goodness [0,1] 0.999869958169878 Centerline is valid? [True, True] Translation: X:291.40, Y:-43.13, Z:-9.23 [[ 9.82690777e-01 1.85063322e-01 8.39068894e-03 2.91399379e+02] [-1.85057013e-01 9.82726597e-01 -1.52894349e-03 -4.31265615e+01] [-8.52870455e-03 -5.02771712e-05 9.99963629e-01 -9.23429454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.90420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.43, Y:-43.13, Z:-9.23 [[ 9.82916255e-01 1.83887920e-01 7.80182990e-03 2.91425782e+02] [-1.83882454e-01 9.82947217e-01 -1.41833942e-03 -4.31342216e+01] [-7.92960247e-03 -4.05107606e-05 9.99968559e-01 -9.23434898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.93420382200003 meters Centerline goodness [0,1] 0.9999785071034023 Centerline is valid? [True, True] Translation: X:291.45, Y:-43.14, Z:-9.24 [[ 9.83110404e-01 1.82840635e-01 7.95210628e-03 2.91452628e+02] [-1.82834930e-01 9.83142564e-01 -1.44471598e-03 -4.31412490e+01] [-8.08220694e-03 -3.36074839e-05 9.99967338e-01 -9.23601310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.96420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.48, Y:-43.15, Z:-9.24 [[ 9.83201524e-01 1.82291024e-01 9.20576599e-03 2.91479384e+02] [-1.82283363e-01 9.83244619e-01 -1.67158179e-03 -4.31480811e+01] [-9.35623423e-03 -3.45562253e-05 9.99956229e-01 -9.23537763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.99420382200003 meters Centerline goodness [0,1] 0.9998288733448844 Centerline is valid? [True, True] Translation: X:291.51, Y:-43.15, Z:-9.23 [[ 9.83102649e-01 1.82714637e-01 1.11599212e-02 2.91508798e+02] [-1.82703396e-01 9.83165988e-01 -2.02728126e-03 -4.31507131e+01] [-1.13424689e-02 -4.59299227e-05 9.99935671e-01 -9.23355645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.02420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.54, Y:-43.15, Z:-9.23 [[ 9.82975867e-01 1.83413587e-01 1.08582525e-02 2.91536065e+02] [-1.83403028e-01 9.83035835e-01 -1.96888056e-03 -4.31540584e+01] [-1.10351707e-02 -5.60743043e-05 9.99939109e-01 -9.23243944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.05420382200003 meters Centerline goodness [0,1] 0.999957184449392 Centerline is valid? [True, True] Translation: X:291.56, Y:-43.16, Z:-9.23 [[ 9.82838818e-01 1.84154163e-01 1.07285219e-02 2.91564098e+02] [-1.84143899e-01 9.82897370e-01 -1.94528919e-03 -4.31569519e+01] [-1.09032691e-02 -6.36861287e-05 9.99940556e-01 -9.23492748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.08420382200006 meters Centerline goodness [0,1] 0.999978448275862 Centerline is valid? [True, True] Translation: X:291.59, Y:-43.16, Z:-9.24 [[ 9.82604588e-01 1.85424172e-01 1.03004585e-02 2.91592734e+02] [-1.85414772e-01 9.82658573e-01 -1.86846630e-03 -4.31583801e+01] [-1.04682927e-02 -7.38936030e-05 9.99945203e-01 -9.23507750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.11420382200004 meters Centerline goodness [0,1] 0.9998928510200583 Centerline is valid? [True, True] Translation: X:291.62, Y:-43.16, Z:-9.24 [[ 9.82530214e-01 1.85750904e-01 1.14446184e-02 2.91620998e+02] [-1.85739353e-01 9.82596862e-01 -2.07340150e-03 -4.31608106e+01] [-1.16305823e-02 -8.85363913e-05 9.99932359e-01 -9.23763192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.14420382200007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.65, Y:-43.17, Z:-9.23 [[ 9.82554228e-01 1.85593754e-01 1.19225669e-02 2.91649826e+02] [-1.85581261e-01 9.82626557e-01 -2.15544060e-03 -4.31652398e+01] [-1.21154671e-02 -9.47677156e-05 9.99926601e-01 -9.23193996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.17420382200004 meters Centerline goodness [0,1] 0.9999357422837193 Centerline is valid? [True, True] Translation: X:291.68, Y:-43.17, Z:-9.24 [[ 9.82613915e-01 1.85243271e-01 1.24428305e-02 2.91677762e+02] [-1.85229643e-01 9.82692689e-01 -2.24900823e-03 -4.31682611e+01] [-1.26440922e-02 -9.48742676e-05 9.99920056e-01 -9.23540486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.20420382200007 meters Centerline goodness [0,1] 0.9999571165144303 Centerline is valid? [True, True] Translation: X:291.71, Y:-43.17, Z:-9.24 [[ 9.82787477e-01 1.84353740e-01 1.19362470e-02 2.91705578e+02] [-1.84341112e-01 9.82859956e-01 -2.15914173e-03 -4.31719746e+01] [-1.21297050e-02 -7.83635837e-05 9.99926429e-01 -9.23645721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.23420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.73, Y:-43.18, Z:-9.24 [[ 9.82918308e-01 1.83701029e-01 1.12040588e-02 2.91734038e+02] [-1.83689885e-01 9.82982160e-01 -2.02448457e-03 -4.31770604e+01] [-1.13852898e-02 -6.81693292e-05 9.99935183e-01 -9.23666325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.26420382200007 meters Centerline goodness [0,1] 0.9999783573206363 Centerline is valid? [True, True] Translation: X:291.76, Y:-43.18, Z:-9.24 [[ 9.83053642e-01 1.83006840e-01 1.06786061e-02 2.91761878e+02] [-1.82996718e-01 9.83111638e-01 -1.92571869e-03 -4.31821876e+01] [-1.08506816e-02 -6.10651010e-05 9.99941128e-01 -9.23765440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.29420382200004 meters Centerline goodness [0,1] 0.9999784320069017 Centerline is valid? [True, True] Translation: X:291.79, Y:-43.19, Z:-9.24 [[ 9.83373103e-01 1.81288237e-01 1.05790122e-02 2.91789815e+02] [-1.81278213e-01 9.83430004e-01 -1.90685618e-03 -4.31873866e+01] [-1.07494086e-02 -4.25933416e-05 9.99942223e-01 -9.24038860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.3242038220001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.82, Y:-43.19, Z:-9.24 [[ 9.83729212e-01 1.79344744e-01 1.05971803e-02 2.91817146e+02] [-1.79334577e-01 9.83786289e-01 -1.90982924e-03 -4.31929782e+01] [-1.07678785e-02 -2.16860354e-05 9.99942024e-01 -9.23963794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.35420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.85, Y:-43.20, Z:-9.24 [[ 9.83976362e-01 1.77974518e-01 1.07512581e-02 2.91845009e+02] [-1.77963981e-01 9.84035096e-01 -1.93663488e-03 -4.31989346e+01] [-1.09242870e-02 -7.73375401e-06 9.99940328e-01 -9.24022022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.384203822 meters Centerline goodness [0,1] 0.9998930000642 Centerline is valid? [True, True] Translation: X:291.87, Y:-43.21, Z:-9.24 [[ 9.84259414e-01 1.76326463e-01 1.19325124e-02 2.91872282e+02] [-1.76313369e-01 9.84331742e-01 -2.14887871e-03 -4.32053615e+01] [-1.21244549e-02 1.11926440e-05 9.99926496e-01 -9.24247404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.41420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.90, Y:-43.22, Z:-9.24 [[ 9.84987339e-01 1.72085806e-01 1.36534461e-02 2.91899181e+02] [-1.72068273e-01 9.85081961e-01 -2.45747568e-03 -4.32179075e+01] [-1.38726602e-02 7.12575400e-05 9.99903767e-01 -9.23742394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.444203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.93, Y:-43.23, Z:-9.24 [[ 9.85406292e-01 1.69629149e-01 1.41559743e-02 2.91926685e+02] [-1.69610058e-01 9.85507960e-01 -2.54719250e-03 -4.32267978e+01] [-1.43829035e-02 1.09023887e-04 9.99896555e-01 -9.23629434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.47420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.95, Y:-43.24, Z:-9.24 [[ 9.86379126e-01 1.63834107e-01 1.46494033e-02 2.91952338e+02] [-1.63813032e-01 9.86487884e-01 -2.63537248e-03 -4.32432991e+01] [-1.48832228e-02 1.99713230e-04 9.99889219e-01 -9.23753799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.504203822 meters Centerline goodness [0,1] 0.9999353350721014 Centerline is valid? [True, True] Translation: X:291.98, Y:-43.25, Z:-9.24 [[ 9.86867815e-01 1.60822899e-01 1.50967270e-02 2.91979948e+02] [-1.60800183e-01 9.86983248e-01 -2.71464393e-03 -4.32529923e+01] [-1.53367936e-02 2.51438267e-04 9.99882353e-01 -9.23603733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.53420382200005 meters Centerline goodness [0,1] 0.9999785481379784 Centerline is valid? [True, True] Translation: X:292.01, Y:-43.27, Z:-9.24 [[ 9.87697140e-01 1.55712533e-01 1.44210321e-02 2.92006133e+02] [-1.55691273e-01 9.87802363e-01 -2.59228058e-03 -4.32700088e+01] [-1.46487801e-02 3.15159273e-04 9.99892651e-01 -9.23953823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.564203822 meters Centerline goodness [0,1] 0.999783427903149 Centerline is valid? [True, True] Translation: X:292.03, Y:-43.28, Z:-9.24 [[ 9.88021693e-01 1.53744608e-01 1.32563002e-02 2.92034636e+02] [-1.53726474e-01 9.88110569e-01 -2.38229708e-03 -4.32775896e+01] [-1.34649556e-02 3.15916906e-04 9.99909293e-01 -9.24330398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.59420382200005 meters Centerline goodness [0,1] 0.999808274040305 Centerline is valid? [True, True] Translation: X:292.06, Y:-43.29, Z:-9.25 [[ 9.88274506e-01 1.52173107e-01 1.25238012e-02 2.92059412e+02] [-1.52156789e-01 9.88353805e-01 -2.25126420e-03 -4.32931672e+01] [-1.27205285e-02 3.19285639e-04 9.99919040e-01 -9.24806919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.624203822 meters Centerline goodness [0,1] 0.9998705306087219 Centerline is valid? [True, True] Translation: X:292.09, Y:-43.30, Z:-9.25 [[ 9.88359475e-01 1.51637525e-01 1.23129801e-02 2.92086544e+02] [-1.51621727e-01 9.88436118e-01 -2.21198477e-03 -4.33037977e+01] [-1.25060141e-02 3.19320809e-04 9.99921746e-01 -9.24649748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.65420382200006 meters Centerline goodness [0,1] 0.9999568937646831 Centerline is valid? [True, True] Translation: X:292.12, Y:-43.31, Z:-9.25 [[ 9.88114589e-01 1.53315971e-01 1.11252772e-02 2.92115319e+02] [-1.53303184e-01 9.88177181e-01 -1.99827306e-03 -4.33072872e+01] [-1.13001122e-02 2.68982352e-04 9.99936116e-01 -9.24648337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.68420382200003 meters Centerline goodness [0,1] 0.9998494979682225 Centerline is valid? [True, True] Translation: X:292.14, Y:-43.31, Z:-9.25 [[ 9.87868187e-01 1.54869756e-01 1.14806222e-02 2.92143259e+02] [-1.54856251e-01 9.87934862e-01 -2.06149045e-03 -4.33131217e+01] [-1.16613695e-02 2.58634715e-04 9.99931970e-01 -9.24939476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.71420382200006 meters Centerline goodness [0,1] 0.9998495497238162 Centerline is valid? [True, True] Translation: X:292.17, Y:-43.32, Z:-9.25 [[ 9.87573323e-01 1.56669545e-01 1.23929533e-02 2.92171623e+02] [-1.56653962e-01 9.87651046e-01 -2.22435841e-03 -4.33203731e+01] [-1.25884025e-02 2.55311791e-04 9.99920730e-01 -9.24897299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.74420382200003 meters Centerline goodness [0,1] 0.9998495497238162 Centerline is valid? [True, True] Translation: X:292.20, Y:-43.33, Z:-9.25 [[ 9.87580937e-01 1.56621537e-01 1.23929954e-02 2.92199518e+02] [-1.56605953e-01 9.87658660e-01 -2.22412404e-03 -4.33252900e+01] [-1.25883949e-02 2.55685649e-04 9.99920730e-01 -9.24984018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.77420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:292.23, Y:-43.33, Z:-9.25 [[ 9.86790604e-01 1.61514479e-01 1.25450164e-02 2.92228710e+02] [-1.61498919e-01 9.86870323e-01 -2.25033210e-03 -4.33311944e+01] [-1.27437657e-02 1.94599976e-04 9.99918776e-01 -9.24539821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.80420382200003 meters Centerline goodness [0,1] 0.9999568276993481 Centerline is valid? [True, True] Translation: X:292.26, Y:-43.34, Z:-9.25 [[ 9.86365766e-01 1.64099473e-01 1.24072201e-02 2.92255844e+02] [-1.64084453e-01 9.86443783e-01 -2.22598873e-03 -4.33373313e+01] [-1.26043088e-02 1.59807151e-04 9.99920550e-01 -9.24893524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.83420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:292.28, Y:-43.34, Z:-9.25 [[ 9.85459933e-01 1.69414460e-01 1.29406617e-02 2.92283597e+02] [-1.69398594e-01 9.85544891e-01 -2.32049737e-03 -4.33421075e+01] [-1.31467289e-02 9.46272841e-05 9.99913574e-01 -9.24923313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.86420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:292.31, Y:-43.35, Z:-9.25 [[ 9.85031739e-01 1.71862761e-01 1.32538492e-02 2.92311780e+02] [-1.71846340e-01 9.85120900e-01 -2.37661125e-03 -4.33470907e+01] [-1.34650948e-02 6.34120411e-05 9.99909339e-01 -9.24721395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.89420382200007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:292.34, Y:-43.35, Z:-9.25 [[ 9.84090388e-01 1.77267591e-01 1.19293845e-02 2.92339829e+02] [-1.77254694e-01 9.84162690e-01 -2.13836248e-03 -4.33499364e+01] [-1.21195175e-02 -1.01974318e-05 9.99926556e-01 -9.25001353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.92420382200004 meters Centerline goodness [0,1] 0.9998291729837073 Centerline is valid? [True, True] Translation: X:292.37, Y:-43.35, Z:-9.26 [[ 9.83581484e-01 1.80128123e-01 1.10147249e-02 2.92367220e+02] [-1.80117314e-01 9.83643156e-01 -1.97372351e-03 -4.33529921e+01] [-1.11900819e-02 -4.26247691e-05 9.99937388e-01 -9.25830479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.95420382200007 meters Centerline goodness [0,1] 0.999978301436445 Centerline is valid? [True, True] Translation: X:292.40, Y:-43.36, Z:-9.26 [[ 9.83090370e-01 1.82824938e-01 1.04098781e-02 2.92395714e+02] [-1.82815452e-01 9.83145481e-01 -1.86370819e-03 -4.33578683e+01] [-1.05751570e-02 -7.08929975e-05 9.99944079e-01 -9.25658880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.98420382200004 meters Centerline goodness [0,1] 0.9999351407445842 Centerline is valid? [True, True] Translation: X:292.42, Y:-43.36, Z:-9.26 [[ 9.82029385e-01 1.88414046e-01 1.08827787e-02 2.92424487e+02] [-1.88404028e-01 9.82089674e-01 -1.94780100e-03 -4.33611600e+01] [-1.10548577e-02 -1.37561526e-04 9.99938884e-01 -9.25533687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.01420382200007 meters Centerline goodness [0,1] 0.9999348520054724 Centerline is valid? [True, True] Translation: X:292.45, Y:-43.36, Z:-9.26 [[ 9.81474792e-01 1.91279642e-01 1.09238465e-02 2.92453692e+02] [-1.91269731e-01 9.81535567e-01 -1.95459827e-03 -4.33635518e+01] [-1.10960188e-02 -1.71012254e-04 9.99938423e-01 -9.25584882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.04420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:292.48, Y:-43.36, Z:-9.26 [[ 9.80336275e-01 1.97043649e-01 1.07045815e-02 2.92482954e+02] [-1.97034491e-01 9.80394689e-01 -1.91396220e-03 -4.33634971e+01] [-1.08718490e-02 -2.32845195e-04 9.99940873e-01 -9.25768654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.0742038220001 meters Centerline goodness [0,1] 0.9998705864590298 Centerline is valid? [True, True] Translation: X:292.51, Y:-43.37, Z:-9.26 [[ 9.79846502e-01 1.99459741e-01 1.08002261e-02 2.92511470e+02] [-1.99450556e-01 9.79905987e-01 -1.93188895e-03 -4.33680348e+01] [-1.09685403e-02 -2.61156465e-04 9.99939810e-01 -9.25860137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.10420382200004 meters Centerline goodness [0,1] 0.9998059299191374 Centerline is valid? [True, True] Translation: X:292.54, Y:-43.37, Z:-9.26 [[ 9.79497973e-01 2.01171057e-01 1.06736381e-02 2.92539034e+02] [-2.01162181e-01 9.79556088e-01 -1.90989131e-03 -4.33692948e+01] [-1.08396421e-02 -2.76397663e-04 9.99941211e-01 -9.26071741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.134203822 meters Centerline goodness [0,1] 0.9995254427403525 Centerline is valid? [True, True] Translation: X:292.57, Y:-43.37, Z:-9.26 [[ 9.79031250e-01 2.03385943e-01 1.14877902e-02 2.92567027e+02] [-2.03375842e-01 9.79098591e-01 -2.05312922e-03 -4.33700046e+01] [-1.16652569e-02 -3.26261341e-04 9.99931905e-01 -9.26122488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.16420382200005 meters Centerline goodness [0,1] 0.9998058796885447 Centerline is valid? [True, True] Translation: X:292.59, Y:-43.38, Z:-9.26 [[ 9.78926082e-01 2.03923519e-01 1.09052125e-02 2.92594441e+02] [-2.03914458e-01 9.78986771e-01 -1.94825417e-03 -4.33795616e+01] [-1.10733536e-02 -3.16533672e-04 9.99938638e-01 -9.26092235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.194203822 meters Centerline goodness [0,1] 0.999524139124416 Centerline is valid? [True, True] Translation: X:292.62, Y:-43.39, Z:-9.26 [[ 9.78992369e-01 2.03630066e-01 1.04277402e-02 2.92622678e+02] [-2.03621769e-01 9.79047857e-01 -1.86250077e-03 -4.33859876e+01] [-1.05885178e-02 -2.99940856e-04 9.99943895e-01 -9.26366385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.22420382200005 meters Centerline goodness [0,1] 0.999291708699105 Centerline is valid? [True, True] Translation: X:292.65, Y:-43.39, Z:-9.27 [[ 9.79069101e-01 2.03273545e-01 1.01764655e-02 2.92650054e+02] [-2.03265611e-01 9.79121945e-01 -1.81889354e-03 -4.33872439e+01] [-1.03337336e-02 -2.87703014e-04 9.99946564e-01 -9.26548996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.254203822 meters Centerline goodness [0,1] 0.9986452486936327 Centerline is valid? [True, True] Translation: X:292.68, Y:-43.39, Z:-9.27 [[ 9.79135440e-01 2.02971864e-01 9.80879539e-03 2.92676392e+02] [-2.02964501e-01 9.79184531e-01 -1.75086208e-03 -4.33906632e+01] [-9.95999645e-03 -2.76506148e-04 9.99950360e-01 -9.26859192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.28420382200005 meters Centerline goodness [0,1] 0.9998291364985797 Centerline is valid? [True, True] Translation: X:292.70, Y:-43.40, Z:-9.27 [[ 9.79385850e-01 2.01738159e-01 1.02504736e-02 2.92704050e+02] [-2.01730068e-01 9.79439451e-01 -1.82801091e-03 -4.34013387e+01] [-1.04084978e-02 -2.77500716e-04 9.99945792e-01 -9.26604280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.314203822 meters Centerline goodness [0,1] 0.999784431654056 Centerline is valid? [True, True] Translation: X:292.73, Y:-43.41, Z:-9.27 [[ 9.79760502e-01 1.99853031e-01 1.13192635e-02 2.92732673e+02] [-1.99843047e-01 9.79825844e-01 -2.01790221e-03 -4.34067215e+01] [-1.14941908e-02 -2.85015221e-04 9.99933899e-01 -9.26551508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.34420382200005 meters Centerline goodness [0,1] 0.9998918217221981 Centerline is valid? [True, True] Translation: X:292.76, Y:-43.41, Z:-9.26 [[ 9.80068745e-01 1.98325057e-01 1.15076759e-02 2.92760827e+02] [-1.98314639e-01 9.80136265e-01 -2.05091186e-03 -4.34135977e+01] [-1.16858376e-02 -2.72105961e-04 9.99931681e-01 -9.26296761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.374203822 meters Centerline goodness [0,1] 0.999914465946755 Centerline is valid? [True, True] Translation: X:292.79, Y:-43.42, Z:-9.27 [[ 9.80423955e-01 1.96550589e-01 1.16933768e-02 2.92788817e+02] [-1.96539714e-01 9.80493651e-01 -2.08337935e-03 -4.34175089e+01] [-1.18747712e-02 -2.55617910e-04 9.99929460e-01 -9.26576433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.40420382200006 meters Centerline goodness [0,1] 0.9998054222337528 Centerline is valid? [True, True] Translation: X:292.82, Y:-43.43, Z:-9.27 [[ 9.80768873e-01 1.94837802e-01 1.14301716e-02 2.92816695e+02] [-1.94827300e-01 9.80835449e-01 -2.03595411e-03 -4.34254850e+01] [-1.16077983e-02 -2.30109053e-04 9.99932601e-01 -9.26717211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.43420382200003 meters Centerline goodness [0,1] 0.9998709871632228 Centerline is valid? [True, True] Translation: X:292.84, Y:-43.43, Z:-9.27 [[ 9.81595637e-01 1.90595337e-01 1.19759312e-02 2.92844457e+02] [-1.90583504e-01 9.81668672e-01 -2.13224137e-03 -4.34326447e+01] [-1.21627917e-02 -1.89416107e-04 9.99926013e-01 -9.26983022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.46420382200006 meters Centerline goodness [0,1] 0.9999785149535922 Centerline is valid? [True, True] Translation: X:292.87, Y:-43.44, Z:-9.27 [[ 9.82214548e-01 1.87382812e-01 1.19273996e-02 2.92872085e+02] [-1.87370840e-01 9.82286954e-01 -2.12338087e-03 -4.34403773e+01] [-1.21140141e-02 -1.49231294e-04 9.99926612e-01 -9.26650994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.49420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:292.90, Y:-43.44, Z:-9.27 [[ 9.82460828e-01 1.86120098e-01 1.14031278e-02 2.92899814e+02] [-1.86109074e-01 9.82526993e-01 -2.02976144e-03 -4.34445619e+01] [-1.15816603e-02 -1.28064457e-04 9.99932922e-01 -9.26866612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.52420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:292.93, Y:-43.45, Z:-9.27 [[ 9.82623633e-01 1.85257827e-01 1.14163813e-02 2.92927973e+02] [-1.85246730e-01 9.82689943e-01 -2.03116045e-03 -4.34488729e+01] [-1.15950515e-02 -1.18981036e-04 9.99932768e-01 -9.26917860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.55420382200003 meters Centerline goodness [0,1] 0.9999568081200735 Centerline is valid? [True, True] Translation: X:292.96, Y:-43.45, Z:-9.27 [[ 9.82891166e-01 1.83830159e-01 1.14641893e-02 2.92955519e+02] [-1.83818876e-01 9.82958016e-01 -2.03930678e-03 -4.34499132e+01] [-1.16437028e-02 -1.02917770e-04 9.99932204e-01 -9.27200082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.58420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:292.98, Y:-43.45, Z:-9.27 [[ 9.83050321e-01 1.82956571e-01 1.17881074e-02 2.92983826e+02] [-1.82944591e-01 9.83120991e-01 -2.09586685e-03 -4.34524609e+01] [-1.19725884e-02 -9.62279064e-05 9.99928321e-01 -9.27206348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.61420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:293.01, Y:-43.45, Z:-9.27 [[ 9.83324163e-01 1.81484233e-01 1.17073865e-02 2.93011945e+02] [-1.81472311e-01 9.83393851e-01 -2.08166468e-03 -4.34523635e+01] [-1.18907612e-02 -7.76153020e-05 9.99929299e-01 -9.27414793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.64420382200007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:293.04, Y:-43.46, Z:-9.28 [[ 9.83566257e-01 1.80200754e-01 1.11851036e-02 2.93040071e+02] [-1.80189808e-01 9.83629851e-01 -1.98715085e-03 -4.34566066e+01] [-1.13600879e-02 -6.09471429e-05 9.99935470e-01 -9.27609402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.67420382200004 meters Centerline goodness [0,1] 0.9998697153279916 Centerline is valid? [True, True] Translation: X:293.07, Y:-43.46, Z:-9.28 [[ 9.84154387e-01 1.77035847e-01 9.92228807e-03 2.93068480e+02] [-1.77027074e-01 9.84204404e-01 -1.76252344e-03 -4.34609710e+01] [-1.00775894e-02 -2.19184537e-05 9.99949220e-01 -9.27941529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.70420382200007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:293.10, Y:-43.47, Z:-9.28 [[ 9.84549192e-01 1.74833805e-01 9.79940404e-03 2.93096349e+02] [-1.74825139e-01 9.84597959e-01 -1.74072567e-03 -4.34657230e+01] [-9.95281090e-03 6.47881411e-07 9.99950470e-01 -9.27819442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.73420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:293.13, Y:-43.47, Z:-9.28 [[ 9.84946465e-01 1.72603458e-01 9.40780361e-03 2.93125402e+02] [-1.72595379e-01 9.84991394e-01 -1.67006467e-03 -4.34696403e+01] [-9.55486452e-03 2.11808676e-05 9.99954351e-01 -9.27693405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.76420382200007 meters Centerline goodness [0,1] 0.999935268097961 Centerline is valid? [True, True] Translation: X:293.15, Y:-43.47, Z:-9.28 [[ 9.85761726e-01 1.67851957e-01 9.97693982e-03 2.93152977e+02] [-1.67842632e-01 9.85812211e-01 -1.77073479e-03 -4.34733988e+01] [-1.01326104e-02 7.09667497e-05 9.99948661e-01 -9.28121902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.79420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:293.18, Y:-43.48, Z:-9.28 [[ 9.86758664e-01 1.61824686e-01 1.09594842e-02 2.93180309e+02] [-1.61813072e-01 9.86819512e-01 -1.94418591e-03 -4.34820620e+01] [-1.11296501e-02 1.45054485e-04 9.99938053e-01 -9.27819897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.8242038220001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:293.21, Y:-43.49, Z:-9.28 [[ 9.87307961e-01 1.58432029e-01 1.10581118e-02 2.93206230e+02] [-1.58420000e-01 9.87369869e-01 -1.96100367e-03 -4.34915992e+01] [-1.12291322e-02 1.84288467e-04 9.99936934e-01 -9.28016174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.85420382200004 meters Centerline goodness [0,1] 0.999978253778406 Centerline is valid? [True, True] Translation: X:293.23, Y:-43.50, Z:-9.28 [[ 9.87904634e-01 1.54722741e-01 1.02619381e-02 2.93234579e+02] [-1.54712195e-01 9.87957909e-01 -1.81847150e-03 -4.35015274e+01] [-1.04197218e-02 2.08829447e-04 9.99945691e-01 -9.28179565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.884203822 meters Centerline goodness [0,1] 0.9999348010344903 Centerline is valid? [True, True] Translation: X:293.26, Y:-43.52, Z:-9.28 [[ 9.89051988e-01 1.47254538e-01 9.60553055e-03 2.93262968e+02] [-1.47244953e-01 9.89098594e-01 -1.70148311e-03 -4.35159857e+01] [-9.75136787e-03 2.68489364e-04 9.99952418e-01 -9.28333724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.91420382200005 meters Centerline goodness [0,1] 0.9997418077758892 Centerline is valid? [True, True] Translation: X:293.29, Y:-43.53, Z:-9.29 [[ 9.89503522e-01 1.44185325e-01 9.66286789e-03 2.93289887e+02] [-1.44175472e-01 9.89550656e-01 -1.71235692e-03 -4.35268427e+01] [-9.80879400e-03 3.01234672e-04 9.99951847e-01 -9.28768237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.944203822 meters Centerline goodness [0,1] 0.9996345814883281 Centerline is valid? [True, True] Translation: X:293.32, Y:-43.53, Z:-9.28 [[ 9.90191837e-01 1.39375047e-01 9.73257672e-03 2.93319486e+02] [-1.39364827e-01 9.90239604e-01 -1.72382925e-03 -4.35349176e+01] [-9.87784170e-03 3.50542779e-04 9.99951151e-01 -9.28360365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.97420382200005 meters Centerline goodness [0,1] 0.9997398486786481 Centerline is valid? [True, True] Translation: X:293.35, Y:-43.54, Z:-9.28 [[ 9.90363619e-01 1.38120366e-01 1.01324155e-02 2.93348474e+02] [-1.38109222e-01 9.90415378e-01 -1.79476437e-03 -4.35406806e+01] [-1.02831936e-02 3.78089319e-04 9.99947055e-01 -9.28291093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.004203822 meters Centerline goodness [0,1] 0.9994618100404719 Centerline is valid? [True, True] Translation: X:293.37, Y:-43.55, Z:-9.28 [[ 9.90396326e-01 1.37801936e-01 1.12135380e-02 2.93374530e+02] [-1.37788263e-01 9.90459715e-01 -1.98661335e-03 -4.35504915e+01] [-1.13803168e-02 4.22440640e-04 9.99935153e-01 -9.28392793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.03420382200005 meters Centerline goodness [0,1] 0.9998927843894071 Centerline is valid? [True, True] Translation: X:293.40, Y:-43.55, Z:-9.28 [[ 9.90073191e-01 1.40078192e-01 1.15401937e-02 2.93404707e+02] [-1.40063882e-01 9.90140361e-01 -2.04299999e-03 -4.35512182e+01] [-1.17125913e-02 4.06355186e-04 9.99931323e-01 -9.28349471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.064203822 meters Centerline goodness [0,1] 0.9999135004216855 Centerline is valid? [True, True] Translation: X:293.44, Y:-43.55, Z:-9.28 [[ 9.89285805e-01 1.45510389e-01 1.18458188e-02 2.93436178e+02] [-1.45495709e-01 9.89356662e-01 -2.09638309e-03 -4.35499440e+01] [-1.20247852e-02 3.50406237e-04 9.99927638e-01 -9.28144250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.09420382200005 meters Centerline goodness [0,1] 0.9999569790703177 Centerline is valid? [True, True] Translation: X:293.46, Y:-43.55, Z:-9.28 [[ 9.88673026e-01 1.49567203e-01 1.24618843e-02 2.93464899e+02] [-1.49551271e-01 9.88751511e-01 -2.20599708e-03 -4.35523339e+01] [-1.26516517e-02 3.17319183e-04 9.99919914e-01 -9.28380206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.124203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:293.50, Y:-43.55, Z:-9.28 [[ 9.87952287e-01 1.54276042e-01 1.22140113e-02 2.93496619e+02] [-1.54261107e-01 9.88027753e-01 -2.16122334e-03 -4.35464034e+01] [-1.24012071e-02 2.51038635e-04 9.99923071e-01 -9.28263432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.15420382200006 meters Centerline goodness [0,1] 0.9999351014580539 Centerline is valid? [True, True] Translation: X:293.53, Y:-43.54, Z:-9.29 [[ 9.86387141e-01 1.64065884e-01 1.10812671e-02 2.93527539e+02] [-1.64054209e-01 9.86449376e-01 -1.96068310e-03 -4.35367772e+01] [-1.12527902e-02 1.16064088e-04 9.99936679e-01 -9.28785960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.18420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:293.56, Y:-43.54, Z:-9.29 [[ 9.85644855e-01 1.68414600e-01 1.18634461e-02 2.93555765e+02] [-1.68401524e-01 9.85716246e-01 -2.09981522e-03 -4.35381182e+01] [-1.20476311e-02 7.18496522e-05 9.99927422e-01 -9.28860140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.21420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:293.59, Y:-43.54, Z:-9.29 [[ 9.84499970e-01 1.74954409e-01 1.22785967e-02 2.93585896e+02] [-1.74940913e-01 9.84576536e-01 -2.17304274e-03 -4.35352678e+01] [-1.24694016e-02 -8.66841077e-06 9.99922254e-01 -9.28746438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.24420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:293.61, Y:-43.54, Z:-9.29 [[ 9.84119896e-01 1.77083374e-01 1.22273789e-02 2.93614621e+02] [-1.77070179e-01 9.84195853e-01 -2.16205760e-03 -4.35369765e+01] [-1.24170000e-02 -3.73802602e-05 9.99922905e-01 -9.28746452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.27420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:293.64, Y:-43.54, Z:-9.29 [[ 9.83743798e-01 1.79180314e-01 1.19396783e-02 2.93642530e+02] [-1.79167891e-01 9.83816249e-01 -2.11083463e-03 -4.35366344e+01] [-1.21246695e-02 -6.26865033e-05 9.99926492e-01 -9.29131171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.30420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:293.67, Y:-43.54, Z:-9.29 [[ 9.83693243e-01 1.79476809e-01 1.16481105e-02 2.93671420e+02] [-1.79465017e-01 9.83762202e-01 -2.05835418e-03 -4.35415589e+01] [-1.18283977e-02 -6.56392521e-05 9.99930040e-01 -9.29116335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.33420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:293.70, Y:-43.55, Z:-9.29 [[ 9.83752347e-01 1.79186465e-01 1.11144351e-02 2.93699803e+02] [-1.79175716e-01 9.83815129e-01 -1.96357280e-03 -4.35482089e+01] [-1.12863951e-02 -5.97675258e-05 9.99936305e-01 -9.29201937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.36420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:293.73, Y:-43.56, Z:-9.29 [[ 9.84230623e-01 1.76544568e-01 1.10497255e-02 2.93726024e+02] [-1.76533781e-01 9.84292647e-01 -1.95181507e-03 -4.35603773e+01] [-1.12207459e-02 -2.96136540e-05 9.99937045e-01 -9.29451934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.39420382200007 meters Centerline goodness [0,1] 0.9998265545052467 Centerline is valid? [True, True] Translation: X:293.75, Y:-43.57, Z:-9.30 [[ 9.84492389e-01 1.75088764e-01 1.08931261e-02 2.93753218e+02] [-1.75078196e-01 9.84552652e-01 -1.92372723e-03 -4.35688551e+01] [-1.10616792e-02 -1.32540501e-05 9.99938818e-01 -9.29647166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.42420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:293.78, Y:-43.58, Z:-9.30 [[ 9.84838939e-01 1.73091592e-01 1.14701459e-02 2.93779874e+02] [-1.73079754e-01 9.84905732e-01 -2.02437787e-03 -4.35791080e+01] [-1.16474152e-02 8.43612724e-06 9.99932167e-01 -9.29617121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.45420382200007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:293.81, Y:-43.59, Z:-9.30 [[ 9.84871312e-01 1.72875448e-01 1.19406318e-02 2.93808169e+02] [-1.72862616e-01 9.84943694e-01 -2.10630346e-03 -4.35860569e+01] [-1.21249782e-02 1.03490012e-05 9.99926490e-01 -9.29546957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.48420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:293.84, Y:-43.59, Z:-9.29 [[ 9.84777751e-01 1.73355994e-01 1.26680603e-02 2.93836525e+02] [-1.73341600e-01 9.84859228e-01 -2.23391986e-03 -4.35919916e+01] [-1.28635195e-02 4.01273413e-06 9.99917262e-01 -9.29352431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.51420382200007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:293.87, Y:-43.59, Z:-9.29 [[ 9.84248152e-01 1.76198995e-01 1.44737480e-02 2.93865893e+02] [-1.76180528e-01 9.84354567e-01 -2.55120338e-03 -4.35945707e+01] [-1.46968195e-02 -3.89753690e-05 9.99891995e-01 -9.29180556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.54420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:293.89, Y:-43.60, Z:-9.29 [[ 9.83812931e-01 1.78609847e-01 1.45134327e-02 2.93894411e+02] [-1.78591544e-01 9.83919975e-01 -2.55804880e-03 -4.35958101e+01] [-1.47369491e-02 -7.53348699e-05 9.99891402e-01 -9.29237786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.5742038220001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:293.92, Y:-43.59, Z:-9.30 [[ 9.82854626e-01 1.83827225e-01 1.42946189e-02 2.93923052e+02] [-1.83810034e-01 9.82958559e-01 -2.51860901e-03 -4.35920000e+01] [-1.45140069e-02 -1.52067869e-04 9.99894655e-01 -9.29689900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.60420382200004 meters Centerline goodness [0,1] 0.9998271242112542 Centerline is valid? [True, True] Translation: X:293.95, Y:-43.59, Z:-9.30 [[ 9.82397913e-01 1.86315512e-01 1.34488162e-02 2.93951324e+02] [-1.86300529e-01 9.82489948e-01 -2.36942648e-03 -4.35948523e+01] [-1.36547876e-02 -1.77801946e-04 9.99906753e-01 -9.29792958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.6342038220001 meters Centerline goodness [0,1] 0.999848792500108 Centerline is valid? [True, True] Translation: X:293.98, Y:-43.59, Z:-9.30 [[ 9.81567528e-01 1.90693195e-01 1.27001588e-02 2.93980490e+02] [-1.90680225e-01 9.81649659e-01 -2.23567364e-03 -4.35909370e+01] [-1.28934343e-02 -2.27204497e-04 9.99916850e-01 -9.30051234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.66420382200005 meters Centerline goodness [0,1] 0.999848792500108 Centerline is valid? [True, True] Translation: X:294.01, Y:-43.60, Z:-9.30 [[ 9.81581719e-01 1.90620133e-01 1.27001937e-02 2.94007582e+02] [-1.90607158e-01 9.81663850e-01 -2.23547552e-03 -4.35955669e+01] [-1.28934477e-02 -2.26445937e-04 9.99916850e-01 -9.30135388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.694203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:294.04, Y:-43.60, Z:-9.30 [[ 9.81267556e-01 1.92228435e-01 1.27362675e-02 2.94036763e+02] [-1.92215541e-01 9.81350175e-01 -2.24041051e-03 -4.35981949e+01] [-1.29294089e-02 -2.49666396e-04 9.99916381e-01 -9.29967802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.72420382200005 meters Centerline goodness [0,1] 0.999957179865973 Centerline is valid? [True, True] Translation: X:294.07, Y:-43.59, Z:-9.31 [[ 9.80814363e-01 1.94591063e-01 1.17261752e-02 2.94066182e+02] [-1.94580310e-01 9.80884423e-01 -2.06199688e-03 -4.35941562e+01] [-1.19032688e-02 -2.59246655e-04 9.99929120e-01 -9.30558149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.754203822 meters Centerline goodness [0,1] 0.9998491931835319 Centerline is valid? [True, True] Translation: X:294.09, Y:-43.60, Z:-9.31 [[ 9.80749290e-01 1.94949376e-01 1.12058090e-02 2.94094856e+02] [-1.94939556e-01 9.80813274e-01 -1.97263641e-03 -4.35966206e+01] [-1.13753705e-02 -2.49793672e-04 9.99935267e-01 -9.30660811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.78420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:294.12, Y:-43.60, Z:-9.31 [[ 9.80767454e-01 1.94864023e-01 1.11001942e-02 2.94122126e+02] [-1.94854395e-01 9.80830236e-01 -1.95279768e-03 -4.36007887e+01] [-1.12679361e-02 -2.47681215e-04 9.99936484e-01 -9.30575522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.814203822 meters Centerline goodness [0,1] 0.9999354561101549 Centerline is valid? [True, True] Translation: X:294.15, Y:-43.60, Z:-9.31 [[ 9.80969150e-01 1.93894830e-01 1.02137727e-02 2.94150173e+02] [-1.93886643e-01 9.81022297e-01 -1.79525222e-03 -4.36025177e+01] [-1.03680289e-02 -2.19227046e-04 9.99946227e-01 -9.30860143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.84420382200005 meters Centerline goodness [0,1] 0.9999568993384048 Centerline is valid? [True, True] Translation: X:294.18, Y:-43.61, Z:-9.31 [[ 9.81130419e-01 1.93120111e-01 9.36607700e-03 2.94177470e+02] [-1.93113205e-01 9.81175104e-01 -1.64482745e-03 -4.36065473e+01] [-9.50741083e-03 -1.94922903e-04 9.99954785e-01 -9.31138101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.874203822 meters Centerline goodness [0,1] 0.999956915122792 Centerline is valid? [True, True] Translation: X:294.21, Y:-43.61, Z:-9.31 [[ 9.81654086e-01 1.90454434e-01 9.07548171e-03 2.94205537e+02] [-1.90447856e-01 9.81696023e-01 -1.59162318e-03 -4.36130499e+01] [-9.21249599e-03 -1.65982640e-04 9.99957550e-01 -9.31344160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.90420382200006 meters Centerline goodness [0,1] 0.9999351925860318 Centerline is valid? [True, True] Translation: X:294.23, Y:-43.62, Z:-9.32 [[ 9.81972872e-01 1.88813838e-01 8.86645414e-03 2.94232802e+02] [-1.88807522e-01 9.82012888e-01 -1.55171067e-03 -4.36184502e+01] [-8.99995668e-03 -1.50315454e-04 9.99959488e-01 -9.31525376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.93420382200003 meters Centerline goodness [0,1] 0.9999569596281311 Centerline is valid? [True, True] Translation: X:294.26, Y:-43.62, Z:-9.32 [[ 9.82324830e-01 1.87004067e-01 8.21018608e-03 2.94260657e+02] [-1.86998599e-01 9.82359131e-01 -1.43561434e-03 -4.36223826e+01] [-8.33381699e-03 -1.25053676e-04 9.99965265e-01 -9.31968680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.96420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:294.29, Y:-43.63, Z:-9.32 [[ 9.83148459e-01 1.82611832e-01 8.48688947e-03 2.94288234e+02] [-1.82605832e-01 9.83185085e-01 -1.48313304e-03 -4.36324461e+01] [-8.61502078e-03 -9.16155456e-05 9.99962886e-01 -9.31800362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.99420382200003 meters Centerline goodness [0,1] 0.9999784171109145 Centerline is valid? [True, True] Translation: X:294.32, Y:-43.64, Z:-9.32 [[ 9.83580151e-01 1.80235561e-01 9.23199225e-03 2.94316473e+02] [-1.80228362e-01 9.83623473e-01 -1.61275753e-03 -4.36401871e+01] [-9.37148053e-03 -7.75905481e-05 9.99956084e-01 -9.31707472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.02420382200006 meters Centerline goodness [0,1] 0.9999133786651653 Centerline is valid? [True, True] Translation: X:294.34, Y:-43.65, Z:-9.32 [[ 9.84322639e-01 1.76147017e-01 9.00948482e-03 2.94344155e+02] [-1.76139993e-01 9.84363869e-01 -1.57346148e-03 -4.36481201e+01] [-9.14577188e-03 -3.81368392e-05 9.99958176e-01 -9.31919388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.05420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:294.37, Y:-43.66, Z:-9.32 [[ 9.84729243e-01 1.73762607e-01 1.07179630e-02 2.94371852e+02] [-1.73752535e-01 9.84787569e-01 -1.87102238e-03 -4.36565889e+01] [-1.08800304e-02 -1.98227793e-05 9.99940811e-01 -9.31557599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.08420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:294.40, Y:-43.67, Z:-9.32 [[ 9.85501167e-01 1.69209411e-01 1.24749613e-02 2.94397462e+02] [-1.69195403e-01 9.85580121e-01 -2.17752774e-03 -4.36698216e+01] [-1.26635320e-02 3.52500290e-05 9.99919814e-01 -9.31665384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.11420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:294.43, Y:-43.68, Z:-9.31 [[ 9.85782065e-01 1.67582248e-01 1.22437695e-02 2.94425869e+02] [-1.67568650e-01 9.85858097e-01 -2.13544081e-03 -4.36767986e+01] [-1.24284813e-02 5.34073170e-05 9.99922762e-01 -9.31440166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.14420382200007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:294.45, Y:-43.68, Z:-9.32 [[ 9.85997578e-01 1.66318749e-01 1.21181772e-02 2.94454151e+02] [-1.66305341e-01 9.86072040e-01 -2.11294694e-03 -4.36837387e+01] [-1.23008185e-02 6.80429666e-05 9.99924340e-01 -9.31544566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.17420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:294.48, Y:-43.69, Z:-9.32 [[ 9.86276430e-01 1.64675992e-01 1.18584203e-02 2.94481917e+02] [-1.64663040e-01 9.86347713e-01 -2.06709190e-03 -4.36925082e+01] [-1.20369262e-02 8.60804804e-05 9.99927550e-01 -9.31696096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.20420382200007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:294.51, Y:-43.70, Z:-9.32 [[ 9.86346653e-01 1.64324522e-01 1.08503783e-02 2.94509600e+02] [-1.64313663e-01 9.86406328e-01 -1.89095490e-03 -4.36995272e+01] [-1.10136121e-02 8.22716399e-05 9.99939345e-01 -9.31961028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.23420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:294.54, Y:-43.71, Z:-9.32 [[ 9.86396828e-01 1.64044840e-01 1.05161178e-02 2.94537198e+02] [-1.64034628e-01 9.86452880e-01 -1.83223029e-03 -4.37062710e+01] [-1.06742226e-02 8.22986668e-05 9.99943025e-01 -9.32086894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.26420382200007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:294.57, Y:-43.71, Z:-9.32 [[ 9.86478782e-01 1.63555135e-01 1.04560813e-02 2.94565107e+02] [-1.63545017e-01 9.86534191e-01 -1.82124851e-03 -4.37131760e+01] [-1.06131562e-02 8.65830127e-05 9.99943675e-01 -9.32152278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.29420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:294.59, Y:-43.72, Z:-9.32 [[ 9.86569470e-01 1.62950652e-01 1.13033387e-02 2.94591808e+02] [-1.62938794e-01 9.86634215e-01 -1.96836182e-03 -4.37205746e+01] [-1.14730066e-02 1.00173295e-04 9.99934178e-01 -9.32118200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.3242038220001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:294.62, Y:-43.73, Z:-9.32 [[ 9.86553044e-01 1.63048864e-01 1.13207050e-02 2.94618321e+02] [-1.63036979e-01 9.86617990e-01 -1.97112261e-03 -4.37268057e+01] [-1.14906005e-02 9.89234688e-05 9.99933976e-01 -9.32348202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.35420382200004 meters Centerline goodness [0,1] 0.9998705334023822 Centerline is valid? [True, True] Translation: X:294.65, Y:-43.73, Z:-9.33 [[ 9.86086974e-01 1.65881810e-01 1.07566253e-02 2.94647623e+02] [-1.65871268e-01 9.86145639e-01 -1.87113301e-03 -4.37292266e+01] [-1.09179861e-02 6.08848075e-05 9.99940395e-01 -9.32598149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.3842038220001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:294.68, Y:-43.73, Z:-9.33 [[ 9.85633828e-01 1.68569674e-01 1.04987085e-02 2.94676384e+02] [-1.68559785e-01 9.85689740e-01 -1.82614738e-03 -4.37301750e+01] [-1.06563023e-02 3.02525767e-05 9.99943220e-01 -9.32527064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.41420382200005 meters Centerline goodness [0,1] 0.9999348378548621 Centerline is valid? [True, True] Translation: X:294.71, Y:-43.73, Z:-9.33 [[ 9.85050110e-01 1.72015465e-01 9.32521631e-03 2.94705237e+02] [-1.72007818e-01 9.85094249e-01 -1.62199915e-03 -4.37290908e+01] [-9.46522589e-03 -6.25966848e-06 9.99955204e-01 -9.32941840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.444203822 meters Centerline goodness [0,1] 0.9998697209857779 Centerline is valid? [True, True] Translation: X:294.74, Y:-43.72, Z:-9.33 [[ 9.83818972e-01 1.78930624e-01 9.16851343e-03 2.94735613e+02] [-1.78923539e-01 9.83861691e-01 -1.59394220e-03 -4.37231276e+01] [-9.30575420e-03 -7.23122946e-05 9.99956698e-01 -9.33125673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.47420382200005 meters Centerline goodness [0,1] 0.999978324482497 Centerline is valid? [True, True] Translation: X:294.76, Y:-43.72, Z:-9.33 [[ 9.82885980e-01 1.83888218e-01 1.09669130e-02 2.94764554e+02] [-1.83878396e-01 9.82947152e-01 -1.90598103e-03 -4.37187298e+01] [-1.11303833e-02 -1.43216341e-04 9.99938045e-01 -9.32779465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.504203822 meters Centerline goodness [0,1] 0.9999783004947487 Centerline is valid? [True, True] Translation: X:294.79, Y:-43.72, Z:-9.33 [[ 9.82632903e-01 1.85236214e-01 1.09600247e-02 2.94793664e+02] [-1.85226499e-01 9.82694011e-01 -1.90386326e-03 -4.37220168e+01] [-1.11230150e-02 -1.59288314e-04 9.99938125e-01 -9.32800851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.53420382200005 meters Centerline goodness [0,1] 0.9999785112600997 Centerline is valid? [True, True] Translation: X:294.82, Y:-43.72, Z:-9.33 [[ 9.82522265e-01 1.85820603e-01 1.09864740e-02 2.94821306e+02] [-1.85810881e-01 9.82583674e-01 -1.90813520e-03 -4.37241864e+01] [-1.11497008e-02 -1.66621097e-04 9.99937826e-01 -9.32965095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.564203822 meters Centerline goodness [0,1] 0.9998699074174454 Centerline is valid? [True, True] Translation: X:294.85, Y:-43.72, Z:-9.33 [[ 9.82589337e-01 1.85399881e-01 1.20448264e-02 2.94849188e+02] [-1.85388176e-01 9.82663143e-01 -2.09096178e-03 -4.37240510e+01] [-1.22236711e-02 -1.78411655e-04 9.99925272e-01 -9.33174150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.59420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:294.88, Y:-43.74, Z:-9.33 [[ 9.83156755e-01 1.82333520e-01 1.25412217e-02 2.94876530e+02] [-1.82320594e-01 9.83236729e-01 -2.17608018e-03 -4.37358394e+01] [-1.27277621e-02 -1.47095049e-04 9.99918988e-01 -9.32898287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.624203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:294.90, Y:-43.74, Z:-9.33 [[ 9.83528983e-01 1.80287330e-01 1.29312761e-02 2.94903739e+02] [-1.80273416e-01 9.83613981e-01 -2.24326073e-03 -4.37432316e+01] [-1.31238155e-02 -1.24853375e-04 9.99913871e-01 -9.33061623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.65420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:294.93, Y:-43.75, Z:-9.33 [[ 9.83916645e-01 1.78136504e-01 1.32446914e-02 2.94930732e+02] [-1.78121725e-01 9.84005781e-01 -2.29671975e-03 -4.37502448e+01] [-1.34419826e-02 -9.93864959e-05 9.99909648e-01 -9.33219494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.68420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:294.96, Y:-43.76, Z:-9.33 [[ 9.84744263e-01 1.73553747e-01 1.25631869e-02 2.94958484e+02] [-1.73540088e-01 9.84824398e-01 -2.17762338e-03 -4.37604138e+01] [-1.27504677e-02 -3.58144438e-05 9.99918709e-01 -9.33394521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.71420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:294.99, Y:-43.77, Z:-9.33 [[ 9.85097382e-01 1.71535880e-01 1.25932445e-02 2.94986845e+02] [-1.71521999e-01 9.85177873e-01 -2.18223028e-03 -4.37683460e+01] [-1.27809167e-02 -1.03091433e-05 9.99918321e-01 -9.33452048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.74420382200003 meters Centerline goodness [0,1] 0.9999565698899047 Centerline is valid? [True, True] Translation: X:295.02, Y:-43.78, Z:-9.34 [[ 9.85386505e-01 1.69899129e-01 1.21541079e-02 2.95015036e+02] [-1.69886081e-01 9.85461458e-01 -2.10560483e-03 -4.37752208e+01] [-1.23351453e-02 1.00208234e-05 9.99923919e-01 -9.33700182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.77420382200006 meters Centerline goodness [0,1] 0.9999570502083065 Centerline is valid? [True, True] Translation: X:295.04, Y:-43.78, Z:-9.34 [[ 9.85700425e-01 1.68208150e-01 1.00344524e-02 2.95041555e+02] [-1.68199169e-01 9.85751499e-01 -1.73839727e-03 -4.37820538e+01] [-1.01838891e-02 2.57523635e-05 9.99948143e-01 -9.34321243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.80420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:295.07, Y:-43.79, Z:-9.34 [[ 9.85836187e-01 1.67473241e-01 8.92889134e-03 2.95069416e+02] [-1.67466105e-01 9.85876621e-01 -1.54627584e-03 -4.37882686e+01] [-9.06174505e-03 2.90880239e-05 9.99958941e-01 -9.34270980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.83420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:295.10, Y:-43.79, Z:-9.34 [[ 9.85864544e-01 1.67299581e-01 9.05270180e-03 2.95095412e+02] [-1.67292235e-01 9.85906106e-01 -1.56802744e-03 -4.37937445e+01] [-9.18744431e-03 3.14159370e-05 9.99957794e-01 -9.34443346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.86420382200004 meters Centerline goodness [0,1] 0.9998920669185105 Centerline is valid? [True, True] Translation: X:295.12, Y:-43.80, Z:-9.35 [[ 9.85905059e-01 1.67066022e-01 8.95318575e-03 2.95123415e+02] [-1.67058841e-01 9.85945710e-01 -1.54925470e-03 -4.37991901e+01] [-9.08618290e-03 3.17092149e-05 9.99958719e-01 -9.34639165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.89420382200007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:295.15, Y:-43.81, Z:-9.34 [[ 9.86136934e-01 1.65615979e-01 1.02612985e-02 2.95150312e+02] [-1.65606468e-01 9.86190319e-01 -1.77564576e-03 -4.38069820e+01] [-1.04136685e-02 5.16924640e-05 9.99945775e-01 -9.34431630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.92420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:295.18, Y:-43.81, Z:-9.34 [[ 9.86274696e-01 1.64692002e-01 1.17799915e-02 2.95178153e+02] [-1.64679427e-01 9.86345041e-01 -2.03630898e-03 -4.38137943e+01] [-1.19545000e-02 6.84377663e-05 9.99928540e-01 -9.34145598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.95420382200007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:295.21, Y:-43.82, Z:-9.34 [[ 9.86558210e-01 1.62782760e-01 1.43063477e-02 2.95205498e+02] [-1.62764027e-01 9.86661928e-01 -2.47198848e-03 -4.38248853e+01] [-1.45179257e-02 1.10201767e-04 9.99894603e-01 -9.33822562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.98420382200004 meters Centerline goodness [0,1] 0.9998696870316878 Centerline is valid? [True, True] Translation: X:295.23, Y:-43.83, Z:-9.34 [[ 9.86687511e-01 1.62049614e-01 1.36995626e-02 2.95233226e+02] [-1.62032374e-01 9.86782605e-01 -2.36652938e-03 -4.38314438e+01] [-1.39019852e-02 1.15252337e-04 9.99903356e-01 -9.34178491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.01420382200007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:295.26, Y:-43.84, Z:-9.34 [[ 9.86756835e-01 1.61677116e-01 1.30942207e-02 2.95260777e+02] [-1.61661341e-01 9.86843704e-01 -2.26138199e-03 -4.38390331e+01] [-1.32875630e-02 1.14604862e-04 9.99911710e-01 -9.34225097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.04420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:295.29, Y:-43.84, Z:-9.34 [[ 9.86695937e-01 1.62057952e-01 1.29749187e-02 2.95288591e+02] [-1.62042499e-01 9.86781236e-01 -2.24058887e-03 -4.38449227e+01] [-1.31665116e-02 1.08291695e-04 9.99913312e-01 -9.34268006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.0742038220001 meters Centerline goodness [0,1] 0.9999783905264068 Centerline is valid? [True, True] Translation: X:295.32, Y:-43.85, Z:-9.35 [[ 9.86509390e-01 1.63221838e-01 1.25640377e-02 2.95315194e+02] [-1.63207450e-01 9.86589390e-01 -2.16898498e-03 -4.38500169e+01] [-1.27495720e-02 8.91794920e-05 9.99918717e-01 -9.34663186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.10420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:295.34, Y:-43.85, Z:-9.35 [[ 9.85809706e-01 1.67485093e-01 1.13122198e-02 2.95344281e+02] [-1.67473726e-01 9.85874608e-01 -1.95146285e-03 -4.38506678e+01] [-1.14792712e-02 2.92714090e-05 9.99934111e-01 -9.34766529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.1342038220001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:295.37, Y:-43.85, Z:-9.35 [[ 9.85316587e-01 1.70370590e-01 1.11841205e-02 2.95371845e+02] [-1.70359655e-01 9.85380060e-01 -1.93026643e-03 -4.38508280e+01] [-1.13494700e-02 -3.39938713e-06 9.99935593e-01 -9.34912563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.16420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:295.40, Y:-43.84, Z:-9.35 [[ 9.84067928e-01 1.77455032e-01 1.09556219e-02 2.95402390e+02] [-1.77445008e-01 9.84128906e-01 -1.88808447e-03 -4.38446583e+01] [-1.11167943e-02 -8.60170475e-05 9.99938203e-01 -9.34958844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.194203822 meters Centerline goodness [0,1] 0.9999136442141624 Centerline is valid? [True, True] Translation: X:295.43, Y:-43.84, Z:-9.35 [[ 9.83494896e-01 1.80605056e-01 1.09363324e-02 2.95431144e+02] [-1.80595265e-01 9.83555692e-01 -1.88447729e-03 -4.38449153e+01] [-1.10968381e-02 -1.21676040e-04 9.99938421e-01 -9.35055172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.22420382200005 meters Centerline goodness [0,1] 0.9999355697779305 Centerline is valid? [True, True] Translation: X:295.46, Y:-43.84, Z:-9.35 [[ 9.82575344e-01 1.85463882e-01 1.22000506e-02 2.95460161e+02] [-1.85452083e-01 9.82651062e-01 -2.10126829e-03 -4.38428200e+01] [-1.23781020e-02 -1.97870379e-04 9.99923369e-01 -9.34970550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.254203822 meters Centerline goodness [0,1] 0.9999568276993481 Centerline is valid? [True, True] Translation: X:295.49, Y:-43.85, Z:-9.35 [[ 9.82294163e-01 1.86947587e-01 1.21974333e-02 2.95489125e+02] [-1.86935893e-01 9.82369866e-01 -2.10207652e-03 -4.38453911e+01] [-1.23753690e-02 -2.15280589e-04 9.99923399e-01 -9.34978178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.28420382200005 meters Centerline goodness [0,1] 0.9998717811732023 Centerline is valid? [True, True] Translation: X:295.52, Y:-43.85, Z:-9.35 [[ 9.82077039e-01 1.88112133e-01 1.17692708e-02 2.95517174e+02] [-1.88101369e-01 9.82147532e-01 -2.02494787e-03 -4.38471182e+01] [-1.19400775e-02 -2.25161135e-04 9.99928689e-01 -9.35221377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.314203822 meters Centerline goodness [0,1] 0.9999570668040529 Centerline is valid? [True, True] Translation: X:295.55, Y:-43.85, Z:-9.35 [[ 9.81993731e-01 1.88556234e-01 1.16128307e-02 2.95545495e+02] [-1.88545779e-01 9.82062368e-01 -1.99855421e-03 -4.38518018e+01] [-1.17813638e-02 -2.26982496e-04 9.99930572e-01 -9.35230264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.34420382200005 meters Centerline goodness [0,1] 0.999978416179232 Centerline is valid? [True, True] Translation: X:295.57, Y:-43.86, Z:-9.35 [[ 9.82136841e-01 1.87782834e-01 1.20346365e-02 2.95573606e+02] [-1.87771604e-01 9.82210545e-01 -2.06655846e-03 -4.38566165e+01] [-1.22086111e-02 -2.30119798e-04 9.99925446e-01 -9.35291547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.374203822 meters Centerline goodness [0,1] 0.9999570741758241 Centerline is valid? [True, True] Translation: X:295.60, Y:-43.86, Z:-9.36 [[ 9.82779069e-01 1.84452859e-01 1.10654442e-02 2.95600427e+02] [-1.84443156e-01 9.82841347e-01 -1.89992895e-03 -4.38647500e+01] [-1.12260234e-02 -1.73735046e-04 9.99936971e-01 -9.35705302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.40420382200006 meters Centerline goodness [0,1] 0.999978454776576 Centerline is valid? [True, True] Translation: X:295.63, Y:-43.88, Z:-9.36 [[ 9.83221421e-01 1.82099240e-01 1.07473266e-02 2.95628479e+02] [-1.82089931e-01 9.83280147e-01 -1.84670871e-03 -4.38750172e+01] [-1.09039171e-02 -1.41256394e-04 9.99940541e-01 -9.35613733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.43420382200003 meters Centerline goodness [0,1] 0.9998252359314925 Centerline is valid? [True, True] Translation: X:295.66, Y:-43.88, Z:-9.36 [[ 9.83694890e-01 1.79518861e-01 1.08324749e-02 2.95655811e+02] [-1.79509291e-01 9.83754525e-01 -1.85732363e-03 -4.38841163e+01] [-1.09899208e-02 -1.17490123e-04 9.99939602e-01 -9.35631407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.46420382200006 meters Centerline goodness [0,1] 0.999956664933264 Centerline is valid? [True, True] Translation: X:295.68, Y:-43.89, Z:-9.36 [[ 9.84494178e-01 1.75019905e-01 1.18002475e-02 2.95682357e+02] [-1.75008226e-01 9.84564893e-01 -2.02320550e-03 -4.38938776e+01] [-1.19722106e-02 -7.33063353e-05 9.99928328e-01 -9.35588322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.49420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:295.71, Y:-43.90, Z:-9.36 [[ 9.84855126e-01 1.73022933e-01 1.11105856e-02 2.95710644e+02] [-1.73012471e-01 9.84917795e-01 -1.90332554e-03 -4.39012241e+01] [-1.12723324e-02 -4.77699498e-05 9.99936464e-01 -9.35770621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.52420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:295.74, Y:-43.91, Z:-9.36 [[ 9.85264191e-01 1.70668950e-01 1.12509343e-02 2.95737412e+02] [-1.70658072e-01 9.85328427e-01 -1.92701167e-03 -4.39088514e+01] [-1.14147465e-02 -2.14471671e-05 9.99934849e-01 -9.36165786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.55420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:295.76, Y:-43.91, Z:-9.36 [[ 9.85276110e-01 1.70600124e-01 1.12510237e-02 2.95764524e+02] [-1.70589248e-01 9.85340346e-01 -1.92648940e-03 -4.39133508e+01] [-1.14147469e-02 -2.11796896e-05 9.99934849e-01 -9.36249934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.58420382200006 meters Centerline goodness [0,1] 0.9999568155809384 Centerline is valid? [True, True] Translation: X:295.79, Y:-43.92, Z:-9.36 [[ 9.85397518e-01 1.69920062e-01 1.09042740e-02 2.95792856e+02] [-1.69909816e-01 9.85457849e-01 -1.86600975e-03 -4.39193339e+01] [-1.10627749e-02 -1.39818139e-05 9.99938806e-01 -9.36086229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.61420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:295.82, Y:-43.92, Z:-9.36 [[ 9.85425964e-01 1.69734326e-01 1.12217554e-02 2.95819787e+02] [-1.69723467e-01 9.85489857e-01 -1.91994810e-03 -4.39244559e+01] [-1.13848073e-02 -1.26285378e-05 9.99935191e-01 -9.36286737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.64420382200007 meters Centerline goodness [0,1] 0.999956686518679 Centerline is valid? [True, True] Translation: X:295.85, Y:-43.93, Z:-9.36 [[ 9.85416465e-01 1.69819263e-01 1.07614654e-02 2.95847972e+02] [-1.69809292e-01 9.85475224e-01 -1.84028880e-03 -4.39281419e+01] [-1.09176740e-02 -1.39459275e-05 9.99940400e-01 -9.36419347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.67420382200004 meters Centerline goodness [0,1] 0.9998276159282882 Centerline is valid? [True, True] Translation: X:295.88, Y:-43.93, Z:-9.36 [[ 9.85475167e-01 1.69441169e-01 1.13307023e-02 2.95876074e+02] [-1.69430097e-01 9.85540304e-01 -1.93703180e-03 -4.39325847e+01] [-1.14950767e-02 -1.08652507e-05 9.99933929e-01 -9.36436770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.70420382200007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:295.90, Y:-43.94, Z:-9.36 [[ 9.85446088e-01 1.69568136e-01 1.19438439e-02 2.95903387e+02] [-1.69555848e-01 9.85518466e-01 -2.04139104e-03 -4.39361074e+01] [-1.21170336e-02 -1.34677699e-05 9.99926586e-01 -9.36266009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.73420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:295.93, Y:-43.94, Z:-9.36 [[ 9.85434085e-01 1.69679262e-01 1.13407291e-02 2.95932138e+02] [-1.69668201e-01 9.85499339e-01 -1.93746048e-03 -4.39391740e+01] [-1.15050279e-02 -1.49215050e-05 9.99933815e-01 -9.36343348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.76420382200007 meters Centerline goodness [0,1] 0.9998699468949821 Centerline is valid? [True, True] Translation: X:295.96, Y:-43.94, Z:-9.37 [[ 9.85455931e-01 1.69613832e-01 1.03805430e-02 2.95960937e+02] [-1.69604565e-01 9.85510603e-01 -1.77302984e-03 -4.39431407e+01] [-1.05308656e-02 -1.33447045e-05 9.99944549e-01 -9.36638302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.79420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:295.99, Y:-43.95, Z:-9.37 [[ 9.85416924e-01 1.69834232e-01 1.04794536e-02 2.95988602e+02] [-1.69824801e-01 9.85472645e-01 -1.78987462e-03 -4.39470420e+01] [-1.06311968e-02 -1.58983704e-05 9.99943487e-01 -9.36744550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.8242038220001 meters Centerline goodness [0,1] 0.999913147323852 Centerline is valid? [True, True] Translation: X:296.02, Y:-43.95, Z:-9.37 [[ 9.85362591e-01 1.70152184e-01 1.04306711e-02 2.96016962e+02] [-1.70142866e-01 9.85417797e-01 -1.78079652e-03 -4.39492892e+01] [-1.05815754e-02 -1.99739975e-05 9.99944013e-01 -9.36890922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.85420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:296.05, Y:-43.95, Z:-9.37 [[ 9.85309855e-01 1.70386386e-01 1.15312172e-02 2.96045486e+02] [-1.70375030e-01 9.85377328e-01 -1.96732733e-03 -4.39487663e+01] [-1.16978058e-02 -2.62044674e-05 9.99931578e-01 -9.36824444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.8842038220001 meters Centerline goodness [0,1] 0.999978603218076 Centerline is valid? [True, True] Translation: X:296.07, Y:-43.95, Z:-9.37 [[ 9.85396156e-01 1.69923659e-01 1.09711703e-02 2.96073260e+02] [-1.69913358e-01 9.85457229e-01 -1.87113991e-03 -4.39512522e+01] [-1.11295701e-02 -2.03343202e-05 9.99938064e-01 -9.37175234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.91420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:296.10, Y:-43.96, Z:-9.37 [[ 9.85739515e-01 1.67887474e-01 1.14631620e-02 2.96101200e+02] [-1.67876102e-01 9.85806166e-01 -1.95403226e-03 -4.39572579e+01] [-1.16285133e-02 1.77585271e-06 9.99932387e-01 -9.37078883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.944203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:296.13, Y:-43.96, Z:-9.37 [[ 9.85963806e-01 1.66484210e-01 1.25849435e-02 2.96129146e+02] [-1.66470399e-01 9.86044120e-01 -2.14450341e-03 -4.39642319e+01] [-1.27663355e-02 1.93821765e-05 9.99918507e-01 -9.37038734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.97420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:296.16, Y:-43.97, Z:-9.37 [[ 9.86396654e-01 1.63955264e-01 1.18453641e-02 2.96156668e+02] [-1.63942843e-01 9.86467774e-01 -2.01875578e-03 -4.39715483e+01] [-1.20160556e-02 4.93312772e-05 9.99927803e-01 -9.36862622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.004203822 meters Centerline goodness [0,1] 0.9999351126876325 Centerline is valid? [True, True] Translation: X:296.18, Y:-43.98, Z:-9.37 [[ 9.86528470e-01 1.63181651e-01 1.15467168e-02 2.96184035e+02] [-1.63169812e-01 9.86596040e-01 -1.96641820e-03 -4.39753797e+01] [-1.17128284e-02 5.58519229e-05 9.99931401e-01 -9.37275538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.03420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:296.21, Y:-43.98, Z:-9.37 [[ 9.86657123e-01 1.62361331e-01 1.21045402e-02 2.96211485e+02] [-1.62348269e-01 9.86731369e-01 -2.06052711e-03 -4.39777472e+01] [-1.22784794e-02 6.78825950e-05 9.99924614e-01 -9.37228884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.064203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:296.24, Y:-43.98, Z:-9.37 [[ 9.86772258e-01 1.61641304e-01 1.23531632e-02 2.96238344e+02] [-1.61627649e-01 9.86849575e-01 -2.10243508e-03 -4.39819768e+01] [-1.25305542e-02 7.80118798e-05 9.99921486e-01 -9.37386859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.09420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:296.27, Y:-43.99, Z:-9.37 [[ 9.86900080e-01 1.60835319e-01 1.26582871e-02 2.96265900e+02] [-1.60820932e-01 9.86981252e-01 -2.15302032e-03 -4.39863216e+01] [-1.28397738e-02 8.90983959e-05 9.99917563e-01 -9.37362715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.124203822 meters Centerline goodness [0,1] 0.9999143853941482 Centerline is valid? [True, True] Translation: X:296.29, Y:-43.99, Z:-9.37 [[ 9.86961133e-01 1.60458721e-01 1.26775322e-02 2.96293505e+02] [-1.60444271e-01 9.87042547e-01 -2.15542331e-03 -4.39900777e+01] [-1.28591201e-02 9.32816228e-05 9.99917314e-01 -9.37436513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.15420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:296.32, Y:-43.99, Z:-9.37 [[ 9.86964016e-01 1.60406316e-01 1.31089321e-02 2.96321636e+02] [-1.60390880e-01 9.87051065e-01 -2.22729023e-03 -4.39948361e+01] [-1.32964568e-02 9.57021538e-05 9.99911594e-01 -9.37280438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.18420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:296.35, Y:-44.00, Z:-9.38 [[ 9.87045624e-01 1.59932896e-01 1.27438610e-02 2.96348569e+02] [-1.59918273e-01 9.87127884e-01 -2.16488139e-03 -4.39998910e+01] [-1.29260563e-02 9.88604612e-05 9.99916450e-01 -9.37870284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.21420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:296.38, Y:-44.00, Z:-9.38 [[ 9.87265026e-01 1.58589866e-01 1.25308599e-02 2.96376365e+02] [-1.58575631e-01 9.87344540e-01 -2.12785318e-03 -4.40046018e+01] [-1.27097321e-02 1.13666007e-04 9.99919222e-01 -9.37965731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.24420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:296.40, Y:-44.01, Z:-9.38 [[ 9.87489930e-01 1.57212318e-01 1.21624763e-02 2.96404954e+02] [-1.57198813e-01 9.87564819e-01 -2.06451033e-03 -4.40097681e+01] [-1.23358002e-02 1.26756327e-04 9.99923903e-01 -9.37790825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.27420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:296.43, Y:-44.02, Z:-9.38 [[ 9.87785588e-01 1.55390723e-01 1.15479881e-02 2.96432771e+02] [-1.55378429e-01 9.87853078e-01 -1.95972781e-03 -4.40178791e+01] [-1.17122391e-02 1.41482637e-04 9.99931399e-01 -9.37936509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.30420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:296.46, Y:-44.03, Z:-9.38 [[ 9.88452046e-01 1.51052544e-01 1.20698664e-02 2.96458361e+02] [-1.51038796e-01 9.88525715e-01 -2.04785059e-03 -4.40329441e+01] [-1.22407063e-02 2.01184026e-04 9.99925060e-01 -9.38020148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.33420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:296.49, Y:-44.05, Z:-9.38 [[ 9.89049949e-01 1.47046166e-01 1.25548461e-02 2.96486323e+02] [-1.47030987e-01 9.89129596e-01 -2.12865654e-03 -4.40461048e+01] [-1.27313806e-02 2.59396228e-04 9.99918919e-01 -9.37907948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.36420382200004 meters Centerline goodness [0,1] 0.9999359056531214 Centerline is valid? [True, True] Translation: X:296.51, Y:-44.06, Z:-9.38 [[ 9.89261621e-01 1.45608610e-01 1.26324221e-02 2.96512167e+02] [-1.45593122e-01 9.89342233e-01 -2.14213566e-03 -4.40607702e+01] [-1.28097021e-02 2.79938835e-04 9.99917913e-01 -9.38452157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.39420382200007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:296.54, Y:-44.06, Z:-9.38 [[ 9.89394726e-01 1.44669996e-01 1.29872833e-02 2.96541105e+02] [-1.44653557e-01 9.89479915e-01 -2.20124488e-03 -4.40644267e+01] [-1.31691100e-02 2.99243346e-04 9.99913239e-01 -9.38040367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.42420382200004 meters Centerline goodness [0,1] 0.9999784115196131 Centerline is valid? [True, True] Translation: X:296.57, Y:-44.07, Z:-9.38 [[ 9.89316257e-01 1.45192873e-01 1.31291083e-02 2.96568792e+02] [-1.45176128e-01 9.89403327e-01 -2.22467605e-03 -4.40733478e+01] [-1.33129906e-02 2.94875067e-04 9.99911335e-01 -9.37853909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.45420382200007 meters Centerline goodness [0,1] 0.9999783975286772 Centerline is valid? [True, True] Translation: X:296.60, Y:-44.08, Z:-9.38 [[ 9.89129729e-01 1.46508716e-01 1.25528790e-02 2.96595838e+02] [-1.46493519e-01 9.89209344e-01 -2.12669051e-03 -4.40797198e+01] [-1.27290039e-02 2.64657382e-04 9.99918948e-01 -9.38031057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.48420382200004 meters Centerline goodness [0,1] 0.9999139618420769 Centerline is valid? [True, True] Translation: X:296.62, Y:-44.09, Z:-9.38 [[ 9.88407807e-01 1.51277237e-01 1.28532055e-02 2.96623553e+02] [-1.51261724e-01 9.88491353e-01 -2.17628382e-03 -4.40856878e+01] [-1.30345047e-02 2.06857898e-04 9.99915026e-01 -9.38324204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.51420382200007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:296.65, Y:-44.09, Z:-9.38 [[ 9.87950433e-01 1.54220801e-01 1.30340192e-02 2.96650443e+02] [-1.54205106e-01 9.88036394e-01 -2.20676418e-03 -4.40913732e+01] [-1.32184143e-02 1.70261314e-04 9.99912618e-01 -9.38357047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.54420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:296.68, Y:-44.09, Z:-9.38 [[ 9.87405388e-01 1.57733670e-01 1.22755403e-02 2.96679581e+02] [-1.57720029e-01 9.87481684e-01 -2.07760205e-03 -4.40931328e+01] [-1.24495790e-02 1.15336888e-04 9.99922494e-01 -9.38304650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.5742038220001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:296.71, Y:-44.09, Z:-9.39 [[ 9.86056552e-01 1.66046497e-01 1.10016569e-02 2.96709633e+02] [-1.66036053e-01 9.86117924e-01 -1.86234623e-03 -4.40907015e+01] [-1.11581672e-02 9.70699944e-06 9.99937746e-01 -9.38510910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.60420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:296.74, Y:-44.09, Z:-9.39 [[ 9.85218147e-01 1.70961958e-01 1.08264202e-02 2.96737677e+02] [-1.70952150e-01 9.85277629e-01 -1.83176124e-03 -4.40895389e+01] [-1.09801912e-02 -4.61154057e-05 9.99939715e-01 -9.38768893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.6342038220001 meters Centerline goodness [0,1] 0.9998711755233495 Centerline is valid? [True, True] Translation: X:296.77, Y:-44.08, Z:-9.39 [[ 9.83463602e-01 1.80846199e-01 9.69515933e-03 2.96767975e+02] [-1.80838833e-01 9.83511379e-01 -1.63845807e-03 -4.40834589e+01] [-9.83160844e-03 -1.41897421e-04 9.99951659e-01 -9.39333802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.66420382200005 meters Centerline goodness [0,1] 0.999935647174911 Centerline is valid? [True, True] Translation: X:296.80, Y:-44.08, Z:-9.39 [[ 9.82664332e-01 1.85150167e-01 9.49871326e-03 2.96796721e+02] [-1.85143294e-01 9.82710223e-01 -1.60554635e-03 -4.40822102e+01] [-9.63174981e-03 -1.80909933e-04 9.99953597e-01 -9.39443763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.694203822 meters Centerline goodness [0,1] 0.9998716440260991 Centerline is valid? [True, True] Translation: X:296.83, Y:-44.08, Z:-9.40 [[ 9.81879348e-01 1.89270061e-01 9.47578287e-03 2.96826782e+02] [-1.89263422e-01 9.81925045e-01 -1.60068385e-03 -4.40827130e+01] [-9.60747006e-03 -2.21740682e-04 9.99953823e-01 -9.39510227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.72420382200005 meters Centerline goodness [0,1] 0.999740815136396 Centerline is valid? [True, True] Translation: X:296.86, Y:-44.09, Z:-9.39 [[ 9.80716125e-01 1.95211858e-01 9.39211856e-03 2.96856804e+02] [-1.95205613e-01 9.80761058e-01 -1.58608601e-03 -4.40862373e+01] [-9.52104693e-03 -2.77894132e-04 9.99954635e-01 -9.39465150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.754203822 meters Centerline goodness [0,1] 0.9985617901482625 Centerline is valid? [True, True] Translation: X:296.89, Y:-44.09, Z:-9.40 [[ 9.80351196e-01 1.96979900e-01 1.05096332e-02 2.96885311e+02] [-1.96972172e-01 9.80407472e-01 -1.77561037e-03 -4.40851367e+01] [-1.06534824e-02 -3.29383523e-04 9.99943196e-01 -9.39554535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.78420382200005 meters Centerline goodness [0,1] 0.9995937914225852 Centerline is valid? [True, True] Translation: X:296.91, Y:-44.09, Z:-9.39 [[ 9.79950780e-01 1.98918189e-01 1.13146878e-02 2.96913527e+02] [-1.98909347e-01 9.80016027e-01 -1.91286243e-03 -4.40912751e+01] [-1.14690785e-02 -3.76086129e-04 9.99934157e-01 -9.39205993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.814203822 meters Centerline goodness [0,1] 0.9996733876235684 Centerline is valid? [True, True] Translation: X:296.94, Y:-44.10, Z:-9.39 [[ 9.79884820e-01 1.99277701e-01 1.06835111e-02 2.96941253e+02] [-1.99269882e-01 9.79942991e-01 -1.80220713e-03 -4.40989562e+01] [-1.08283715e-02 -3.62946585e-04 9.99941306e-01 -9.39183467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.84420382200005 meters Centerline goodness [0,1] 0.9973969446103952 Centerline is valid? [True, True] Translation: X:296.97, Y:-44.10, Z:-9.39 [[ 9.79636566e-01 2.00442887e-01 1.16124338e-02 2.96970385e+02] [-2.00433737e-01 9.79705304e-01 -1.95840463e-03 -4.40951596e+01] [-1.17693113e-02 -4.08998720e-04 9.99930656e-01 -9.39494378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.874203822 meters Centerline goodness [0,1] 0.9994380322483033 Centerline is valid? [True, True] Translation: X:297.00, Y:-44.10, Z:-9.39 [[ 9.79561947e-01 2.00805250e-01 1.16466477e-02 2.96998258e+02] [-2.00796056e-01 9.79631094e-01 -1.96549347e-03 -4.41019417e+01] [-1.18040996e-02 -4.13278311e-04 9.99930244e-01 -9.39339018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.90420382200006 meters Centerline goodness [0,1] 0.99920542885367 Centerline is valid? [True, True] Translation: X:297.03, Y:-44.11, Z:-9.39 [[ 9.79417277e-01 2.01518241e-01 1.14976327e-02 2.97026573e+02] [-2.01509353e-01 9.79484672e-01 -1.93841521e-03 -4.41057243e+01] [-1.16523811e-02 -4.18363178e-04 9.99932021e-01 -9.39384913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.93420382200003 meters Centerline goodness [0,1] 0.9900154268083647 Centerline is valid? [True, True] Translation: X:297.06, Y:-44.10, Z:-9.40 [[ 9.79020570e-01 2.03450452e-01 1.12533036e-02 2.97056948e+02] [-2.03442116e-01 9.79085146e-01 -1.89271698e-03 -4.40981421e+01] [-1.14030166e-02 -4.36387045e-04 9.99934888e-01 -9.39822425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.96420382200006 meters Centerline goodness [0,1] 0.9869383043310959 Centerline is valid? [True, True] Translation: X:297.08, Y:-44.10, Z:-9.40 [[ 9.78845372e-01 2.04284380e-01 1.13855059e-02 2.97084659e+02] [-2.04275903e-01 9.78911481e-01 -1.91491874e-03 -4.40990743e+01] [-1.15365905e-02 -4.51375160e-04 9.99933349e-01 -9.39974910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.99420382200003 meters Centerline goodness [0,1] 0.9730618738444339 Centerline is valid? [True, True] Translation: X:297.11, Y:-44.09, Z:-9.40 [[ 9.78774414e-01 2.04649591e-01 1.09175010e-02 2.97113332e+02] [-2.04641804e-01 9.78835203e-01 -1.83764686e-03 -4.40934281e+01] [-1.10625080e-02 -4.35535362e-04 9.99938714e-01 -9.40279378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.02420382200006 meters Centerline goodness [0,1] 0.9919755199863048 Centerline is valid? [True, True] Translation: X:297.14, Y:-44.10, Z:-9.40 [[ 9.78837422e-01 2.04334707e-01 1.11637054e-02 2.97141466e+02] [-2.04326565e-01 9.78900981e-01 -1.87723832e-03 -4.40989014e+01] [-1.13117472e-02 -4.43530466e-04 9.99935922e-01 -9.39999524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.05420382200003 meters Centerline goodness [0,1] 0.9974371782898594 Centerline is valid? [True, True] Translation: X:297.17, Y:-44.10, Z:-9.40 [[ 9.79028921e-01 2.03416492e-01 1.11401378e-02 2.97170066e+02] [-2.03408345e-01 9.79092203e-01 -1.87149687e-03 -4.41029326e+01] [-1.12879154e-02 -4.33747439e-04 9.99936195e-01 -9.39899302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.08420382200006 meters Centerline goodness [0,1] 0.997259459114954 Centerline is valid? [True, True] Translation: X:297.20, Y:-44.10, Z:-9.40 [[ 9.79877451e-01 1.99266391e-01 1.15362923e-02 2.97199884e+02] [-1.99257427e-01 9.79945275e-01 -1.93298088e-03 -4.41034911e+01] [-1.16901133e-02 -4.04607544e-04 9.99931586e-01 -9.40256279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.11420382200004 meters Centerline goodness [0,1] 0.9999354963555441 Centerline is valid? [True, True] Translation: X:297.23, Y:-44.12, Z:-9.40 [[ 9.81223524e-01 1.92549973e-01 1.11760478e-02 2.97228648e+02] [-1.92541129e-01 9.81287118e-01 -1.87213858e-03 -4.41152682e+01] [-1.13273920e-02 -3.14862449e-04 9.99935793e-01 -9.40317131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.14420382200007 meters Centerline goodness [0,1] 0.9998297872340426 Centerline is valid? [True, True] Translation: X:297.26, Y:-44.12, Z:-9.40 [[ 9.82009436e-01 1.88487295e-01 1.14020969e-02 2.97257855e+02] [-1.88477817e-01 9.82075590e-01 -1.90984289e-03 -4.41220106e+01] [-1.15577021e-02 -2.73558589e-04 9.99933170e-01 -9.40400187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.17420382200004 meters Centerline goodness [0,1] 0.9999360736431631 Centerline is valid? [True, True] Translation: X:297.29, Y:-44.13, Z:-9.40 [[ 9.82898402e-01 1.83776906e-01 1.16953275e-02 2.97286466e+02] [-1.83766596e-01 9.82967954e-01 -1.95941621e-03 -4.41309342e+01] [-1.18562276e-02 -2.23303459e-04 9.99929688e-01 -9.40417305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.20420382200007 meters Centerline goodness [0,1] 0.9999568304949383 Centerline is valid? [True, True] Translation: X:297.31, Y:-44.15, Z:-9.41 [[ 9.85029792e-01 1.71996228e-01 1.15587990e-02 2.97313110e+02] [-1.71985348e-01 9.85097605e-01 -1.93625560e-03 -4.41483342e+01] [-1.17195738e-02 -8.06746049e-05 9.99931320e-01 -9.40843989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.23420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:297.34, Y:-44.16, Z:-9.41 [[ 9.86108301e-01 1.65721246e-01 1.12643939e-02 2.97340475e+02] [-1.65710501e-01 9.86172636e-01 -1.88716000e-03 -4.41619867e+01] [-1.14213795e-02 -5.68421931e-06 9.99934774e-01 -9.40695923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.26420382200007 meters Centerline goodness [0,1] 0.9998483896818349 Centerline is valid? [True, True] Translation: X:297.37, Y:-44.18, Z:-9.41 [[ 9.88089238e-01 1.53439525e-01 1.16606494e-02 2.97367384e+02] [-1.53427166e-01 9.88158030e-01 -1.95247324e-03 -4.41799299e+01] [-1.18221509e-02 1.40157414e-04 9.99930106e-01 -9.40781710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.29420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:297.39, Y:-44.19, Z:-9.41 [[ 9.88948920e-01 1.47739136e-01 1.23766195e-02 2.97394892e+02] [-1.47724766e-01 9.89026339e-01 -2.07238893e-03 -4.41916825e+01] [-1.25469756e-02 2.21153580e-04 9.99921259e-01 -9.40523104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.3242038220001 meters Centerline goodness [0,1] 0.9999784129177101 Centerline is valid? [True, True] Translation: X:297.42, Y:-44.21, Z:-9.41 [[ 9.90238635e-01 1.38758549e-01 1.31723752e-02 2.97422179e+02] [-1.38741497e-01 9.90326178e-01 -2.20407801e-03 -4.42089248e+01] [-1.33507827e-02 3.55008141e-04 9.99910811e-01 -9.40627504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.35420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:297.45, Y:-44.22, Z:-9.40 [[ 9.90660645e-01 1.35722389e-01 1.30736066e-02 2.97450755e+02] [-1.35705321e-01 9.90746829e-01 -2.18803488e-03 -4.42170046e+01] [-1.32495996e-02 3.93442060e-04 9.99912143e-01 -9.40439156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.3842038220001 meters Centerline goodness [0,1] 0.999807490748861 Centerline is valid? [True, True] Translation: X:297.48, Y:-44.23, Z:-9.41 [[ 9.91068311e-01 1.32684460e-01 1.33580532e-02 2.97478585e+02] [-1.32666373e-01 9.91158231e-01 -2.23506927e-03 -4.42290594e+01] [-1.35365033e-02 4.42941863e-04 9.99908279e-01 -9.40814592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.41420382200005 meters Centerline goodness [0,1] 0.999935747788653 Centerline is valid? [True, True] Translation: X:297.51, Y:-44.23, Z:-9.41 [[ 9.91117205e-01 1.32325614e-01 1.32897468e-02 2.97507963e+02] [-1.32307679e-01 9.91206201e-01 -2.22367992e-03 -4.42346480e+01] [-1.34671293e-02 4.45591877e-04 9.99909215e-01 -9.40624199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.444203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:297.54, Y:-44.24, Z:-9.41 [[ 9.90959873e-01 1.33532170e-01 1.29495328e-02 2.97537624e+02] [-1.33515248e-01 9.91044391e-01 -2.16646491e-03 -4.42374776e+01] [-1.31228546e-02 4.17919703e-04 9.99913804e-01 -9.40532059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.47420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:297.57, Y:-44.24, Z:-9.41 [[ 9.90966448e-01 1.33483364e-01 1.29495152e-02 2.97565583e+02] [-1.33466436e-01 9.91050966e-01 -2.16657053e-03 -4.42420694e+01] [-1.31228307e-02 4.18673054e-04 9.99913804e-01 -9.40618803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.504203822 meters Centerline goodness [0,1] 0.999914679407875 Centerline is valid? [True, True] Translation: X:297.59, Y:-44.25, Z:-9.41 [[ 9.90772059e-01 1.34896787e-01 1.31750950e-02 2.97593196e+02] [-1.34879404e-01 9.90859572e-01 -2.20318517e-03 -4.42521751e+01] [-1.33518716e-02 4.05805345e-04 9.99910777e-01 -9.41030489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.53420382200005 meters Centerline goodness [0,1] 0.9998701158133997 Centerline is valid? [True, True] Translation: X:297.62, Y:-44.25, Z:-9.41 [[ 9.90230295e-01 1.38918903e-01 1.20624245e-02 2.97623851e+02] [-1.38904637e-01 9.90303708e-01 -2.01665055e-03 -4.42499634e+01] [-1.22256146e-02 3.21421778e-04 9.99925213e-01 -9.41211086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.564203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:297.65, Y:-44.26, Z:-9.41 [[ 9.89889678e-01 1.41283719e-01 1.25433321e-02 2.97651794e+02] [-1.41268479e-01 9.89969100e-01 -2.09731795e-03 -4.42579097e+01] [-1.27138281e-02 3.04135952e-04 9.99919130e-01 -9.41336004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.59420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:297.68, Y:-44.26, Z:-9.41 [[ 9.89502278e-01 1.43941295e-01 1.28897052e-02 2.97681168e+02] [-1.43925430e-01 9.89586190e-01 -2.15493059e-03 -4.42577095e+01] [-1.30656577e-02 2.77152366e-04 9.99914602e-01 -9.41122742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.624203822 meters Centerline goodness [0,1] 0.9999784853700516 Centerline is valid? [True, True] Translation: X:297.71, Y:-44.26, Z:-9.41 [[ 9.88544816e-01 1.50336374e-01 1.33462420e-02 2.97711424e+02] [-1.50319963e-01 9.88634885e-01 -2.23012930e-03 -4.42555350e+01] [-1.35298300e-02 1.98376156e-04 9.99908448e-01 -9.41083431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.65420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:297.74, Y:-44.25, Z:-9.41 [[ 9.87526632e-01 1.56850140e-01 1.37544665e-02 2.97741099e+02] [-1.56833332e-01 9.87622408e-01 -2.29899709e-03 -4.42547926e+01] [-1.39448173e-02 1.13162049e-04 9.99902760e-01 -9.41158494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.68420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:297.77, Y:-44.26, Z:-9.41 [[ 9.87016428e-01 1.60036283e-01 1.36732585e-02 2.97768786e+02] [-1.60019997e-01 9.87111130e-01 -2.28407823e-03 -4.42564383e+01] [-1.38625611e-02 6.64279497e-05 9.99903908e-01 -9.41267010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.71420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:297.80, Y:-44.26, Z:-9.41 [[ 9.86489339e-01 1.63328874e-01 1.27461054e-02 2.97797367e+02] [-1.63315013e-01 9.86571679e-01 -2.12792407e-03 -4.42570960e+01] [-1.29224981e-02 1.75440405e-05 9.99916501e-01 -9.41463127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.74420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:297.83, Y:-44.25, Z:-9.42 [[ 9.85391343e-01 1.69839689e-01 1.25849935e-02 2.97826972e+02] [-1.69826714e-01 9.85471702e-01 -2.10042627e-03 -4.42538099e+01] [-1.27588907e-02 -6.75262267e-05 9.99918600e-01 -9.41620770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.77420382200006 meters Centerline goodness [0,1] 0.9998074413230921 Centerline is valid? [True, True] Translation: X:297.86, Y:-44.25, Z:-9.42 [[ 9.84536831e-01 1.74725900e-01 1.25733177e-02 2.97855664e+02] [-1.74713353e-01 9.84617105e-01 -2.09806235e-03 -4.42514478e+01] [-1.27464895e-02 -1.31106827e-04 9.99918752e-01 -9.42010585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.80420382200003 meters Centerline goodness [0,1] 0.9999565915700829 Centerline is valid? [True, True] Translation: X:297.88, Y:-44.25, Z:-9.42 [[ 9.84314620e-01 1.75992049e-01 1.23096290e-02 2.97884459e+02] [-1.75980133e-01 9.84391577e-01 -2.05308883e-03 -4.42543725e+01] [-1.24788224e-02 -1.45364796e-04 9.99922126e-01 -9.41965377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.83420382200006 meters Centerline goodness [0,1] 0.9999788243266136 Centerline is valid? [True, True] Translation: X:297.91, Y:-44.26, Z:-9.42 [[ 9.84122722e-01 1.77022998e-01 1.28579647e-02 2.97912271e+02] [-1.77010091e-01 9.84206701e-01 -2.14404366e-03 -4.42550156e+01] [-1.30344400e-02 -1.65987414e-04 9.99915034e-01 -9.42359289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.86420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:297.94, Y:-44.26, Z:-9.42 [[ 9.84058491e-01 1.77416458e-01 1.23404153e-02 2.97940693e+02] [-1.77404612e-01 9.84135851e-01 -2.05680864e-03 -4.42611008e+01] [-1.25095569e-02 -1.65226590e-04 9.99921739e-01 -9.42332209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.89420382200007 meters Centerline goodness [0,1] 0.9998928716817004 Centerline is valid? [True, True] Translation: X:297.97, Y:-44.27, Z:-9.43 [[ 9.84219905e-01 1.76585464e-01 1.13469316e-02 2.97968890e+02] [-1.76575399e-01 9.84285301e-01 -1.89079740e-03 -4.42674723e+01] [-1.15025053e-02 -1.42628539e-04 9.99933834e-01 -9.42589191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.92420382200004 meters Centerline goodness [0,1] 0.9999784538481428 Centerline is valid? [True, True] Translation: X:298.00, Y:-44.28, Z:-9.43 [[ 9.84907969e-01 1.72726459e-01 1.10391280e-02 2.97995187e+02] [-1.72716693e-01 9.84969828e-01 -1.83922601e-03 -4.42779544e+01] [-1.11908910e-02 -9.51733216e-05 9.99937375e-01 -9.42890062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.95420382200007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:298.02, Y:-44.29, Z:-9.43 [[ 9.85418424e-01 1.69745060e-01 1.17108670e-02 2.98023026e+02] [-1.69733871e-01 9.85488006e-01 -1.95006936e-03 -4.42885969e+01] [-1.18719336e-02 -6.60965135e-05 9.99929524e-01 -9.42920994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.98420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:298.05, Y:-44.30, Z:-9.43 [[ 9.86003064e-01 1.66329126e-01 1.15143302e-02 2.98050889e+02] [-1.66318082e-01 9.86070292e-01 -1.91680997e-03 -4.42995808e+01] [-1.16727603e-02 -2.50608098e-05 9.99931871e-01 -9.42975935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.01420382200007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:298.08, Y:-44.31, Z:-9.43 [[ 9.87023648e-01 1.60157510e-01 1.15710958e-02 2.98077774e+02] [-1.60145939e-01 9.87091470e-01 -1.92572237e-03 -4.43142336e+01] [-1.17301489e-02 4.76695056e-05 9.99931198e-01 -9.42823554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.04420382200004 meters Centerline goodness [0,1] 0.9999782693728541 Centerline is valid? [True, True] Translation: X:298.11, Y:-44.32, Z:-9.43 [[ 9.87439081e-01 1.57549126e-01 1.19304106e-02 2.98105922e+02] [-1.57536643e-01 9.87511147e-01 -1.98488854e-03 -4.43225446e+01] [-1.20941310e-02 8.04796727e-05 9.99926860e-01 -9.42812455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.0742038220001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:298.13, Y:-44.33, Z:-9.43 [[ 9.88069144e-01 1.53450362e-01 1.31283552e-02 2.98131943e+02] [-1.53434892e-01 9.88156347e-01 -2.18357386e-03 -4.43347610e+01] [-1.33079377e-02 1.43174182e-04 9.99911435e-01 -9.42724842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.10420382200004 meters Centerline goodness [0,1] 0.9999787098147754 Centerline is valid? [True, True] Translation: X:298.16, Y:-44.34, Z:-9.43 [[ 9.88218475e-01 1.52533235e-01 1.25641621e-02 2.98159055e+02] [-1.52519001e-01 9.88298331e-01 -2.08899522e-03 -4.43424522e+01] [-1.27357816e-02 1.48110223e-04 9.99918886e-01 -9.43137410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.1342038220001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:298.19, Y:-44.35, Z:-9.43 [[ 9.88256763e-01 1.52381260e-01 1.13367370e-02 2.98187758e+02] [-1.52369671e-01 9.88321776e-01 -1.88412968e-03 -4.43477872e+01] [-1.14914501e-02 1.34629016e-04 9.99933962e-01 -9.43443281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.16420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:298.22, Y:-44.35, Z:-9.43 [[ 9.88088945e-01 1.53486773e-01 1.10475217e-02 2.98216918e+02] [-1.53475842e-01 9.88150695e-01 -1.83560940e-03 -4.43498376e+01] [-1.11983580e-02 1.18217659e-04 9.99937289e-01 -9.43410998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.194203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:298.25, Y:-44.35, Z:-9.43 [[ 9.87912675e-01 1.54555690e-01 1.18778957e-02 2.98245957e+02] [-1.54543139e-01 9.87984072e-01 -1.97290681e-03 -4.43523394e+01] [-1.20400958e-02 1.13412348e-04 9.99927509e-01 -9.43208558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.22420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:298.27, Y:-44.36, Z:-9.43 [[ 9.87626081e-01 1.56244059e-01 1.35099511e-02 2.98273546e+02] [-1.56227989e-01 9.87718474e-01 -2.24329912e-03 -4.43567319e+01] [-1.36945305e-02 1.04908217e-04 9.99906220e-01 -9.43097979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.254203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:298.30, Y:-44.36, Z:-9.43 [[ 9.87569068e-01 1.56571897e-01 1.38771844e-02 2.98302423e+02] [-1.56554984e-01 9.87666558e-01 -2.30357664e-03 -4.43618910e+01] [-1.40667064e-02 1.02398644e-04 9.99901054e-01 -9.43111307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.28420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:298.33, Y:-44.37, Z:-9.44 [[ 9.87518754e-01 1.56983456e-01 1.27634556e-02 2.98329539e+02] [-1.56969200e-01 9.87601229e-01 -2.11740794e-03 -4.43679928e+01] [-1.29376024e-02 8.75106423e-05 9.99916302e-01 -9.43591790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.314203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:298.36, Y:-44.37, Z:-9.44 [[ 9.87511216e-01 1.57064081e-01 1.23479821e-02 2.98356650e+02] [-1.57050749e-01 9.87588410e-01 -2.04811360e-03 -4.43734187e+01] [-1.25164091e-02 8.32753112e-05 9.99921663e-01 -9.43848589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.34420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:298.39, Y:-44.38, Z:-9.44 [[ 9.87335929e-01 1.58158348e-01 1.23975644e-02 2.98385622e+02] [-1.58145007e-01 9.87413759e-01 -2.05536728e-03 -4.43774518e+01] [-1.25665992e-02 6.87250447e-05 9.99921035e-01 -9.43938447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.374203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:298.41, Y:-44.38, Z:-9.44 [[ 9.87149140e-01 1.59341150e-01 1.21232161e-02 2.98414519e+02] [-1.59328488e-01 9.87223579e-01 -2.00936981e-03 -4.43806931e+01] [-1.22885000e-02 5.19739898e-05 9.99924492e-01 -9.43868126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.40420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:298.44, Y:-44.38, Z:-9.44 [[ 9.86472124e-01 1.63613134e-01 1.01731013e-02 2.98442030e+02] [-1.63604448e-01 9.86524578e-01 -1.68587844e-03 -4.43820203e+01] [-1.03118463e-02 -1.29253727e-06 9.99946831e-01 -9.44357844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.43420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:298.47, Y:-44.38, Z:-9.45 [[ 9.86082164e-01 1.65990987e-01 9.43179123e-03 2.98470205e+02] [-1.65983631e-01 9.86127270e-01 -1.56290174e-03 -4.43840798e+01] [-9.56037413e-03 -2.43734227e-05 9.99954298e-01 -9.44677963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.46420382200006 meters Centerline goodness [0,1] 0.9999784054591 Centerline is valid? [True, True] Translation: X:298.50, Y:-44.39, Z:-9.45 [[ 9.85707014e-01 1.68214571e-01 9.24887123e-03 2.98499235e+02] [-1.68207602e-01 9.85750403e-01 -1.53180410e-03 -4.43864247e+01] [-9.37475031e-03 -4.58204096e-05 9.99956055e-01 -9.44736143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.49420382200003 meters Centerline goodness [0,1] 0.9999572676965152 Centerline is valid? [True, True] Translation: X:298.53, Y:-44.39, Z:-9.45 [[ 9.85070949e-01 1.71887815e-01 9.47651800e-03 2.98527436e+02] [-1.71880672e-01 9.85116527e-01 -1.56926069e-03 -4.43857673e+01] [-9.60521129e-03 -8.29971636e-05 9.99953865e-01 -9.44893507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.52420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:298.56, Y:-44.39, Z:-9.45 [[ 9.84902840e-01 1.72841032e-01 9.61114201e-03 2.98556187e+02] [-1.72833738e-01 9.84949729e-01 -1.59073183e-03 -4.43894234e+01] [-9.74143545e-03 -9.44133067e-05 9.99952547e-01 -9.44701278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.55420382200003 meters Centerline goodness [0,1] 0.9999782920158035 Centerline is valid? [True, True] Translation: X:298.59, Y:-44.39, Z:-9.45 [[ 9.84645339e-01 1.74193016e-01 1.14170483e-02 2.98585102e+02] [-1.74182823e-01 9.84711520e-01 -1.88877586e-03 -4.43923394e+01] [-1.15715106e-02 -1.28879369e-04 9.99933040e-01 -9.44582851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.58420382200006 meters Centerline goodness [0,1] 0.9999785757134287 Centerline is valid? [True, True] Translation: X:298.61, Y:-44.40, Z:-9.45 [[ 9.84633953e-01 1.74207376e-01 1.21560578e-02 2.98613019e+02] [-1.74195828e-01 9.84708978e-01 -2.01053921e-03 -4.43969910e+01] [-1.23204301e-02 -1.37889391e-04 9.99924091e-01 -9.44540832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.61420382200004 meters Centerline goodness [0,1] 0.9998920669185105 Centerline is valid? [True, True] Translation: X:298.64, Y:-44.40, Z:-9.45 [[ 9.84659927e-01 1.74082458e-01 1.18374679e-02 2.98640814e+02] [-1.74071510e-01 9.84731070e-01 -1.95692443e-03 -4.44034991e+01] [-1.19973887e-02 -1.33660846e-04 9.99928020e-01 -9.44792335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.64420382200007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:298.67, Y:-44.41, Z:-9.45 [[ 9.84773943e-01 1.73420798e-01 1.20626571e-02 2.98667832e+02] [-1.73409380e-01 9.84847811e-01 -1.99414994e-03 -4.44088834e+01] [-1.22257085e-02 -1.27990981e-04 9.99925255e-01 -9.44893464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.67420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:298.70, Y:-44.41, Z:-9.45 [[ 9.84855676e-01 1.72972871e-01 1.18187946e-02 2.98695496e+02] [-1.72961892e-01 9.84926582e-01 -1.95268793e-03 -4.44146492e+01] [-1.19784070e-02 -1.21085282e-04 9.99928249e-01 -9.44878250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.70420382200007 meters Centerline goodness [0,1] 0.9999571670271775 Centerline is valid? [True, True] Translation: X:298.72, Y:-44.41, Z:-9.45 [[ 9.84881596e-01 1.72831738e-01 1.17231315e-02 2.98722226e+02] [-1.72820927e-01 9.84951357e-01 -1.93669913e-03 -4.44149579e+01] [-1.18814373e-02 -1.18583117e-04 9.99929406e-01 -9.45394344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.73420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:298.75, Y:-44.42, Z:-9.45 [[ 9.84935219e-01 1.72512470e-01 1.19189927e-02 2.98749764e+02] [-1.72501303e-01 9.85007327e-01 -1.96649531e-03 -4.44240710e+01] [-1.20795401e-02 -1.19171283e-04 9.99927033e-01 -9.45093004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.76420382200007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:298.78, Y:-44.43, Z:-9.45 [[ 9.84967553e-01 1.72304436e-01 1.22515663e-02 2.98777029e+02] [-1.72292626e-01 9.85043739e-01 -2.02092381e-03 -4.44293671e+01] [-1.24165428e-02 -1.20310158e-04 9.99922905e-01 -9.45148802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.79420382200004 meters Centerline goodness [0,1] 0.9999788900382091 Centerline is valid? [True, True] Translation: X:298.80, Y:-44.43, Z:-9.45 [[ 9.84992384e-01 1.72145548e-01 1.24865083e-02 2.98804304e+02] [-1.72133279e-01 9.85071518e-01 -2.05884301e-03 -4.44323198e+01] [-1.26545243e-02 -1.21398930e-04 9.99919921e-01 -9.45294902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.8242038220001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:298.83, Y:-44.44, Z:-9.45 [[ 9.85171195e-01 1.71135042e-01 1.22683973e-02 2.98833173e+02] [-1.71123131e-01 9.85247576e-01 -2.02190788e-03 -4.44370340e+01] [-1.24334280e-02 -1.07481155e-04 9.99922696e-01 -9.45388614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.85420382200004 meters Centerline goodness [0,1] 0.9999788713051195 Centerline is valid? [True, True] Translation: X:298.86, Y:-44.44, Z:-9.45 [[ 9.85292959e-01 1.70415325e-01 1.25061085e-02 2.98861070e+02] [-1.70402898e-01 9.85372319e-01 -2.06045470e-03 -4.44423082e+01] [-1.26743061e-02 -1.00925619e-04 9.99919673e-01 -9.45392180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.8842038220001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:298.89, Y:-44.45, Z:-9.45 [[ 9.85766503e-01 1.67634028e-01 1.27763033e-02 2.98888480e+02] [-1.67620833e-01 9.85849293e-01 -2.10433968e-03 -4.44519419e+01] [-1.29482685e-02 -6.71870279e-05 9.99916165e-01 -9.45335235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.91420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:298.92, Y:-44.46, Z:-9.45 [[ 9.86064608e-01 1.65846522e-01 1.30965999e-02 2.98916306e+02] [-1.65832508e-01 9.86151575e-01 -2.15641380e-03 -4.44603979e+01] [-1.32728663e-02 -4.54786754e-05 9.99911911e-01 -9.45364624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.944203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:298.94, Y:-44.47, Z:-9.45 [[ 9.86612287e-01 1.62483345e-01 1.39770482e-02 2.98943069e+02] [-1.62467055e-01 9.86711286e-01 -2.30078787e-03 -4.44701221e+01] [-1.41651509e-02 -8.24264948e-07 9.99899669e-01 -9.45272798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.97420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:298.97, Y:-44.47, Z:-9.46 [[ 9.86746134e-01 1.61665002e-01 1.40176639e-02 2.98970478e+02] [-1.61648546e-01 9.86845696e-01 -2.30659639e-03 -4.44748661e+01] [-1.42061672e-02 1.00900791e-05 9.99899087e-01 -9.45501758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.004203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:299.00, Y:-44.48, Z:-9.45 [[ 9.86879929e-01 1.60852756e-01 1.39426576e-02 2.98998879e+02] [-1.60836409e-01 9.86978414e-01 -2.29323014e-03 -4.44794613e+01] [-1.41299745e-02 2.06558030e-05 9.99900167e-01 -9.45427497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.03420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:299.03, Y:-44.48, Z:-9.45 [[ 9.86955961e-01 1.60320039e-01 1.46770832e-02 2.99026852e+02] [-1.60301878e-01 9.87065086e-01 -2.41324391e-03 -4.44845526e+01] [-1.48741278e-02 2.90014575e-05 9.99889374e-01 -9.45350319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.064203822 meters Centerline goodness [0,1] 0.9999355351655672 Centerline is valid? [True, True] Translation: X:299.06, Y:-44.49, Z:-9.45 [[ 9.86975954e-01 1.60158908e-01 1.50860923e-02 2.99055337e+02] [-1.60139713e-01 9.87091244e-01 -2.47974784e-03 -4.44899145e+01] [-1.52885033e-02 3.15690012e-05 9.99883124e-01 -9.45367150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.09420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:299.08, Y:-44.50, Z:-9.45 [[ 9.87118170e-01 1.59262801e-01 1.52669395e-02 2.99083227e+02] [-1.59243047e-01 9.87236222e-01 -2.50868781e-03 -4.44972939e+01] [-1.54716163e-02 4.52173451e-05 9.99880306e-01 -9.45362099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.124203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:299.11, Y:-44.50, Z:-9.46 [[ 9.87264246e-01 1.58391328e-01 1.48827721e-02 2.99110573e+02] [-1.58372465e-01 9.87376415e-01 -2.44504442e-03 -4.45043072e+01] [-1.50821720e-02 5.68836221e-05 9.99886256e-01 -9.45563193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.15420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:299.14, Y:-44.51, Z:-9.46 [[ 9.87574864e-01 1.56571238e-01 1.34660631e-02 2.99138056e+02] [-1.56555636e-01 9.87666665e-01 -2.21164197e-03 -4.45110037e+01] [-1.36462611e-02 7.59739509e-05 9.99906883e-01 -9.45906399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.18420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:299.16, Y:-44.52, Z:-9.46 [[ 9.87837455e-01 1.54961724e-01 1.28072890e-02 2.99164341e+02] [-1.54947482e-01 9.87920470e-01 -2.10294858e-03 -4.45187273e+01] [-1.29784595e-02 9.29141877e-05 9.99915772e-01 -9.46355207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.21420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:299.19, Y:-44.53, Z:-9.46 [[ 9.88478891e-01 1.50875297e-01 1.20883095e-02 2.99192334e+02] [-1.50862324e-01 9.88552794e-01 -1.98323824e-03 -4.45306702e+01] [-1.22491537e-02 1.36718687e-04 9.99924967e-01 -9.46280783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.24420382200003 meters Centerline goodness [0,1] 0.9999782514136581 Centerline is valid? [True, True] Translation: X:299.22, Y:-44.54, Z:-9.46 [[ 9.88756983e-01 1.49049943e-01 1.19892577e-02 2.99221303e+02] [-1.49037050e-01 9.88829657e-01 -1.96670328e-03 -4.45381683e+01] [-1.21484705e-02 1.57748002e-04 9.99926192e-01 -9.46332188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.27420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:299.25, Y:-44.55, Z:-9.46 [[ 9.89130549e-01 1.46461231e-01 1.30332154e-02 2.99248623e+02] [-1.46445784e-01 9.89216390e-01 -2.13696205e-03 -4.45522346e+01] [-1.32056524e-02 2.05075003e-04 9.99912781e-01 -9.46364630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.30420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:299.28, Y:-44.56, Z:-9.46 [[ 9.89222997e-01 1.45831508e-01 1.30779875e-02 2.99278813e+02] [-1.45815896e-01 9.89309418e-01 -2.14454722e-03 -4.45590179e+01] [-1.32509187e-02 2.14456959e-04 9.99912180e-01 -9.46312098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.33420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:299.31, Y:-44.56, Z:-9.46 [[ 9.89047432e-01 1.46990000e-01 1.33834434e-02 2.99308879e+02] [-1.46973756e-01 9.89137957e-01 -2.19463632e-03 -4.45626447e+01] [-1.35606614e-02 2.03584469e-04 9.99908029e-01 -9.46254193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.36420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:299.34, Y:-44.57, Z:-9.46 [[ 9.89047432e-01 1.46990000e-01 1.33834434e-02 2.99338478e+02] [-1.46973756e-01 9.89137957e-01 -2.19463632e-03 -4.45674983e+01] [-1.35606614e-02 2.03584469e-04 9.99908029e-01 -9.46346018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.39420382200007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:299.37, Y:-44.57, Z:-9.46 [[ 9.88796334e-01 1.48611746e-01 1.40128130e-02 2.99368407e+02] [-1.48594102e-01 9.88895603e-01 -2.29784126e-03 -4.45709176e+01] [-1.41986954e-02 1.89875646e-04 9.99899175e-01 -9.46363776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.42420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:299.40, Y:-44.57, Z:-9.46 [[ 9.88445786e-01 1.50843388e-01 1.48728418e-02 2.99396774e+02] [-1.50823755e-01 9.88557658e-01 -2.43944924e-03 -4.45732951e+01] [-1.50706364e-02 1.68085483e-04 9.99886417e-01 -9.46288526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.45420382200007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:299.43, Y:-44.57, Z:-9.46 [[ 9.87449246e-01 1.57245231e-01 1.47622445e-02 2.99426292e+02] [-1.57226612e-01 9.87559584e-01 -2.42075451e-03 -4.45706227e+01] [-1.49592481e-02 6.93545365e-05 9.99888102e-01 -9.46306345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.48420382200004 meters Centerline goodness [0,1] 0.9999784682298731 Centerline is valid? [True, True] Translation: X:299.45, Y:-44.57, Z:-9.47 [[ 9.86882960e-01 1.60804026e-01 1.42859464e-02 2.99454799e+02] [-1.60786963e-01 9.86986355e-01 -2.34254431e-03 -4.45700877e+01] [-1.44767247e-02 1.48231265e-05 9.99895207e-01 -9.46637440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.51420382200007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:299.48, Y:-44.57, Z:-9.47 [[ 9.85905249e-01 1.66650102e-01 1.47845434e-02 2.99483761e+02] [-1.66632501e-01 9.86016094e-01 -2.42312195e-03 -4.45653726e+01] [-1.49816113e-02 -7.46167979e-05 9.99887767e-01 -9.46729584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.54420382200004 meters Centerline goodness [0,1] 0.9999349889481212 Centerline is valid? [True, True] Translation: X:299.51, Y:-44.57, Z:-9.47 [[ 9.85447692e-01 1.69365332e-01 1.44301872e-02 2.99512710e+02] [-1.69348866e-01 9.85553333e-01 -2.36438193e-03 -4.45655897e+01] [-1.46221635e-02 -1.13761128e-04 9.99893084e-01 -9.46834849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.5742038220001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:299.54, Y:-44.56, Z:-9.47 [[ 9.84808556e-01 1.73023593e-01 1.46610061e-02 2.99541316e+02] [-1.73007010e-01 9.84917665e-01 -2.40162324e-03 -4.45619882e+01] [-1.48554214e-02 -1.71317710e-04 9.99889637e-01 -9.46808943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.60420382200004 meters Centerline goodness [0,1] 0.9999785903913676 Centerline is valid? [True, True] Translation: X:299.57, Y:-44.56, Z:-9.47 [[ 9.84644371e-01 1.73934260e-01 1.49109108e-02 2.99570511e+02] [-1.73917228e-01 9.84757248e-01 -2.44138338e-03 -4.45633557e+01] [-1.51082677e-02 -1.89369866e-04 9.99885846e-01 -9.46908772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.6342038220001 meters Centerline goodness [0,1] 0.9998921204798481 Centerline is valid? [True, True] Translation: X:299.60, Y:-44.57, Z:-9.47 [[ 9.84585079e-01 1.74283877e-01 1.47428930e-02 2.99599279e+02] [-1.74267277e-01 9.84695431e-01 -2.41316383e-03 -4.45659393e+01] [-1.49378350e-02 -1.93238720e-04 9.99888406e-01 -9.47263602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.66420382200005 meters Centerline goodness [0,1] 0.9999783680886043 Centerline is valid? [True, True] Translation: X:299.63, Y:-44.57, Z:-9.47 [[ 9.84903292e-01 1.72531880e-01 1.40803635e-02 2.99626603e+02] [-1.72516565e-01 9.85003921e-01 -2.30428403e-03 -4.45734164e+01] [-1.42667757e-02 -1.59599023e-04 9.99898212e-01 -9.47430273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.694203822 meters Centerline goodness [0,1] 0.9999783704280493 Centerline is valid? [True, True] Translation: X:299.65, Y:-44.58, Z:-9.47 [[ 9.85179252e-01 1.70962464e-01 1.39168084e-02 2.99654932e+02] [-1.70947361e-01 9.85277533e-01 -2.27649763e-03 -4.45803049e+01] [-1.41011143e-02 -1.36283436e-04 9.99900565e-01 -9.47350706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.72420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:299.68, Y:-44.59, Z:-9.48 [[ 9.85694875e-01 1.68025472e-01 1.31549986e-02 2.99683153e+02] [-1.68011723e-01 9.85782650e-01 -2.15129974e-03 -4.45867285e+01] [-1.33294426e-02 -8.96688574e-05 9.99911155e-01 -9.47508051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.754203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:299.71, Y:-44.59, Z:-9.48 [[ 9.85940401e-01 1.66577358e-01 1.31722784e-02 2.99709957e+02] [-1.66563450e-01 9.86028386e-01 -2.15365874e-03 -4.45929390e+01] [-1.33469912e-02 -7.06409762e-05 9.99910922e-01 -9.47831698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.78420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:299.74, Y:-44.60, Z:-9.48 [[ 9.86442741e-01 1.63505365e-01 1.40254492e-02 2.99737865e+02] [-1.63489304e-01 9.86542444e-01 -2.29192539e-03 -4.46019460e+01] [-1.42114431e-02 -3.21577768e-05 9.99899012e-01 -9.47658179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.814203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:299.77, Y:-44.61, Z:-9.48 [[ 9.86728410e-01 1.61693197e-01 1.49115941e-02 2.99765650e+02] [-1.61674848e-01 9.86841076e-01 -2.43591437e-03 -4.46082936e+01] [-1.51092444e-02 -7.24379495e-06 9.99885849e-01 -9.47523882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.84420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:299.79, Y:-44.62, Z:-9.48 [[ 9.87021828e-01 1.59858601e-01 1.52688678e-02 2.99792524e+02] [-1.59839152e-01 9.87139923e-01 -2.49365632e-03 -4.46155919e+01] [-1.54711414e-02 2.07303374e-05 9.99880315e-01 -9.47661891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.874203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:299.82, Y:-44.63, Z:-9.48 [[ 9.87551238e-01 1.56538928e-01 1.54310078e-02 2.99820412e+02] [-1.56518677e-01 9.87671787e-01 -2.51894416e-03 -4.46261091e+01] [-1.56350839e-02 7.23454960e-05 9.99877762e-01 -9.47693285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.90420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:299.85, Y:-44.63, Z:-9.48 [[ 9.87988182e-01 1.53772217e-01 1.52793177e-02 2.99849854e+02] [-1.53752048e-01 9.88106316e-01 -2.49310371e-03 -4.46327572e+01] [-1.54809604e-02 1.13930621e-04 9.99880156e-01 -9.47640161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.93420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:299.88, Y:-44.64, Z:-9.48 [[ 9.88189629e-01 1.52468937e-01 1.53127822e-02 2.99877659e+02] [-1.52448525e-01 9.88308254e-01 -2.49836224e-03 -4.46402972e+01] [-1.55146717e-02 1.34444582e-04 9.99879631e-01 -9.47813418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.96420382200006 meters Centerline goodness [0,1] 0.9998924013858701 Centerline is valid? [True, True] Translation: X:299.91, Y:-44.65, Z:-9.48 [[ 9.88336427e-01 1.51557055e-01 1.48851130e-02 2.99906035e+02] [-1.51537676e-01 9.88448501e-01 -2.42786072e-03 -4.46475480e+01] [-1.50811270e-02 1.43887762e-04 9.99886263e-01 -9.48166233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.99420382200003 meters Centerline goodness [0,1] 0.999826772335542 Centerline is valid? [True, True] Translation: X:299.93, Y:-44.65, Z:-9.48 [[ 9.88361151e-01 1.51473393e-01 1.40729354e-02 2.99934808e+02] [-1.51456066e-01 9.88461326e-01 -2.29509000e-03 -4.46534454e+01] [-1.42581975e-02 1.36946360e-04 9.99898337e-01 -9.48204574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.02420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:299.96, Y:-44.65, Z:-9.48 [[ 9.88002309e-01 1.53901824e-01 1.28710957e-02 2.99963013e+02] [-1.53887530e-01 9.88086140e-01 -2.09956555e-03 -4.46545940e+01] [-1.30408783e-02 9.36744805e-05 9.99914960e-01 -9.48390119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.05420382200003 meters Centerline goodness [0,1] 0.9999566780747736 Centerline is valid? [True, True] Translation: X:299.99, Y:-44.66, Z:-9.49 [[ 9.87623755e-01 1.56376722e-01 1.20681059e-02 2.99992402e+02] [-1.56364354e-01 9.87697483e-01 -1.96757089e-03 -4.46550596e+01] [-1.22273201e-02 5.61981736e-05 9.99925242e-01 -9.48779309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.08420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:300.02, Y:-44.66, Z:-9.49 [[ 9.87247000e-01 1.58769262e-01 1.16482450e-02 3.00020061e+02] [-1.58757909e-01 9.87315715e-01 -1.89881051e-03 -4.46572085e+01] [-1.18019681e-02 2.53439567e-05 9.99930354e-01 -9.49088748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.11420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:300.05, Y:-44.66, Z:-9.49 [[ 9.86580776e-01 1.62965677e-01 1.00279914e-02 3.00049046e+02] [-1.62957486e-01 9.86631739e-01 -1.63403654e-03 -4.46564479e+01] [-1.01602265e-02 -2.20272309e-05 9.99948383e-01 -9.49389875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.14420382200007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:300.08, Y:-44.66, Z:-9.50 [[ 9.86325631e-01 1.64521657e-01 9.71466002e-03 3.00076613e+02] [-1.64514047e-01 9.86373470e-01 -1.58279696e-03 -4.46570933e+01] [-9.84268730e-03 -3.70448259e-05 9.99951559e-01 -9.49700519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.17420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:300.11, Y:-44.66, Z:-9.49 [[ 9.86089686e-01 1.65931792e-01 9.68356103e-03 3.00105851e+02] [-1.65924307e-01 9.86137231e-01 -1.57691856e-03 -4.46586989e+01] [-9.81098098e-03 -5.17550245e-05 9.99951870e-01 -9.49473766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.20420382200007 meters Centerline goodness [0,1] 0.9999785894745857 Centerline is valid? [True, True] Translation: X:300.13, Y:-44.66, Z:-9.50 [[ 9.86116149e-01 1.65765790e-01 9.83077199e-03 3.00133543e+02] [-1.65758070e-01 9.86165149e-01 -1.60062061e-03 -4.46632809e+01] [-9.96009286e-03 -5.11319521e-05 9.99950396e-01 -9.49782073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.23420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:300.16, Y:-44.67, Z:-9.50 [[ 9.86409905e-01 1.63973260e-01 1.04052606e-02 3.00161504e+02] [-1.63964522e-01 9.86464783e-01 -1.69313835e-03 -4.46715311e+01] [-1.05420526e-02 -3.59651492e-05 9.99944430e-01 -9.49561969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.26420382200007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:300.19, Y:-44.68, Z:-9.50 [[ 9.86573109e-01 1.62951310e-01 1.09713888e-02 3.00189330e+02] [-1.62941540e-01 9.86634111e-01 -1.78463115e-03 -4.46774978e+01] [-1.11155544e-02 -2.70258769e-05 9.99938220e-01 -9.49509835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.29420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:300.22, Y:-44.68, Z:-9.50 [[ 9.86670753e-01 1.62276510e-01 1.21309251e-02 3.00217238e+02] [-1.62264524e-01 9.86745324e-01 -1.97246273e-03 -4.46823874e+01] [-1.22902180e-02 -2.22474982e-05 9.99924472e-01 -9.49547487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.3242038220001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:300.25, Y:-44.68, Z:-9.49 [[ 9.86561159e-01 1.62944105e-01 1.20953583e-02 3.00246341e+02] [-1.62932246e-01 9.86635301e-01 -1.96607805e-03 -4.46849292e+01] [-1.22540684e-02 -3.10676652e-05 9.99924916e-01 -9.49421384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.35420382200004 meters Centerline goodness [0,1] 0.9999784682298731 Centerline is valid? [True, True] Translation: X:300.27, Y:-44.69, Z:-9.50 [[ 9.86336139e-01 1.64322656e-01 1.17934645e-02 3.00274554e+02] [-1.64311484e-01 9.86406642e-01 -1.91667826e-03 -4.46851982e+01] [-1.19481053e-02 -4.73126121e-05 9.99928618e-01 -9.49720541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.3842038220001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:300.30, Y:-44.68, Z:-9.50 [[ 9.85739900e-01 1.67934194e-01 1.07217856e-02 3.00303633e+02] [-1.67925179e-01 9.85798204e-01 -1.74201181e-03 -4.46828595e+01] [-1.08620603e-02 -8.32872153e-05 9.99941003e-01 -9.49878434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.41420382200005 meters Centerline goodness [0,1] 0.999957040060144 Centerline is valid? [True, True] Translation: X:300.33, Y:-44.68, Z:-9.50 [[ 9.85504281e-01 1.69332936e-01 1.03763302e-02 3.00331154e+02] [-1.69324575e-01 9.85558901e-01 -1.68538052e-03 -4.46835541e+01] [-1.05118751e-02 -9.60179948e-05 9.99944744e-01 -9.50273259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.444203822 meters Centerline goodness [0,1] 0.9999784040600367 Centerline is valid? [True, True] Translation: X:300.36, Y:-44.68, Z:-9.50 [[ 9.85149225e-01 1.71389814e-01 1.03216374e-02 3.00360185e+02] [-1.71381665e-01 9.85203288e-01 -1.67548258e-03 -4.46827771e+01] [-1.04560718e-02 -1.18339041e-04 9.99945327e-01 -9.50096745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.47420382200005 meters Centerline goodness [0,1] 0.9999574241617882 Centerline is valid? [True, True] Translation: X:300.39, Y:-44.68, Z:-9.50 [[ 9.85083047e-01 1.71735147e-01 1.08825972e-02 3.00388032e+02] [-1.71726113e-01 9.85143148e-01 -1.76614951e-03 -4.46828505e+01] [-1.10242260e-02 -1.29022171e-04 9.99939223e-01 -9.50369028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.504203822 meters Centerline goodness [0,1] 0.9999785297148747 Centerline is valid? [True, True] Translation: X:300.42, Y:-44.69, Z:-9.50 [[ 9.85196885e-01 1.71058079e-01 1.12352919e-02 3.00416702e+02] [-1.71048418e-01 9.85260939e-01 -1.82235806e-03 -4.46858122e+01] [-1.13814233e-02 -1.26397422e-04 9.99935222e-01 -9.50444843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.53420382200005 meters Centerline goodness [0,1] 0.9999783577890318 Centerline is valid? [True, True] Translation: X:300.44, Y:-44.69, Z:-9.50 [[ 9.85392061e-01 1.69932911e-01 1.11934158e-02 3.00444902e+02] [-1.69923255e-01 9.85455627e-01 -1.81506207e-03 -4.46923933e+01] [-1.13390534e-02 -1.13473903e-04 9.99935704e-01 -9.50351573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.564203822 meters Centerline goodness [0,1] 0.9999785158767671 Centerline is valid? [True, True] Translation: X:300.47, Y:-44.70, Z:-9.51 [[ 9.85648007e-01 1.68424449e-01 1.14547189e-02 3.00472422e+02] [-1.68414237e-01 9.85714561e-01 -1.85729818e-03 -4.46972896e+01] [-1.16038976e-02 -9.84954871e-05 9.99932668e-01 -9.50603035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.59420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:300.50, Y:-44.71, Z:-9.50 [[ 9.86198075e-01 1.65161903e-01 1.16147565e-02 3.00500012e+02] [-1.65151194e-01 9.86266466e-01 -1.88185227e-03 -4.47058531e+01] [-1.17660552e-02 -6.23118246e-05 9.99930776e-01 -9.50400061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.624203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:300.53, Y:-44.71, Z:-9.51 [[ 9.86855748e-01 1.61259162e-01 1.05458686e-02 3.00527502e+02] [-1.61250114e-01 9.86912095e-01 -1.70826952e-03 -4.47139460e+01] [-1.06833194e-02 -1.47069306e-05 9.99942932e-01 -9.50683241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.65420382200006 meters Centerline goodness [0,1] 0.999978868179705 Centerline is valid? [True, True] Translation: X:300.55, Y:-44.72, Z:-9.51 [[ 9.87144447e-01 1.59498551e-01 1.02982071e-02 3.00554317e+02] [-1.59489830e-01 9.87198163e-01 -1.66791092e-03 -4.47198303e+01] [-1.04324005e-02 4.00970254e-06 9.99945581e-01 -9.51105808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.68420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:300.58, Y:-44.73, Z:-9.51 [[ 9.87412454e-01 1.57864034e-01 9.77709814e-03 3.00582264e+02] [-1.57856101e-01 9.87460858e-01 -1.58273124e-03 -4.47256533e+01] [-9.90435806e-03 1.94339452e-05 9.99950950e-01 -9.51046895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.71420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:300.61, Y:-44.73, Z:-9.51 [[ 9.87708339e-01 1.56037618e-01 9.19235698e-03 3.00609263e+02] [-1.56030525e-01 9.87751113e-01 -1.48817798e-03 -4.47333298e+01] [-9.31197258e-03 3.55975140e-05 9.99956642e-01 -9.51406064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.74420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:300.64, Y:-44.74, Z:-9.51 [[ 9.87815474e-01 1.55312958e-01 9.92347161e-03 3.00637681e+02] [-1.55304669e-01 9.87865316e-01 -1.60519963e-03 -4.47380491e+01] [-1.00523617e-02 4.44795539e-05 9.99949473e-01 -9.51093763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.77420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:300.66, Y:-44.75, Z:-9.51 [[ 9.88021423e-01 1.53834309e-01 1.21931680e-02 3.00664743e+02] [-1.53821691e-01 9.88096655e-01 -1.97159980e-03 -4.47462325e+01] [-1.23513282e-02 7.24091175e-05 9.99923717e-01 -9.51348044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.80420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:300.69, Y:-44.75, Z:-9.51 [[ 9.88165020e-01 1.52901904e-01 1.22841418e-02 3.00693495e+02] [-1.52889037e-01 9.88241368e-01 -1.98531477e-03 -4.47506542e+01] [-1.24432555e-02 8.37080059e-05 9.99922576e-01 -9.50911701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.83420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:300.72, Y:-44.76, Z:-9.51 [[ 9.88310789e-01 1.51922103e-01 1.27066735e-02 3.00721048e+02] [-1.51908262e-01 9.88392465e-01 -2.05312299e-03 -4.47562311e+01] [-1.28710951e-02 9.88749162e-05 9.99917159e-01 -9.51016595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.86420382200004 meters Centerline goodness [0,1] 0.9999783559153284 Centerline is valid? [True, True] Translation: X:300.75, Y:-44.76, Z:-9.51 [[ 9.88648842e-01 1.49706429e-01 1.27063571e-02 3.00749126e+02] [-1.49692418e-01 9.88730484e-01 -2.05204693e-03 -4.47634881e+01] [-1.28703672e-02 1.26708503e-04 9.99917165e-01 -9.51130601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.89420382200007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:300.78, Y:-44.78, Z:-9.51 [[ 9.88927895e-01 1.47879196e-01 1.23839571e-02 3.00776704e+02] [-1.47865751e-01 9.89005421e-01 -1.99939128e-03 -4.47756038e+01] [-1.25434691e-02 1.46090685e-04 9.99921317e-01 -9.51279635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.92420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:300.80, Y:-44.78, Z:-9.51 [[ 9.89015481e-01 1.47297833e-01 1.23177013e-02 3.00804471e+02] [-1.47284497e-01 9.89092172e-01 -1.98785491e-03 -4.47830141e+01] [-1.24761487e-02 1.51812832e-04 9.99922158e-01 -9.51391600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.95420382200007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:300.83, Y:-44.79, Z:-9.52 [[ 9.89055910e-01 1.47031863e-01 1.22489694e-02 3.00831612e+02] [-1.47018655e-01 9.89131744e-01 -1.97683804e-03 -4.47891539e+01] [-1.24065027e-02 1.54376344e-04 9.99923024e-01 -9.51558005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.98420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:300.86, Y:-44.79, Z:-9.52 [[ 9.89016715e-01 1.47367781e-01 1.13434609e-02 3.00859551e+02] [-1.47356486e-01 9.89081755e-01 -1.82974164e-03 -4.47949146e+01] [-1.14892552e-02 1.38112530e-04 9.99933987e-01 -9.51794958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.01420382200007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:300.89, Y:-44.80, Z:-9.52 [[ 9.88771721e-01 1.48957290e-01 1.19251349e-02 3.00888311e+02] [-1.48944930e-01 9.88843623e-01 -1.92293462e-03 -4.48004494e+01] [-1.20785287e-02 1.25154983e-04 9.99927044e-01 -9.51675829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.04420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:300.92, Y:-44.80, Z:-9.52 [[ 9.88600004e-01 1.50100772e-01 1.18232762e-02 3.00917225e+02] [-1.50088710e-01 9.88670697e-01 -1.90595222e-03 -4.48049955e+01] [-1.19754116e-02 1.09684097e-04 9.99928286e-01 -9.51753878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.0742038220001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:300.94, Y:-44.81, Z:-9.52 [[ 9.88400666e-01 1.51406355e-01 1.18422942e-02 3.00944191e+02] [-1.51394354e-01 9.88471601e-01 -1.90864674e-03 -4.48107983e+01] [-1.19947528e-02 9.36512247e-05 9.99928056e-01 -9.52039924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.10420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:300.97, Y:-44.82, Z:-9.52 [[ 9.87959921e-01 1.54185296e-01 1.27314069e-02 3.00973059e+02] [-1.54171673e-01 9.88041948e-01 -2.05058053e-03 -4.48160443e+01] [-1.28953335e-02 6.30690702e-05 9.99916850e-01 -9.51736873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.1342038220001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:301.00, Y:-44.82, Z:-9.52 [[ 9.87721014e-01 1.55623590e-01 1.37294253e-02 3.01000574e+02] [-1.55607888e-01 9.87816428e-01 -2.21113168e-03 -4.48210423e+01] [-1.39062561e-02 4.75743489e-05 9.99903302e-01 -9.51872450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.16420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:301.03, Y:-44.83, Z:-9.52 [[ 9.87256166e-01 1.58532569e-01 1.38812041e-02 3.01029602e+02] [-1.58516815e-01 9.87353748e-01 -2.23491890e-03 -4.48254432e+01] [-1.40599663e-02 6.03321151e-06 9.99901154e-01 -9.51746784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.194203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:301.06, Y:-44.83, Z:-9.52 [[ 9.87050674e-01 1.59894244e-01 1.28373304e-02 3.01056383e+02] [-1.59880903e-01 9.87134150e-01 -2.06550481e-03 -4.48300161e+01] [-1.30024295e-02 -1.36860540e-05 9.99915465e-01 -9.52227610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.22420382200005 meters Centerline goodness [0,1] 0.9999572055204878 Centerline is valid? [True, True] Translation: X:301.08, Y:-44.84, Z:-9.53 [[ 9.86729615e-01 1.61972007e-01 1.13901754e-02 3.01084424e+02] [-1.61961646e-01 9.86795352e-01 -1.83237611e-03 -4.48362969e+01] [-1.15365658e-02 -3.67117906e-05 9.99933451e-01 -9.52525869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.254203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:301.11, Y:-44.84, Z:-9.53 [[ 9.86611764e-01 1.62671787e-01 1.16240137e-02 3.01111334e+02] [-1.62661049e-01 9.86680236e-01 -1.86961850e-03 -4.48437235e+01] [-1.17733188e-02 -4.61866629e-05 9.99930691e-01 -9.52680969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.28420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:301.14, Y:-44.85, Z:-9.53 [[ 9.86619382e-01 1.62625563e-01 1.16241612e-02 3.01139311e+02] [-1.62614832e-01 9.86687856e-01 -1.86870070e-03 -4.48481259e+01] [-1.17733172e-02 -4.65646977e-05 9.99930691e-01 -9.52767673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.314203822 meters Centerline goodness [0,1] 0.9999784152474692 Centerline is valid? [True, True] Translation: X:301.17, Y:-44.86, Z:-9.53 [[ 9.86595417e-01 1.62792220e-01 1.13214719e-02 3.01167363e+02] [-1.62782057e-01 9.86660373e-01 -1.81958647e-03 -4.48579804e+01] [-1.14666622e-02 -4.77368190e-05 9.99934255e-01 -9.52643026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.34420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:301.19, Y:-44.87, Z:-9.53 [[ 9.86358762e-01 1.64347891e-01 9.28239504e-03 3.01194268e+02] [-1.64341131e-01 9.86402437e-01 -1.49166421e-03 -4.48671009e+01] [-9.40132896e-03 -5.41632286e-05 9.99955805e-01 -9.53144393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.374203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:301.22, Y:-44.87, Z:-9.53 [[ 9.86098418e-01 1.65916700e-01 9.03099321e-03 3.01222042e+02] [-1.65910366e-01 9.86139769e-01 -1.45124313e-03 -4.48709356e+01] [-9.14660703e-03 -6.72668335e-05 9.99958167e-01 -9.53428117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.40420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:301.25, Y:-44.88, Z:-9.53 [[ 9.85270360e-01 1.70721765e-01 9.81812691e-03 3.01250437e+02] [-1.70714530e-01 9.85319270e-01 -1.57649271e-03 -4.48763139e+01] [-9.94313126e-03 -1.22825389e-04 9.99950558e-01 -9.53043898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.43420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:301.28, Y:-44.88, Z:-9.53 [[ 9.84749028e-01 1.73643518e-01 1.08296081e-02 3.01278810e+02] [-1.73634897e-01 9.84808560e-01 -1.73844838e-03 -4.48787791e+01] [-1.09669611e-02 -1.68462539e-04 9.99939847e-01 -9.52813705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.46420382200006 meters Centerline goodness [0,1] 0.9999574105621806 Centerline is valid? [True, True] Translation: X:301.31, Y:-44.88, Z:-9.52 [[ 9.83517019e-01 1.80247730e-01 1.43188076e-02 3.01308158e+02] [-1.80233386e-01 9.83621193e-01 -2.29662296e-03 -4.48753230e+01] [-1.44982437e-02 -3.21959403e-04 9.99894843e-01 -9.52323188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.49420382200003 meters Centerline goodness [0,1] 0.9999147775694562 Centerline is valid? [True, True] Translation: X:301.34, Y:-44.88, Z:-9.52 [[ 9.82899439e-01 1.83495348e-01 1.54321258e-02 3.01336754e+02] [-1.83479094e-01 9.83020497e-01 -2.47471945e-03 -4.48761098e+01] [-1.56241955e-02 -3.99072105e-04 9.99877855e-01 -9.52228232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.52420382200006 meters Centerline goodness [0,1] 0.9999133430100305 Centerline is valid? [True, True] Translation: X:301.37, Y:-44.88, Z:-9.52 [[ 9.82292366e-01 1.86707940e-01 1.55516205e-02 3.01365652e+02] [-1.86691848e-01 9.82415359e-01 -2.49309271e-03 -4.48797221e+01] [-1.57436311e-02 -4.54414829e-04 9.99875958e-01 -9.52162680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.55420382200003 meters Centerline goodness [0,1] 0.9982423074479575 Centerline is valid? [True, True] Translation: X:301.40, Y:-44.87, Z:-9.53 [[ 9.81176339e-01 1.92535235e-01 1.49390366e-02 3.01397240e+02] [-1.92521077e-01 9.81289919e-01 -2.39369146e-03 -4.48708449e+01] [-1.51203960e-02 -5.27445994e-04 9.99885541e-01 -9.52619522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.58420382200006 meters Centerline goodness [0,1] 0.9997837136368551 Centerline is valid? [True, True] Translation: X:301.43, Y:-44.88, Z:-9.53 [[ 9.80789443e-01 1.94558534e-01 1.41083829e-02 3.01425820e+02] [-1.94546112e-01 9.80890768e-01 -2.26081856e-03 -4.48779180e+01] [-1.42786441e-02 -5.27344068e-04 9.99897916e-01 -9.52561408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.61420382200004 meters Centerline goodness [0,1] 0.9920839823329848 Centerline is valid? [True, True] Translation: X:301.46, Y:-44.87, Z:-9.53 [[ 9.80472155e-01 1.96156839e-01 1.40302242e-02 3.01455630e+02] [-1.96144725e-01 9.80572381e-01 -2.24776191e-03 -4.48730700e+01] [-1.41985643e-02 -5.48086521e-04 9.99899045e-01 -9.53110203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.64420382200007 meters Centerline goodness [0,1] 0.9990361755445608 Centerline is valid? [True, True] Translation: X:301.48, Y:-44.88, Z:-9.53 [[ 9.80565848e-01 1.95718234e-01 1.36011337e-02 3.01483085e+02] [-1.95706812e-01 9.80660031e-01 -2.17873976e-03 -4.48848990e+01] [-1.37645073e-02 -5.25436718e-04 9.99905127e-01 -9.52966508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.67420382200004 meters Centerline goodness [0,1] 0.9987748258963116 Centerline is valid? [True, True] Translation: X:301.51, Y:-44.89, Z:-9.53 [[ 9.81107774e-01 1.93061840e-01 1.24363056e-02 3.01510687e+02] [-1.93052081e-01 9.81186489e-01 -1.99187014e-03 -4.48887862e+01] [-1.25868891e-02 -4.46615395e-04 9.99920682e-01 -9.53323166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.70420382200007 meters Centerline goodness [0,1] 0.999544112539076 Centerline is valid? [True, True] Translation: X:301.54, Y:-44.90, Z:-9.53 [[ 9.81568170e-01 1.90722058e-01 1.22075109e-02 3.01539115e+02] [-1.90712480e-01 9.81643993e-01 -1.95476994e-03 -4.48969359e+01] [-1.23562475e-02 -4.09384733e-04 9.99923575e-01 -9.53421209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.73420382200004 meters Centerline goodness [0,1] 0.999658688510602 Centerline is valid? [True, True] Translation: X:301.57, Y:-44.91, Z:-9.54 [[ 9.82644597e-01 1.85078393e-01 1.24733838e-02 3.01567691e+02] [-1.85067965e-01 9.82723698e-01 -1.99522486e-03 -4.49063965e+01] [-1.26271629e-02 -3.47826827e-04 9.99920214e-01 -9.53719073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.76420382200007 meters Centerline goodness [0,1] 0.9999141888702965 Centerline is valid? [True, True] Translation: X:301.60, Y:-44.91, Z:-9.54 [[ 9.83199244e-01 1.82121248e-01 1.22921717e-02 3.01595819e+02] [-1.82110885e-01 9.83276033e-01 -1.96665612e-03 -4.49144331e+01] [-1.24447677e-02 -3.04923459e-04 9.99922514e-01 -9.53767247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.79420382200004 meters Centerline goodness [0,1] 0.9999360109208029 Centerline is valid? [True, True] Translation: X:301.62, Y:-44.92, Z:-9.54 [[ 9.83676366e-01 1.79526655e-01 1.22876493e-02 3.01623581e+02] [-1.79516104e-01 9.83753072e-01 -1.96533006e-03 -4.49197529e+01] [-1.24408419e-02 -2.72582198e-04 9.99922573e-01 -9.53922363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.8242038220001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:301.65, Y:-44.93, Z:-9.54 [[ 9.84636939e-01 1.74246458e-01 1.13256394e-02 3.01651547e+02] [-1.74237158e-01 9.84702054e-01 -1.81034924e-03 -4.49347655e+01] [-1.14678274e-02 -1.90810491e-04 9.99934224e-01 -9.54049819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.85420382200004 meters Centerline goodness [0,1] 0.9999786566495208 Centerline is valid? [True, True] Translation: X:301.68, Y:-44.94, Z:-9.54 [[ 9.85131605e-01 1.71440223e-01 1.11342145e-02 3.01678199e+02] [-1.71431046e-01 9.85194512e-01 -1.78057338e-03 -4.49429477e+01] [-1.12746289e-02 -1.54650917e-04 9.99936427e-01 -9.54284329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.8842038220001 meters Centerline goodness [0,1] 0.9999787057345457 Centerline is valid? [True, True] Translation: X:301.71, Y:-44.95, Z:-9.54 [[ 9.85885400e-01 1.67064444e-01 1.09292697e-02 3.01707024e+02] [-1.67055348e-01 9.85945973e-01 -1.74641985e-03 -4.49522609e+01] [-1.10674341e-02 -1.04023122e-04 9.99938749e-01 -9.54366610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.91420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:301.74, Y:-44.96, Z:-9.54 [[ 9.86296216e-01 1.64633515e-01 1.07507893e-02 3.01735667e+02] [-1.64624572e-01 9.86354804e-01 -1.71765804e-03 -4.49614978e+01] [-1.08868767e-02 -7.57244562e-05 9.99940733e-01 -9.54360249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.944203822 meters Centerline goodness [0,1] 0.9999572759121593 Centerline is valid? [True, True] Translation: X:301.76, Y:-44.97, Z:-9.55 [[ 9.86375378e-01 1.64124610e-01 1.12572969e-02 3.01764229e+02] [-1.64114775e-01 9.86439611e-01 -1.79822963e-03 -4.49663850e+01] [-1.13997773e-02 -7.37593192e-05 9.99935018e-01 -9.54518132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.97420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:301.79, Y:-44.97, Z:-9.54 [[ 9.86306575e-01 1.64482583e-01 1.20341443e-02 3.01794025e+02] [-1.64471374e-01 9.86379984e-01 -1.92201578e-03 -4.49700726e+01] [-1.21863772e-02 -8.35754536e-05 9.99925740e-01 -9.54210391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.004203822 meters Centerline goodness [0,1] 0.9999785536587458 Centerline is valid? [True, True] Translation: X:301.82, Y:-44.97, Z:-9.54 [[ 9.85862728e-01 1.66970646e-01 1.39815553e-02 3.01822858e+02] [-1.66955764e-01 9.85961858e-01 -2.23317837e-03 -4.49664908e+01] [-1.41581554e-02 -1.32693928e-04 9.99899759e-01 -9.54100940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.03420382200005 meters Centerline goodness [0,1] 0.9999786484466745 Centerline is valid? [True, True] Translation: X:301.85, Y:-44.96, Z:-9.54 [[ 9.85311535e-01 1.70170698e-01 1.42517417e-02 3.01851831e+02] [-1.70155584e-01 9.85414583e-01 -2.27534126e-03 -4.49640060e+01] [-1.44310705e-02 -1.83093441e-04 9.99895850e-01 -9.54161313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.064203822 meters Centerline goodness [0,1] 0.9999568900480676 Centerline is valid? [True, True] Translation: X:301.88, Y:-44.96, Z:-9.54 [[ 9.85058722e-01 1.71673229e-01 1.36973189e-02 3.01880532e+02] [-1.71659427e-01 9.85153929e-01 -2.18586316e-03 -4.49643139e+01] [-1.38692217e-02 -1.98070348e-04 9.99903798e-01 -9.54350919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.09420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:301.91, Y:-44.96, Z:-9.55 [[ 9.84794623e-01 1.73191046e-01 1.35798532e-02 3.01908956e+02] [-1.73177630e-01 9.84888224e-01 -2.16667169e-03 -4.49642836e+01] [-1.37498857e-02 -2.18000176e-04 9.99905442e-01 -9.54551215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.124203822 meters Centerline goodness [0,1] 0.9999154244634739 Centerline is valid? [True, True] Translation: X:301.94, Y:-44.96, Z:-9.55 [[ 9.84409606e-01 1.75417294e-01 1.29034752e-02 3.01937690e+02] [-1.75405378e-01 9.84494143e-01 -2.05828746e-03 -4.49614701e+01] [-1.30644550e-02 -2.37141007e-04 9.99914628e-01 -9.54875577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.15420382200006 meters Centerline goodness [0,1] 0.9999358741423167 Centerline is valid? [True, True] Translation: X:301.97, Y:-44.97, Z:-9.55 [[ 9.84323693e-01 1.75974336e-01 1.18279222e-02 3.01966515e+02] [-1.75964377e-01 9.84394729e-01 -1.88562689e-03 -4.49651304e+01] [-1.19751662e-02 -2.25225740e-04 9.99928270e-01 -9.55023643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.18420382200003 meters Centerline goodness [0,1] 0.9999786045914547 Centerline is valid? [True, True] Translation: X:301.99, Y:-44.97, Z:-9.56 [[ 9.84384772e-01 1.75763651e-01 9.68299256e-03 3.01994214e+02] [-1.75756966e-01 9.84432378e-01 -1.54371839e-03 -4.49664348e+01] [-9.80358097e-03 -1.82240515e-04 9.99951927e-01 -9.55611542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.21420382200006 meters Centerline goodness [0,1] 0.9998692668046628 Centerline is valid? [True, True] Translation: X:302.02, Y:-44.97, Z:-9.55 [[ 9.84422120e-01 1.75581323e-01 9.18086139e-03 3.02022643e+02] [-1.75575311e-01 9.84464915e-01 -1.46305017e-03 -4.49744958e+01] [-9.29512022e-03 -1.71673648e-04 9.99956785e-01 -9.55297795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.24420382200003 meters Centerline goodness [0,1] 0.9999785890161653 Centerline is valid? [True, True] Translation: X:302.05, Y:-44.98, Z:-9.55 [[ 9.84693667e-01 1.74005145e-01 1.00295570e-02 3.02050610e+02] [-1.73997893e-01 9.84744728e-01 -1.59788202e-03 -4.49760434e+01] [-1.01545930e-02 -1.71697468e-04 9.99948426e-01 -9.55471895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.27420382200006 meters Centerline goodness [0,1] 0.9999571606048923 Centerline is valid? [True, True] Translation: X:302.08, Y:-44.98, Z:-9.55 [[ 9.84860546e-01 1.73036852e-01 1.03900444e-02 3.02078700e+02] [-1.73029027e-01 9.84915336e-01 -1.65424146e-03 -4.49814360e+01] [-1.05195588e-02 -1.68582133e-04 9.99944654e-01 -9.55438246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.30420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:302.11, Y:-44.99, Z:-9.55 [[ 9.85068443e-01 1.71820752e-01 1.08531587e-02 3.02106716e+02] [-1.71812146e-01 9.85128216e-01 -1.72738636e-03 -4.49867629e+01] [-1.09885537e-02 -1.63110699e-04 9.99939611e-01 -9.55334164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.33420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:302.14, Y:-44.99, Z:-9.55 [[ 9.85546795e-01 1.69008526e-01 1.15600070e-02 3.02135106e+02] [-1.68998577e-01 9.85614579e-01 -1.83922381e-03 -4.49934446e+01] [-1.17045559e-02 -1.40983595e-04 9.99931489e-01 -9.55283436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.36420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:302.16, Y:-45.00, Z:-9.55 [[ 9.85757872e-01 1.67746777e-01 1.19346860e-02 3.02162061e+02] [-1.67736085e-01 9.85830108e-01 -1.89840682e-03 -4.49983084e+01] [-1.20840244e-02 -1.30508032e-04 9.99926977e-01 -9.55352327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.39420382200007 meters Centerline goodness [0,1] 0.9999784166450834 Centerline is valid? [True, True] Translation: X:302.19, Y:-45.00, Z:-9.55 [[ 9.85995483e-01 1.66317833e-01 1.22998053e-02 3.02190675e+02] [-1.66306379e-01 9.86072190e-01 -1.95542607e-03 -4.50017302e+01] [-1.24537182e-02 -1.17494810e-04 9.99922443e-01 -9.55466589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.42420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:302.22, Y:-45.01, Z:-9.56 [[ 9.86202851e-01 1.65073630e-01 1.24351243e-02 3.02218453e+02] [-1.65061829e-01 9.86281241e-01 -1.97656831e-03 -4.50057816e+01] [-1.25908091e-02 -1.03267045e-04 9.99920727e-01 -9.55688337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.45420382200007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:302.25, Y:-45.01, Z:-9.56 [[ 9.86372872e-01 1.64066358e-01 1.22795925e-02 3.02246770e+02] [-1.64054785e-01 9.86449300e-01 -1.95076713e-03 -4.50125351e+01] [-1.24332507e-02 -9.03421249e-05 9.99922700e-01 -9.55539724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.48420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:302.28, Y:-45.02, Z:-9.56 [[ 9.86739257e-01 1.61838649e-01 1.24052891e-02 3.02275283e+02] [-1.61826673e-01 9.86817231e-01 -1.96988013e-03 -4.50200889e+01] [-1.25605558e-02 -6.37485992e-05 9.99921111e-01 -9.55606929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.51420382200007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:302.30, Y:-45.02, Z:-9.56 [[ 9.86872224e-01 1.61028303e-01 1.23733418e-02 3.02302491e+02] [-1.61016325e-01 9.86949787e-01 -1.96478776e-03 -4.50247745e+01] [-1.25282535e-02 -5.33155571e-05 9.99921517e-01 -9.55972269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.54420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:302.33, Y:-45.03, Z:-9.56 [[ 9.86918645e-01 1.60706601e-01 1.28443155e-02 3.02331222e+02] [-1.60693680e-01 9.87002222e-01 -2.03847794e-03 -4.50296570e+01] [-1.30049648e-02 -5.21884405e-05 9.99915431e-01 -9.55636601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.5742038220001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:302.36, Y:-45.03, Z:-9.55 [[ 9.86590718e-01 1.62536318e-01 1.48559610e-02 3.02360744e+02] [-1.62519256e-01 9.86702558e-01 -2.35674266e-03 -4.50280017e+01] [-1.50414710e-02 -8.92393037e-05 9.99886867e-01 -9.55371827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.60420382200004 meters Centerline goodness [0,1] 0.9999787025599522 Centerline is valid? [True, True] Translation: X:302.39, Y:-45.02, Z:-9.56 [[ 9.86015810e-01 1.66000902e-01 1.47147390e-02 3.02389927e+02] [-1.65984554e-01 9.86125591e-01 -2.33395783e-03 -4.50228513e+01] [-1.48980198e-02 -1.41100066e-04 9.99889008e-01 -9.55626169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.6342038220001 meters Centerline goodness [0,1] 0.9999358165208275 Centerline is valid? [True, True] Translation: X:302.42, Y:-45.02, Z:-9.56 [[ 9.85654897e-01 1.68169595e-01 1.42622418e-02 3.02419081e+02] [-1.68154483e-01 9.85758063e-01 -2.26085027e-03 -4.50229466e+01] [-1.44393261e-02 -1.69841747e-04 9.99895733e-01 -9.55760656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.66420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:302.45, Y:-45.02, Z:-9.56 [[ 9.85352878e-01 1.69934339e-01 1.42135621e-02 3.02448467e+02] [-1.69919523e-01 9.85455368e-01 -2.25242959e-03 -4.50237343e+01] [-1.43895962e-02 -1.95723716e-04 9.99896445e-01 -9.55762193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.694203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:302.48, Y:-45.03, Z:-9.56 [[ 9.85106990e-01 1.71399706e-01 1.36513343e-02 3.02477626e+02] [-1.71386188e-01 9.85201552e-01 -2.16270087e-03 -4.50251575e+01] [-1.38200020e-02 -2.09158410e-04 9.99904477e-01 -9.55966264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.72420382200005 meters Centerline goodness [0,1] 0.9999147230631475 Centerline is valid? [True, True] Translation: X:302.51, Y:-45.02, Z:-9.56 [[ 9.84936955e-01 1.72390135e-01 1.34475103e-02 3.02505597e+02] [-1.72377113e-01 9.85028727e-01 -2.13024524e-03 -4.50241974e+01] [-1.36134173e-02 -2.19885751e-04 9.99907309e-01 -9.56330603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.754203822 meters Centerline goodness [0,1] 0.9999783783783783 Centerline is valid? [True, True] Translation: X:302.53, Y:-45.03, Z:-9.56 [[ 9.85241446e-01 1.70672170e-01 1.30500117e-02 3.02533891e+02] [-1.70659774e-01 9.85327851e-01 -2.06582320e-03 -4.50295566e+01] [-1.32111185e-02 -1.91777410e-04 9.99912711e-01 -9.56136409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.78420382200005 meters Centerline goodness [0,1] 0.9997856055571039 Centerline is valid? [True, True] Translation: X:302.56, Y:-45.03, Z:-9.57 [[ 9.85507818e-01 1.69140536e-01 1.28770801e-02 3.02561291e+02] [-1.69128342e-01 9.85591929e-01 -2.03802624e-03 -4.50327249e+01] [-1.30362590e-02 -1.69388402e-04 9.99915010e-01 -9.56695853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.814203822 meters Centerline goodness [0,1] 0.9999784347976106 Centerline is valid? [True, True] Translation: X:302.59, Y:-45.04, Z:-9.57 [[ 9.85906777e-01 1.66819633e-01 1.26109839e-02 3.02589255e+02] [-1.66807761e-01 9.85987419e-01 -1.99488800e-03 -4.50403104e+01] [-1.27670579e-02 -1.36836384e-04 9.99918488e-01 -9.56609055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.84420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:302.62, Y:-45.05, Z:-9.57 [[ 9.86292884e-01 1.64533850e-01 1.24482437e-02 3.02616916e+02] [-1.64522108e-01 9.86371432e-01 -1.96853574e-03 -4.50461561e+01] [-1.26024827e-02 -1.06458495e-04 9.99920580e-01 -9.56887049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.874203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:302.65, Y:-45.06, Z:-9.57 [[ 9.86981204e-01 1.60342884e-01 1.25802562e-02 3.02645060e+02] [-1.60330562e-01 9.87061374e-01 -1.98852982e-03 -4.50556629e+01] [-1.27363316e-02 -5.43579844e-05 9.99918888e-01 -9.56958584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.90420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:302.67, Y:-45.07, Z:-9.57 [[ 9.87774626e-01 1.55313949e-01 1.33740447e-02 3.02671934e+02] [-1.55299567e-01 9.87865161e-01 -2.11364519e-03 -4.50671491e+01] [-1.35400314e-02 1.08217339e-05 9.99908330e-01 -9.56926122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.93420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:302.70, Y:-45.07, Z:-9.57 [[ 9.88182744e-01 1.52748861e-01 1.27534086e-02 3.02700234e+02] [-1.52735575e-01 9.88265037e-01 -2.01505365e-03 -4.50742442e+01] [-1.29115449e-02 4.33420524e-05 9.99916642e-01 -9.56793139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.96420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:302.73, Y:-45.08, Z:-9.57 [[ 9.88538440e-01 1.50380708e-01 1.33190187e-02 3.02727041e+02] [-1.50366009e-01 9.88628159e-01 -2.10388841e-03 -4.50812833e+01] [-1.34839411e-02 7.70468804e-05 9.99909085e-01 -9.56904578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.99420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:302.76, Y:-45.09, Z:-9.57 [[ 9.89192798e-01 1.46055876e-01 1.28565105e-02 3.02755630e+02] [-1.46041834e-01 9.89276334e-01 -2.02943895e-03 -4.50920494e+01] [-1.30150531e-02 1.29918021e-04 9.99915292e-01 -9.57063414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.02420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:302.78, Y:-45.10, Z:-9.57 [[ 9.89429167e-01 1.44522724e-01 1.19626790e-02 3.02784209e+02] [-1.44510457e-01 9.89501472e-01 -1.88810546e-03 -4.50994275e+01] [-1.21099626e-02 1.39414407e-04 9.99926662e-01 -9.57295091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.05420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:302.81, Y:-45.11, Z:-9.58 [[ 9.89595108e-01 1.43412052e-01 1.15976157e-02 3.02811982e+02] [-1.43400463e-01 9.89663055e-01 -1.82905772e-03 -4.51086010e+01] [-1.17400407e-02 1.46923115e-04 9.99931073e-01 -9.57682452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.08420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:302.84, Y:-45.11, Z:-9.58 [[ 9.89559972e-01 1.43675061e-01 1.13375241e-02 3.02840624e+02] [-1.43663983e-01 9.89624907e-01 -1.78982231e-03 -4.51130241e+01] [-1.14770491e-02 1.42342640e-04 9.99934126e-01 -9.57849126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.11420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:302.87, Y:-45.12, Z:-9.58 [[ 9.89385572e-01 1.44902251e-01 1.09328622e-02 3.02870093e+02] [-1.44892031e-01 9.89445967e-01 -1.72535274e-03 -4.51151362e+01] [-1.10674839e-02 1.22954498e-04 9.99938746e-01 -9.57992090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.14420382200007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:302.90, Y:-45.11, Z:-9.58 [[ 9.88841243e-01 1.48593775e-01 1.06247711e-02 3.02899832e+02] [-1.48584333e-01 9.88898318e-01 -1.67700417e-03 -4.51124184e+01] [-1.07560107e-02 7.96163554e-05 9.99942149e-01 -9.57882270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.17420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:302.93, Y:-45.12, Z:-9.58 [[ 9.88848466e-01 1.48545696e-01 1.06248524e-02 3.02927822e+02] [-1.48536256e-01 9.88905541e-01 -1.67648896e-03 -4.51167433e+01] [-1.07560107e-02 7.96177341e-05 9.99942149e-01 -9.57968978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.20420382200007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:302.96, Y:-45.12, Z:-9.58 [[ 9.88172068e-01 1.53026105e-01 9.94866269e-03 3.02957292e+02] [-1.53018059e-01 9.88222146e-01 -1.56942733e-03 -4.51151165e+01] [-1.00716521e-02 2.85391939e-05 9.99949279e-01 -9.57959438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.23420382200004 meters Centerline goodness [0,1] 0.999914359731946 Centerline is valid? [True, True] Translation: X:302.99, Y:-45.12, Z:-9.59 [[ 9.87726421e-01 1.55873637e-01 9.99636488e-03 3.02985627e+02] [-1.55865663e-01 9.87777004e-01 -1.57668741e-03 -4.51160523e+01] [-1.01199434e-02 -7.54226813e-07 9.99948792e-01 -9.58522951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.26420382200007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:303.02, Y:-45.12, Z:-9.58 [[ 9.87365210e-01 1.58164696e-01 9.68870789e-03 3.03015056e+02] [-1.58157326e-01 9.87412745e-01 -1.52705495e-03 -4.51177969e+01] [-9.80827983e-03 -2.45791977e-05 9.99951897e-01 -9.58353564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.29420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:303.04, Y:-45.11, Z:-9.59 [[ 9.86563307e-01 1.63102605e-01 9.50690833e-03 3.03043370e+02] [-1.63095736e-01 9.86609110e-01 -1.49858528e-03 -4.51142323e+01] [-9.62402552e-03 -7.20869651e-05 9.99953685e-01 -9.58595248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.3242038220001 meters Centerline goodness [0,1] 0.9999784617372762 Centerline is valid? [True, True] Translation: X:303.07, Y:-45.12, Z:-9.59 [[ 9.86240288e-01 1.65069765e-01 9.05913237e-03 3.03072384e+02] [-1.65063618e-01 9.86281889e-01 -1.42726229e-03 -4.51151094e+01] [-9.17045604e-03 -8.77095979e-05 9.99957947e-01 -9.58746398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.35420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:303.10, Y:-45.11, Z:-9.59 [[ 9.85686867e-01 1.68360810e-01 8.71999766e-03 3.03100965e+02] [-1.68355244e-01 9.85725431e-01 -1.37371389e-03 -4.51117382e+01] [-8.82680304e-03 -1.14005593e-04 9.99961037e-01 -9.59141238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.3842038220001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:303.13, Y:-45.12, Z:-9.59 [[ 9.85573391e-01 1.69025343e-01 8.69045497e-03 3.03129327e+02] [-1.69019848e-01 9.85611698e-01 -1.36825639e-03 -4.51161015e+01] [-8.79668409e-03 -1.20342289e-04 9.99961301e-01 -9.58893000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.41420382200005 meters Centerline goodness [0,1] 0.9999571789491715 Centerline is valid? [True, True] Translation: X:303.16, Y:-45.12, Z:-9.59 [[ 9.85568405e-01 1.69024670e-01 9.25089505e-03 3.03157253e+02] [-1.69018446e-01 9.85611812e-01 -1.45618359e-03 -4.51178594e+01] [-9.36392239e-03 -1.28403365e-04 9.99956149e-01 -9.59086318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.444203822 meters Centerline goodness [0,1] 0.9999786447989408 Centerline is valid? [True, True] Translation: X:303.19, Y:-45.12, Z:-9.59 [[ 9.85703066e-01 1.68186694e-01 1.01342132e-02 3.03185310e+02] [-1.68179190e-01 9.85755151e-01 -1.59437234e-03 -4.51198148e+01] [-1.02580050e-02 -1.32786050e-04 9.99947376e-01 -9.59188261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.47420382200005 meters Centerline goodness [0,1] 0.9999575127992693 Centerline is valid? [True, True] Translation: X:303.21, Y:-45.12, Z:-9.59 [[ 9.85833597e-01 1.67403300e-01 1.04045051e-02 3.03214282e+02] [-1.67395356e-01 9.85888492e-01 -1.63594553e-03 -4.51237569e+01] [-1.05315445e-02 -1.28895757e-04 9.99944533e-01 -9.59224968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.504203822 meters Centerline goodness [0,1] 0.9999784096552022 Centerline is valid? [True, True] Translation: X:303.24, Y:-45.13, Z:-9.59 [[ 9.86030505e-01 1.66260557e-01 1.00632875e-02 3.03242411e+02] [-1.66253070e-01 9.86081850e-01 -1.58191243e-03 -4.51292316e+01] [-1.01862348e-02 -1.13238521e-04 9.99948113e-01 -9.59053865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.53420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:303.27, Y:-45.13, Z:-9.59 [[ 9.86397698e-01 1.64045368e-01 1.04258779e-02 3.03270817e+02] [-1.64037213e-01 9.86452791e-01 -1.63832508e-03 -4.51339036e+01] [-1.05533960e-02 -9.41918642e-05 9.99944307e-01 -9.59153753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.564203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:303.30, Y:-45.14, Z:-9.59 [[ 9.86627587e-01 1.62578723e-01 1.15828852e-02 3.03298668e+02] [-1.62568567e-01 9.86695572e-01 -1.81937335e-03 -4.51390834e+01] [-1.17245729e-02 -8.79691051e-05 9.99931261e-01 -9.59123119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.59420382200005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:303.33, Y:-45.15, Z:-9.59 [[ 9.87249802e-01 1.58736630e-01 1.18537538e-02 3.03326629e+02] [-1.58725724e-01 9.87320961e-01 -1.86128502e-03 -4.51459854e+01] [-1.19989137e-02 -4.39423737e-05 9.99928009e-01 -9.59080433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.624203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:303.35, Y:-45.15, Z:-9.59 [[ 9.87613150e-01 1.56442185e-01 1.20875562e-02 3.03353626e+02] [-1.56430677e-01 9.87687118e-01 -1.89758387e-03 -4.51513077e+01] [-1.22355857e-02 -1.67858233e-05 9.99925142e-01 -9.59223308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.65420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:303.38, Y:-45.16, Z:-9.59 [[ 9.87971514e-01 1.54120057e-01 1.26212166e-02 3.03381916e+02] [-1.54107335e-01 9.88052128e-01 -1.98027216e-03 -4.51576676e+01] [-1.27756196e-02 1.14304305e-05 9.99918388e-01 -9.59113495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.68420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:303.41, Y:-45.16, Z:-9.59 [[ 9.88631492e-01 1.49669882e-01 1.43770305e-02 3.03409182e+02] [-1.49652914e-01 9.88736022e-01 -2.25502724e-03 -4.51647683e+01] [-1.45525976e-02 7.78264457e-05 9.99894102e-01 -9.59045903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.71420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:303.44, Y:-45.17, Z:-9.59 [[ 9.88950987e-01 1.47553602e-01 1.42786491e-02 3.03437543e+02] [-1.47536660e-01 9.89054055e-01 -2.23849562e-03 -4.51704756e+01] [-1.44526539e-02 1.07138247e-04 9.99895549e-01 -9.59144519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.74420382200003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:303.47, Y:-45.18, Z:-9.59 [[ 9.89610910e-01 1.43131255e-01 1.35532793e-02 3.03465328e+02] [-1.43115590e-01 9.89703702e-01 -2.12380075e-03 -4.51824468e+01] [-1.37177129e-02 1.62050842e-04 9.99905895e-01 -9.59442604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.77420382200006 meters Centerline goodness [0,1] 0.9999571789491715 Centerline is valid? [True, True] Translation: X:303.49, Y:-45.19, Z:-9.60 [[ 9.89821920e-01 1.41638904e-01 1.38198252e-02 3.03493683e+02] [-1.41622470e-01 9.89918373e-01 -2.16561548e-03 -4.51902198e+01] [-1.39872342e-02 1.86375890e-04 9.99902156e-01 -9.59647936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.80420382200003 meters Centerline goodness [0,1] 0.9999567801188547 Centerline is valid? [True, True] Translation: X:303.52, Y:-45.20, Z:-9.60 [[ 9.90255679e-01 1.38651342e-01 1.30190190e-02 3.03522386e+02] [-1.38636509e-01 9.90341234e-01 -2.03938253e-03 -4.51950379e+01] [-1.31760345e-02 2.14598785e-04 9.99913169e-01 -9.59576381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.83420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:303.55, Y:-45.20, Z:-9.60 [[ 9.90426702e-01 1.37418130e-01 1.30845470e-02 3.03550305e+02] [-1.37403045e-01 9.90513101e-01 -2.04921032e-03 -4.52004225e+01] [-1.32420139e-02 2.31736015e-04 9.99912294e-01 -9.59584300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.86420382200004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:303.58, Y:-45.20, Z:-9.59 [[ 9.90534976e-01 1.36588490e-01 1.35663237e-02 3.03578464e+02] [-1.36572201e-01 9.90627842e-01 -2.12433222e-03 -4.52046943e+01] [-1.37293373e-02 2.51442676e-04 9.99905717e-01 -9.59474415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.89420382200007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:303.61, Y:-45.21, Z:-9.59 [[ 9.90738826e-01 1.34979123e-01 1.47382026e-02 3.03606521e+02] [-1.34959742e-01 9.90848398e-01 -2.30637755e-03 -4.52149907e+01] [-1.49146373e-02 2.95953761e-04 9.99888727e-01 -9.59490813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.92420382200004 meters Centerline goodness [0,1] 0.9998275416055876 Centerline is valid? [True, True] Translation: X:303.64, Y:-45.22, Z:-9.60 [[ 9.90765825e-01 1.34866478e-01 1.39324791e-02 3.03636336e+02] [-1.34849152e-01 9.90863741e-01 -2.17993057e-03 -4.52206768e+01] [-1.40991879e-02 2.81017721e-04 9.99900562e-01 -9.59801515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.95420382200007 meters Centerline goodness [0,1] 0.9999784872214095 Centerline is valid? [True, True] Translation: X:303.67, Y:-45.23, Z:-9.60 [[ 9.90954800e-01 1.33529964e-01 1.33541709e-02 3.03665660e+02] [-1.33513925e-01 9.91044735e-01 -2.08944621e-03 -4.52298904e+01] [-1.35135845e-02 2.87578974e-04 9.99908646e-01 -9.59877185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.98420382200004 meters Centerline goodness [0,1] 0.9999785200300719 Centerline is valid? [True, True] Translation: X:303.69, Y:-45.24, Z:-9.60 [[ 9.91000725e-01 1.33109823e-01 1.41187112e-02 3.03694517e+02] [-1.33091849e-01 9.91101245e-01 -2.20926848e-03 -4.52384003e+01] [-1.42871475e-02 3.10301294e-04 9.99897885e-01 -9.59915407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.01420382200007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:303.72, Y:-45.25, Z:-9.60 [[ 9.91036183e-01 1.32744793e-01 1.50367619e-02 3.03724441e+02] [-1.32724370e-01 9.91150194e-01 -2.35252499e-03 -4.52456848e+01] [-1.52159749e-02 3.35692634e-04 9.99884174e-01 -9.59856507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.04420382200004 meters Centerline goodness [0,1] 0.9997860230239226 Centerline is valid? [True, True] Translation: X:303.75, Y:-45.26, Z:-9.60 [[ 9.91189089e-01 1.31566434e-01 1.53121935e-02 3.03753654e+02] [-1.31545118e-01 9.91307290e-01 -2.39543335e-03 -4.52550857e+01] [-1.54942476e-02 3.60083104e-04 9.99879892e-01 -9.59959906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.0742038220001 meters Centerline goodness [0,1] 0.9998917866031815 Centerline is valid? [True, True] Translation: X:303.78, Y:-45.26, Z:-9.60 [[ 9.91207833e-01 1.31464331e-01 1.49720539e-02 3.03784488e+02] [-1.31443940e-01 9.91320838e-01 -2.34220480e-03 -4.52613427e+01] [-1.51500255e-02 3.53625974e-04 9.99885169e-01 -9.60154970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.10420382200004 meters Centerline goodness [0,1] 0.9999785913080711 Centerline is valid? [True, True] Translation: X:303.81, Y:-45.28, Z:-9.60 [[ 9.91460421e-01 1.29536824e-01 1.50480661e-02 3.03812965e+02] [-1.29515998e-01 9.91574537e-01 -2.35447503e-03 -4.52778889e+01] [-1.52262704e-02 3.85403506e-04 9.99883999e-01 -9.60362624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.1342038220001 meters Centerline goodness [0,1] 0.9998054979253111 Centerline is valid? [True, True] Translation: X:303.84, Y:-45.29, Z:-9.61 [[ 9.91497531e-01 1.29339620e-01 1.42796373e-02 3.03843940e+02] [-1.29320876e-01 9.91600287e-01 -2.23223909e-03 -4.52859798e+01] [-1.44484094e-02 3.66604349e-04 9.99895549e-01 -9.60656055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.16420382200005 meters Centerline goodness [0,1] 0.9999143963875275 Centerline is valid? [True, True] Translation: X:303.87, Y:-45.30, Z:-9.61 [[ 9.91684574e-01 1.28012568e-01 1.32093991e-02 3.03873092e+02] [-1.27996366e-01 9.91772480e-01 -2.06825960e-03 -4.52979085e+01] [-1.33654818e-02 3.60306050e-04 9.99910613e-01 -9.60780823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.194203822 meters Centerline goodness [0,1] 0.9999784250269688 Centerline is valid? [True, True] Translation: X:303.90, Y:-45.31, Z:-9.61 [[ 9.91662668e-01 1.28224119e-01 1.27955984e-02 3.03903895e+02] [-1.28208940e-01 9.91745157e-01 -2.00302064e-03 -4.53059179e+01] [-1.29468083e-02 3.45810685e-04 9.99916127e-01 -9.60959090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.22420382200005 meters Centerline goodness [0,1] 0.9998267573303304 Centerline is valid? [True, True] Translation: X:303.93, Y:-45.31, Z:-9.61 [[ 9.91433147e-01 1.30022926e-01 1.24239419e-02 3.03934535e+02] [-1.30008732e-01 9.91510938e-01 -1.94679713e-03 -4.53145884e+01] [-1.25716025e-02 3.14898278e-04 9.99920925e-01 -9.61169091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.254203822 meters Centerline goodness [0,1] 0.9998502833921505 Centerline is valid? [True, True] Translation: X:303.96, Y:-45.32, Z:-9.61 [[ 9.91236347e-01 1.31500785e-01 1.25717403e-02 3.03964810e+02] [-1.31486339e-01 9.91316020e-01 -1.97234577e-03 -4.53199714e+01] [-1.27219325e-02 3.02048707e-04 9.99919027e-01 -9.61306350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.28420382200005 meters Centerline goodness [0,1] 0.9997848860971884 Centerline is valid? [True, True] Translation: X:304.00, Y:-45.32, Z:-9.62 [[ 9.90915737e-01 1.33907863e-01 1.24372857e-02 3.03996548e+02] [-1.33893893e-01 9.90993749e-01 -1.95294545e-03 -4.53243860e+01] [-1.25867871e-02 2.69927782e-04 9.99920747e-01 -9.61585614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.314203822 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:304.03, Y:-45.33, Z:-9.61 [[ 9.90555055e-01 1.36588243e-01 1.20139752e-02 3.04028226e+02] [-1.36575351e-01 9.90627881e-01 -1.89087370e-03 -4.53257233e+01] [-1.21596500e-02 2.32201614e-04 9.99926042e-01 -9.61305782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.34420382200005 meters Centerline goodness [0,1] 0.9996764521904187 Centerline is valid? [True, True] Translation: X:304.06, Y:-45.33, Z:-9.62 [[ 9.90243999e-01 1.38794398e-01 1.23667627e-02 3.04058225e+02] [-1.38780923e-01 9.90321196e-01 -1.94538546e-03 -4.53336654e+01] [-1.25170758e-02 2.10135539e-04 9.99921636e-01 -9.61815102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.374203822 meters Centerline goodness [0,1] 0.999892364325232 Centerline is valid? [True, True] Translation: X:304.09, Y:-45.34, Z:-9.62 [[ 9.89971291e-01 1.40755924e-01 1.20255471e-02 3.04088167e+02] [-1.40743293e-01 9.90044310e-01 -1.89445124e-03 -4.53402297e+01] [-1.21724797e-02 1.82937248e-04 9.99925896e-01 -9.61905475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.40420382200006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:304.12, Y:-45.34, Z:-9.62 [[ 9.89841694e-01 1.41723945e-01 1.13023603e-02 3.04119830e+02] [-1.41712853e-01 9.89906206e-01 -1.78038295e-03 -4.53436456e+01] [-1.14405995e-02 1.60607551e-04 9.99934541e-01 -9.61767996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.43420382200003 meters Centerline goodness [0,1] 0.9998922437016443 Centerline is valid? [True, True] Translation: X:304.15, Y:-45.35, Z:-9.62 [[ 9.89731889e-01 1.42508356e-01 1.10524194e-02 3.04150062e+02] [-1.42497824e-01 9.89793588e-01 -1.73864212e-03 -4.53530820e+01] [-1.11873849e-02 1.45843841e-04 9.99937409e-01 -9.62354496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.46420382200006 meters Centerline goodness [0,1] 0.9998924569290001 Centerline is valid? [True, True] Translation: X:304.18, Y:-45.36, Z:-9.62 [[ 9.89709097e-01 1.42625746e-01 1.15671586e-02 3.04179962e+02] [-1.42614164e-01 9.89776678e-01 -1.82431267e-03 -4.53641472e+01] [-1.17090977e-02 1.55898198e-04 9.99931434e-01 -9.62416954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.49420382200003 meters Centerline goodness [0,1] 0.9999134498874849 Centerline is valid? [True, True] Translation: X:304.21, Y:-45.37, Z:-9.62 [[ 9.89743197e-01 1.42386929e-01 1.15916629e-02 3.04211554e+02] [-1.42375311e-01 9.89811062e-01 -1.82563947e-03 -4.53708515e+01] [-1.17335034e-02 1.56547642e-04 9.99931148e-01 -9.62131639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.52420382200006 meters Centerline goodness [0,1] 0.9999785476777862 Centerline is valid? [True, True] Translation: X:304.24, Y:-45.38, Z:-9.62 [[ 9.89848478e-01 1.41707414e-01 1.09086873e-02 3.04241404e+02] [-1.41697049e-01 9.89908573e-01 -1.72121903e-03 -4.53832580e+01] [-1.10425126e-02 1.58017238e-04 9.99939017e-01 -9.62283930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.55420382200003 meters Centerline goodness [0,1] 0.9998065181872904 Centerline is valid? [True, True] Translation: X:304.27, Y:-45.39, Z:-9.62 [[ 9.89761541e-01 1.42308400e-01 1.09731619e-02 3.04273208e+02] [-1.42297955e-01 9.89822356e-01 -1.73082998e-03 -4.53895853e+01] [-1.11077927e-02 1.51650450e-04 9.99938295e-01 -9.62334266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.58420382200006 meters Centerline goodness [0,1] 0.9999350888201312 Centerline is valid? [True, True] Translation: X:304.30, Y:-45.40, Z:-9.62 [[ 9.89713760e-01 1.42573482e-01 1.18099550e-02 3.04304675e+02] [-1.42561372e-01 9.89784207e-01 -1.86530157e-03 -4.53965885e+01] [-1.19552495e-02 1.62471245e-04 9.99928520e-01 -9.62251703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.61420382200004 meters Centerline goodness [0,1] 0.9995968854093735 Centerline is valid? [True, True] Translation: X:304.33, Y:-45.41, Z:-9.62 [[ 9.89465303e-01 1.44086908e-01 1.40490653e-02 3.04333886e+02] [-1.44069850e-01 9.89565021e-01 -2.22412574e-03 -4.54056141e+01] [-1.42229311e-02 1.76648518e-04 9.99898833e-01 -9.62064783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.64420382200007 meters Centerline goodness [0,1] 0.9996759489295513 Centerline is valid? [True, True] Translation: X:304.37, Y:-45.41, Z:-9.62 [[ 9.89213035e-01 1.45695870e-01 1.51751587e-02 3.04366088e+02] [-1.45676161e-01 9.89329412e-01 -2.40211629e-03 -4.54105008e+01] [-1.53632093e-02 1.65545889e-04 9.99881965e-01 -9.61697097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.67420382200004 meters Centerline goodness [0,1] 0.9998715340969918 Centerline is valid? [True, True] Translation: X:304.40, Y:-45.42, Z:-9.61 [[ 9.88637900e-01 1.49333200e-01 1.71667463e-02 3.04395457e+02] [-1.49308436e-01 9.88786923e-01 -2.72249931e-03 -4.54172410e+01] [-1.73808138e-02 1.28425951e-04 9.99848934e-01 -9.61467780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.70420382200007 meters Centerline goodness [0,1] 0.9999785683669096 Centerline is valid? [True, True] Translation: X:304.43, Y:-45.42, Z:-9.61 [[ 9.88299835e-01 1.51420675e-01 1.83088838e-02 3.04426801e+02] [-1.51392841e-01 9.88469407e-01 -2.90485410e-03 -4.54211038e+01] [-1.85376265e-02 9.90328871e-05 9.99828159e-01 -9.61469174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.73420382200004 meters Centerline goodness [0,1] 0.9996605998896949 Centerline is valid? [True, True] Translation: X:304.46, Y:-45.42, Z:-9.62 [[ 9.87956828e-01 1.53536653e-01 1.91781777e-02 3.04457926e+02] [-1.53506484e-01 9.88142951e-01 -3.04418965e-03 -4.54243807e+01] [-1.94181758e-02 6.35533306e-05 9.99811447e-01 -9.61611557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.76420382200007 meters Centerline goodness [0,1] 0.999696739954511 Centerline is valid? [True, True] Translation: X:304.49, Y:-45.43, Z:-9.62 [[ 9.87339261e-01 1.57606995e-01 1.79225728e-02 3.04489702e+02] [-1.57581276e-01 9.87501917e-01 -2.84716370e-03 -4.54266500e+01] [-1.81473079e-02 -1.31453882e-05 9.99835324e-01 -9.61659286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.79420382200004 meters Centerline goodness [0,1] 0.9998711035682829 Centerline is valid? [True, True] Translation: X:304.52, Y:-45.43, Z:-9.62 [[ 9.87042289e-01 1.59571596e-01 1.68648900e-02 3.04521090e+02] [-1.59549063e-01 9.87186357e-01 -2.68193336e-03 -4.54304121e+01] [-1.70767497e-02 -4.35957608e-05 9.99854181e-01 -9.61924587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.8242038220001 meters Centerline goodness [0,1] 0.9998499817835023 Centerline is valid? [True, True] Translation: X:304.55, Y:-45.43, Z:-9.62 [[ 9.86548448e-01 1.62771491e-01 1.50864940e-02 3.04553188e+02] [-1.62753806e-01 9.86663790e-01 -2.40089087e-03 -4.54322575e+01] [-1.52760939e-02 -8.67891579e-05 9.99883310e-01 -9.62427357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.85420382200004 meters Centerline goodness [0,1] 0.9999567230709309 Centerline is valid? [True, True] Translation: X:304.58, Y:-45.44, Z:-9.63 [[ 9.86324817e-01 1.64231577e-01 1.38327541e-02 3.04584045e+02] [-1.64216823e-01 9.86421806e-01 -2.20359742e-03 -4.54367399e+01] [-1.40068305e-02 -9.81081039e-05 9.99901895e-01 -9.62739201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.8842038220001 meters Centerline goodness [0,1] 0.9999145171286303 Centerline is valid? [True, True] Translation: X:304.61, Y:-45.44, Z:-9.63 [[ 9.86074064e-01 1.65770190e-01 1.33485438e-02 3.04614348e+02] [-1.65756530e-01 9.86164404e-01 -2.13098929e-03 -4.54406035e+01] [-1.35171133e-02 -1.11295034e-04 9.99908633e-01 -9.62953503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.91420382200005 meters Centerline goodness [0,1] 0.9998273107973924 Centerline is valid? [True, True] Translation: X:304.65, Y:-45.44, Z:-9.63 [[ 9.85367565e-01 1.69940378e-01 1.30777949e-02 3.04645742e+02] [-1.69927629e-01 9.85454332e-01 -2.08813414e-03 -4.54396090e+01] [-1.32424279e-02 -1.64699016e-04 9.99912302e-01 -9.62998849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.944203822 meters Centerline goodness [0,1] 0.9999135863812136 Centerline is valid? [True, True] Translation: X:304.68, Y:-45.44, Z:-9.63 [[ 9.85014014e-01 1.71986708e-01 1.29600995e-02 3.04675299e+02] [-1.71974358e-01 9.85099252e-01 -2.06977284e-03 -4.54404995e+01] [-1.31229577e-02 -1.90049540e-04 9.99913872e-01 -9.63055921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.97420382200005 meters Centerline goodness [0,1] 0.9998079426388682 Centerline is valid? [True, True] Translation: X:304.70, Y:-45.44, Z:-9.63 [[ 9.84416118e-01 1.75312065e-01 1.38053279e-02 3.04704546e+02] [-1.75298381e-01 9.84512883e-01 -2.20456426e-03 -4.54364814e+01] [-1.39780099e-02 -2.49843051e-04 9.99902272e-01 -9.63355411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.004203822 meters Centerline goodness [0,1] 0.9996608732513778 Centerline is valid? [True, True] Translation: X:304.73, Y:-45.44, Z:-9.63 [[ 9.84246886e-01 1.76215567e-01 1.43576451e-02 3.04733100e+02] [-1.76200869e-01 9.84351563e-01 -2.29233629e-03 -4.54392963e+01] [-1.45369158e-02 -2.73604684e-04 9.99894296e-01 -9.63323818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.03420382200005 meters Centerline goodness [0,1] 0.999830411464185 Centerline is valid? [True, True] Translation: X:304.76, Y:-45.44, Z:-9.63 [[ 9.84165567e-01 1.76671471e-01 1.43292372e-02 3.04761753e+02] [-1.76656889e-01 9.84269837e-01 -2.28714473e-03 -4.54428490e+01] [-1.45079092e-02 -2.80429373e-04 9.99894715e-01 -9.63367474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.064203822 meters Centerline goodness [0,1] 0.9998081064369629 Centerline is valid? [True, True] Translation: X:304.79, Y:-45.45, Z:-9.63 [[ 9.84248572e-01 1.76237269e-01 1.39704205e-02 3.04790074e+02] [-1.76223378e-01 9.84347679e-01 -2.22887838e-03 -4.54506329e+01] [-1.41445625e-02 -2.68144334e-04 9.99899925e-01 -9.63394380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.09420382200005 meters Centerline goodness [0,1] 0.9998081064369629 Centerline is valid? [True, True] Translation: X:304.82, Y:-45.46, Z:-9.63 [[ 9.84252803e-01 1.76213634e-01 1.39704743e-02 3.04818878e+02] [-1.76199745e-01 9.84351910e-01 -2.22854119e-03 -4.54551827e+01] [-1.41445624e-02 -2.68146100e-04 9.99899925e-01 -9.63483653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.124203822 meters Centerline goodness [0,1] 0.9998930961493233 Centerline is valid? [True, True] Translation: X:304.85, Y:-45.46, Z:-9.64 [[ 9.84352498e-01 1.75657373e-01 1.39515750e-02 3.04847986e+02] [-1.75643471e-01 9.84451329e-01 -2.22518936e-03 -4.54605905e+01] [-1.41255175e-02 -2.60132367e-04 9.99900196e-01 -9.63537603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.15420382200006 meters Centerline goodness [0,1] 0.9997445395325073 Centerline is valid? [True, True] Translation: X:304.88, Y:-45.46, Z:-9.64 [[ 9.84473686e-01 1.75020163e-01 1.33979471e-02 3.04876973e+02] [-1.75007284e-01 9.84564820e-01 -2.13679050e-03 -4.54601188e+01] [-1.35651288e-02 -2.41124314e-04 9.99907960e-01 -9.63922756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.18420382200003 meters Centerline goodness [0,1] 0.9998070284525826 Centerline is valid? [True, True] Translation: X:304.91, Y:-45.46, Z:-9.64 [[ 9.84488299e-01 1.74968488e-01 1.29929670e-02 3.04905313e+02] [-1.74956378e-01 9.84574006e-01 -2.07173406e-03 -4.54622611e+01] [-1.31550258e-02 -2.33604518e-04 9.99913442e-01 -9.64164675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.21420382200006 meters Centerline goodness [0,1] 0.9996353183456324 Centerline is valid? [True, True] Translation: X:304.93, Y:-45.46, Z:-9.64 [[ 9.84245151e-01 1.76291475e-01 1.35203193e-02 3.04934483e+02] [-1.76278492e-01 9.84337974e-01 -2.15548886e-03 -4.54622279e+01] [-1.36885580e-02 -2.61812035e-04 9.99906273e-01 -9.64119597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.24420382200003 meters Centerline goodness [0,1] 0.9995954003407155 Centerline is valid? [True, True] Translation: X:304.96, Y:-45.46, Z:-9.64 [[ 9.84047056e-01 1.77349544e-01 1.40901033e-02 3.04963002e+02] [-1.77335559e-01 9.84147883e-01 -2.24577705e-03 -4.54620929e+01] [-1.42650329e-02 -2.88726055e-04 9.99898208e-01 -9.64168870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.27420382200006 meters Centerline goodness [0,1] 0.9995720094157928 Centerline is valid? [True, True] Translation: X:304.99, Y:-45.47, Z:-9.64 [[ 9.83900773e-01 1.78103668e-01 1.47767410e-02 3.04991894e+02] [-1.78088389e-01 9.84011679e-01 -2.35408682e-03 -4.54667662e+01] [-1.49597572e-02 -3.15378157e-04 9.99888047e-01 -9.63869829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.30420382200003 meters Centerline goodness [0,1] 0.999849429984943 Centerline is valid? [True, True] Translation: X:305.02, Y:-45.47, Z:-9.64 [[ 9.83866586e-01 1.78173940e-01 1.61427387e-02 3.05020066e+02] [-1.78155727e-01 9.83998947e-01 -2.57096604e-03 -4.54684257e+01] [-1.63425171e-02 -3.46433774e-04 9.99866392e-01 -9.63831292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.33420382200006 meters Centerline goodness [0,1] 0.9995282917729797 Centerline is valid? [True, True] Translation: X:305.05, Y:-45.47, Z:-9.64 [[ 9.84024325e-01 1.77298986e-01 1.61615745e-02 3.05048848e+02] [-1.77280633e-01 9.84156979e-01 -2.57271964e-03 -4.54737713e+01] [-1.63616669e-02 -3.33515435e-04 9.99866083e-01 -9.63900199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.36420382200004 meters Centerline goodness [0,1] 0.9998279384880094 Centerline is valid? [True, True] Translation: X:305.08, Y:-45.48, Z:-9.64 [[ 9.84690605e-01 1.73599186e-01 1.57395804e-02 3.05078499e+02] [-1.73581326e-01 9.84816354e-01 -2.50426354e-03 -4.54795093e+01] [-1.59353343e-02 -2.66172457e-04 9.99872989e-01 -9.64161741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.39420382200007 meters Centerline goodness [0,1] 0.9997622341345322 Centerline is valid? [True, True] Translation: X:305.11, Y:-45.49, Z:-9.64 [[ 9.85052684e-01 1.71570030e-01 1.53275825e-02 3.05107491e+02] [-1.71552847e-01 9.85171900e-01 -2.43871648e-03 -4.54859067e+01] [-1.55187142e-02 -2.27226203e-04 9.99879552e-01 -9.64447421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.42420382200004 meters Centerline goodness [0,1] 0.9998274076630997 Centerline is valid? [True, True] Translation: X:305.14, Y:-45.49, Z:-9.65 [[ 9.85398630e-01 1.69612502e-01 1.48707729e-02 3.05135591e+02] [-1.69596111e-01 9.85510813e-01 -2.36563207e-03 -4.54928265e+01] [-1.50565483e-02 -1.90934666e-04 9.99886626e-01 -9.64717306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.45420382200007 meters Centerline goodness [0,1] 0.9997248910145173 Centerline is valid? [True, True] Translation: X:305.16, Y:-45.50, Z:-9.65 [[ 9.85632851e-01 1.68249867e-01 1.48278375e-02 3.05164043e+02] [-1.68233422e-01 9.85744365e-01 -2.35849394e-03 -4.54988537e+01] [-1.50132735e-02 -1.69928730e-04 9.99887280e-01 -9.64886730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.48420382200004 meters Centerline goodness [0,1] 0.9996987887002733 Centerline is valid? [True, True] Translation: X:305.19, Y:-45.52, Z:-9.65 [[ 9.85540510e-01 1.68204014e-01 2.04282524e-02 3.05189180e+02] [-1.68632891e-01 9.85444896e-01 2.14780211e-02 -4.55179326e+01] [-1.65182277e-02 -2.46123351e-02 9.99560594e-01 -9.65050806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.51420382200007 meters Centerline goodness [0,1] 0.9996566228860846 Centerline is valid? [True, True] Translation: X:305.23, Y:-45.49, Z:-9.65 [[ 9.85497543e-01 1.69326535e-01 1.10957965e-02 3.05225793e+02] [-1.68990396e-01 9.85266121e-01 -2.63233218e-02 -4.54913143e+01] [-1.53895492e-02 2.40664859e-02 9.99591900e-01 -9.65099029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.54420382200004 meters Centerline goodness [0,1] 0.999360204734485 Centerline is valid? [True, True] Translation: X:305.25, Y:-45.50, Z:-9.65 [[ 9.84855292e-01 1.72701218e-01 1.53082706e-02 3.05252903e+02] [-1.72684199e-01 9.84974228e-01 -2.43671589e-03 -4.55030511e+01] [-1.54990758e-02 -2.43683917e-04 9.99879852e-01 -9.65234493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.5742038220001 meters Centerline goodness [0,1] 0.9995687796463993 Centerline is valid? [True, True] Translation: X:305.28, Y:-45.50, Z:-9.65 [[ 9.84416534e-01 1.75144329e-01 1.57655503e-02 3.05282935e+02] [-1.75126602e-01 9.84542726e-01 -2.50881803e-03 -4.55037826e+01] [-1.59612631e-02 -2.91245294e-04 9.99872569e-01 -9.65092436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.60420382200004 meters Centerline goodness [0,1] 0.9994224475389848 Centerline is valid? [True, True] Translation: X:305.31, Y:-45.50, Z:-9.65 [[ 9.83980935e-01 1.77550878e-01 1.60376148e-02 3.05311813e+02] [-1.77532851e-01 9.84111565e-01 -2.55223002e-03 -4.55022196e+01] [-1.62359528e-02 -3.35857792e-04 9.99868132e-01 -9.65178844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.6342038220001 meters Centerline goodness [0,1] 0.9994822788359903 Centerline is valid? [True, True] Translation: X:305.34, Y:-45.50, Z:-9.65 [[ 9.83632452e-01 1.79393221e-01 1.68899601e-02 3.05340439e+02] [-1.79373516e-01 9.83777375e-01 -2.68683298e-03 -4.54993605e+01] [-1.70979602e-02 -3.86755421e-04 9.99853744e-01 -9.65224685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.66420382200005 meters Centerline goodness [0,1] 0.9995699202202009 Centerline is valid? [True, True] Translation: X:305.37, Y:-45.50, Z:-9.65 [[ 9.83173505e-01 1.81881084e-01 1.70038192e-02 3.05370471e+02] [-1.81861515e-01 9.83320437e-01 -2.70312472e-03 -4.54992826e+01] [-1.72118502e-02 -4.34699726e-04 9.99851771e-01 -9.65280972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.694203822 meters Centerline goodness [0,1] 0.9995721376005476 Centerline is valid? [True, True] Translation: X:305.40, Y:-45.50, Z:-9.66 [[ 9.83226503e-01 1.81579029e-01 1.71668091e-02 3.05399188e+02] [-1.81559037e-01 9.83376260e-01 -2.72908613e-03 -4.54966036e+01] [-1.73769774e-02 -4.33479508e-04 9.99848915e-01 -9.65504464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.72420382200005 meters Centerline goodness [0,1] 0.9995925544690342 Centerline is valid? [True, True] Translation: X:305.42, Y:-45.53, Z:-9.66 [[ 9.83225926e-01 1.79649432e-01 3.15096748e-02 3.05416713e+02] [-1.81071675e-01 9.82180788e-01 5.03383362e-02 -4.55337236e+01] [-2.19049437e-02 -5.51994669e-02 9.98235039e-01 -9.65781821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.754203822 meters Centerline goodness [0,1] 0.9997848259241726 Centerline is valid? [True, True] Translation: X:305.46, Y:-45.48, Z:-9.65 [[ 9.83526013e-01 1.80498964e-01 9.83393351e-03 3.05464309e+02] [-1.79676243e-01 9.82111866e-01 -5.63269929e-02 -4.54765934e+01] [-1.98249867e-02 5.36321385e-02 9.98363943e-01 -9.65285553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.78420382200005 meters Centerline goodness [0,1] 0.9997031760166222 Centerline is valid? [True, True] Translation: X:305.48, Y:-45.54, Z:-9.66 [[ 9.84012153e-01 1.76224887e-01 2.57850937e-02 3.05478986e+02] [-1.76995778e-01 9.83707334e-01 3.15020048e-02 -4.55358032e+01] [-1.98135485e-02 -3.55622083e-02 9.99171033e-01 -9.65749390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.814203822 meters Centerline goodness [0,1] 0.999871729091842 Centerline is valid? [True, True] Translation: X:305.52, Y:-45.51, Z:-9.65 [[ 9.85178827e-01 1.70888394e-01 1.48268188e-02 3.05519114e+02] [-1.70237742e-01 9.84686836e-01 -3.75625684e-02 -4.55053090e+01] [-2.10187803e-02 3.44817630e-02 9.99184277e-01 -9.65392283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.84420382200005 meters Centerline goodness [0,1] 0.9996381284856741 Centerline is valid? [True, True] Translation: X:305.54, Y:-45.54, Z:-9.66 [[ 9.85910491e-01 1.66164059e-01 1.92356229e-02 3.05544399e+02] [-1.66136086e-01 9.86098104e-01 -3.05436959e-03 -4.55356187e+01] [-1.94757377e-02 -1.84396083e-04 9.99810313e-01 -9.65729593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.874203822 meters Centerline goodness [0,1] 0.9996154421347234 Centerline is valid? [True, True] Translation: X:305.57, Y:-45.55, Z:-9.66 [[ 9.87380779e-01 1.57013627e-01 2.06377984e-02 3.05572912e+02] [-1.56979448e-01 9.87596436e-01 -3.27597789e-03 -4.55547944e+01] [-2.08961893e-02 -5.07260985e-06 9.99781651e-01 -9.65584236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.90420382200006 meters Centerline goodness [0,1] 0.9995883614619667 Centerline is valid? [True, True] Translation: X:305.60, Y:-45.57, Z:-9.65 [[ 9.88011179e-01 1.52705006e-01 2.26956346e-02 3.05603630e+02] [-1.52662545e-01 9.88271811e-01 -3.60209225e-03 -4.55656120e+01] [-2.29795134e-02 9.41340771e-05 9.99735932e-01 -9.65419870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.93420382200003 meters Centerline goodness [0,1] 0.9996159508417077 Centerline is valid? [True, True] Translation: X:305.63, Y:-45.58, Z:-9.66 [[ 9.88625410e-01 1.48702794e-01 2.25228407e-02 3.05632793e+02] [-1.48659820e-01 9.88881915e-01 -3.57984431e-03 -4.55770544e+01] [-2.28047627e-02 1.90883606e-04 9.99739919e-01 -9.65664486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.96420382200006 meters Centerline goodness [0,1] 0.9994603112924465 Centerline is valid? [True, True] Translation: X:305.66, Y:-45.59, Z:-9.66 [[ 9.89461268e-01 1.42816847e-01 2.38693961e-02 3.05662539e+02] [-1.42766854e-01 9.89749073e-01 -3.79436218e-03 -4.55942690e+01] [-2.41666115e-02 3.46615809e-04 9.99707885e-01 -9.65621784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.99420382200003 meters Centerline goodness [0,1] 0.999503089487102 Centerline is valid? [True, True] Translation: X:305.69, Y:-45.60, Z:-9.66 [[ 9.89691135e-01 1.41129839e-01 2.43685219e-02 3.05693392e+02] [-1.41077210e-01 9.89991016e-01 -3.87420451e-03 -4.56046390e+01] [-2.46713836e-02 3.96422774e-04 9.99695536e-01 -9.65611678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.02420382200006 meters Centerline goodness [0,1] 0.999526321455485 Centerline is valid? [True, True] Translation: X:305.72, Y:-45.62, Z:-9.66 [[ 9.89877174e-01 1.39719859e-01 2.49307227e-02 3.05723965e+02] [-1.39664199e-01 9.90190972e-01 -3.96860170e-03 -4.56151819e+01] [-2.52406690e-02 4.46498820e-04 9.99681304e-01 -9.65683901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.05420382200003 meters Centerline goodness [0,1] 0.9994886980975308 Centerline is valid? [True, True] Translation: X:305.76, Y:-45.62, Z:-9.66 [[ 9.89912755e-01 1.39560939e-01 2.44024949e-02 3.05755560e+02] [-1.39507546e-01 9.90213386e-01 -3.88531648e-03 -4.56227317e+01] [-2.47059155e-02 4.41792158e-04 9.99694665e-01 -9.65914557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.08420382200006 meters Centerline goodness [0,1] 0.9991174254655043 Centerline is valid? [True, True] Translation: X:305.79, Y:-45.63, Z:-9.66 [[ 9.89865513e-01 1.40241427e-01 2.23295515e-02 3.05786026e+02] [-1.40196819e-01 9.90117260e-01 -3.55859199e-03 -4.56311722e+01] [-2.26079364e-02 3.91995389e-04 9.99744331e-01 -9.66345993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.11420382200004 meters Centerline goodness [0,1] 0.9990602941497847 Centerline is valid? [True, True] Translation: X:305.82, Y:-45.63, Z:-9.66 [[ 9.89737616e-01 1.41056370e-01 2.28594019e-02 3.05818445e+02] [-1.41009734e-01 9.90001490e-01 -3.64747673e-03 -4.56332614e+01] [-2.31453418e-02 3.86646749e-04 9.99732036e-01 -9.66295176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.14420382200007 meters Centerline goodness [0,1] 0.9991026983143547 Centerline is valid? [True, True] Translation: X:305.85, Y:-45.64, Z:-9.66 [[ 9.89599080e-01 1.41779926e-01 2.43333915e-02 3.05848326e+02] [-1.41727182e-01 9.89898123e-01 -3.88743652e-03 -4.56432381e+01] [-2.46387390e-02 3.98300602e-04 9.99696341e-01 -9.66486682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.17420382200004 meters Centerline goodness [0,1] 0.9987682067683796 Centerline is valid? [True, True] Translation: X:305.88, Y:-45.65, Z:-9.67 [[ 9.89068443e-01 1.45497438e-01 2.39606272e-02 3.05880732e+02] [-1.45447277e-01 9.89358581e-01 -3.83239171e-03 -4.56463742e+01] [-2.42632553e-02 3.05489718e-04 9.99705557e-01 -9.66629941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.20420382200007 meters Centerline goodness [0,1] 0.9984266902303929 Centerline is valid? [True, True] Translation: X:305.91, Y:-45.65, Z:-9.67 [[ 9.88607692e-01 1.48912885e-01 2.19039783e-02 3.05911550e+02] [-1.48871797e-01 9.88850298e-01 -3.50379342e-03 -4.56498887e+01] [-2.21815154e-02 2.02992513e-04 9.99753939e-01 -9.66953690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.23420382200004 meters Centerline goodness [0,1] 0.9970685699719603 Centerline is valid? [True, True] Translation: X:305.94, Y:-45.65, Z:-9.67 [[ 9.87424581e-01 1.56304055e-01 2.37010469e-02 3.05944093e+02] [-1.56257974e-01 9.87708986e-01 -3.79539528e-03 -4.56467336e+01] [-2.40029726e-02 4.41890242e-05 9.99711886e-01 -9.67135989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.26420382200007 meters Centerline goodness [0,1] 0.9963712101692004 Centerline is valid? [True, True] Translation: X:305.98, Y:-45.65, Z:-9.67 [[ 9.86704218e-01 1.60664400e-01 2.45303272e-02 3.05977608e+02] [-1.60616280e-01 9.87009092e-01 -3.93239587e-03 -4.56473309e+01] [-2.48434520e-02 -5.98583110e-05 9.99691352e-01 -9.67188097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.29420382200004 meters Centerline goodness [0,1] 0.9954684735229381 Centerline is valid? [True, True] Translation: X:306.01, Y:-45.65, Z:-9.67 [[ 9.85965310e-01 1.64934867e-01 2.58630432e-02 3.06009840e+02] [-1.64882704e-01 9.86304446e-01 -4.15133000e-03 -4.56484481e+01] [-2.61935335e-02 -1.71301128e-04 9.99656876e-01 -9.67161616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.3242038220001 meters Centerline goodness [0,1] 0.9927777895787752 Centerline is valid? [True, True] Translation: X:306.04, Y:-45.64, Z:-9.67 [[ 9.84846634e-01 1.71193799e-01 2.77450872e-02 3.06041623e+02] [-1.71136092e-01 9.85237309e-01 -4.45894177e-03 -4.56439558e+01] [-2.80988383e-02 -3.56811998e-04 9.99605086e-01 -9.67154660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.35420382200004 meters Centerline goodness [0,1] 0.9910634684780302 Centerline is valid? [True, True] Translation: X:306.07, Y:-45.65, Z:-9.67 [[ 9.84445825e-01 1.73313845e-01 2.87876478e-02 3.06073021e+02] [-1.73252603e-01 9.84866552e-01 -4.62722702e-03 -4.56463678e+01] [-2.91539539e-02 -4.32280596e-04 9.99574840e-01 -9.67142784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.3842038220001 meters Centerline goodness [0,1] 0.9897314375987362 Centerline is valid? [True, True] Translation: X:306.11, Y:-45.65, Z:-9.67 [[ 9.84069377e-01 1.74940398e-01 3.16752140e-02 3.06105137e+02] [-1.74867061e-01 9.84578884e-01 -5.09236223e-03 -4.56495766e+01] [-3.20776068e-02 -5.27713862e-04 9.99485242e-01 -9.67015105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.41420382200005 meters Centerline goodness [0,1] 0.9864119901804557 Centerline is valid? [True, True] Translation: X:306.14, Y:-45.65, Z:-9.67 [[ 9.83718550e-01 1.76535003e-01 3.36631485e-02 3.06136942e+02] [-1.76452904e-01 9.84294174e-01 -5.41779517e-03 -4.56549516e+01] [-3.40908714e-02 -6.10374710e-04 9.99418551e-01 -9.67003561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.444203822 meters Centerline goodness [0,1] 0.985745149538253 Centerline is valid? [True, True] Translation: X:306.17, Y:-45.66, Z:-9.67 [[ 9.83680547e-01 1.76647585e-01 3.41791090e-02 3.06168485e+02] [-1.76562811e-01 9.84273971e-01 -5.50678746e-03 -4.56576001e+01] [-3.46143680e-02 -6.17839857e-04 9.99400552e-01 -9.67159255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.47420382200005 meters Centerline goodness [0,1] 0.9844801714898178 Centerline is valid? [True, True] Translation: X:306.20, Y:-45.66, Z:-9.67 [[ 9.83727498e-01 1.76229031e-01 3.49790994e-02 3.06200139e+02] [-1.76139750e-01 9.84349001e-01 -5.64208738e-03 -4.56641400e+01] [-3.54259412e-02 -6.10933321e-04 9.99372118e-01 -9.67418929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.504203822 meters Centerline goodness [0,1] 0.9811539203704895 Centerline is valid? [True, True] Translation: X:306.23, Y:-45.67, Z:-9.68 [[ 9.84161541e-01 1.73709929e-01 3.53683771e-02 3.06230217e+02] [-1.73616818e-01 9.84796725e-01 -5.71056226e-03 -4.56720057e+01] [-3.58226434e-02 -5.20429362e-04 9.99358028e-01 -9.67754638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.53420382200005 meters Centerline goodness [0,1] 0.9796517190789054 Centerline is valid? [True, True] Translation: X:306.26, Y:-45.68, Z:-9.68 [[ 9.84603950e-01 1.71188496e-01 3.53491308e-02 3.06261894e+02] [-1.71093746e-01 9.85238204e-01 -5.71068559e-03 -4.56805396e+01] [-3.58049178e-02 -4.25251630e-04 9.99358708e-01 -9.67969352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.564203822 meters Centerline goodness [0,1] 0.9740287661513986 Centerline is valid? [True, True] Translation: X:306.30, Y:-45.68, Z:-9.67 [[ 9.87053297e-01 1.60291304e-01 5.69980473e-03 3.06296510e+02] [-1.60103545e-01 9.86784626e-01 -2.49591195e-02 -4.56790142e+01] [-9.62520948e-03 2.37234223e-02 9.99672224e-01 -9.67314198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.59420382200005 meters Centerline goodness [0,1] 0.973769656840899 Centerline is valid? [True, True] Translation: X:306.31, Y:-45.74, Z:-9.68 [[ 9.87278695e-01 1.54853388e-01 3.60722534e-02 3.06310489e+02] [-1.56769737e-01 9.85911976e-01 5.83165922e-02 -4.57444087e+01] [-2.65335447e-02 -6.32297667e-02 9.97646214e-01 -9.68394169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.624203822 meters Centerline goodness [0,1] 0.9705181336024564 Centerline is valid? [True, True] Translation: X:306.36, Y:-45.68, Z:-9.68 [[ 9.88421344e-01 1.51727233e-01 -1.44698541e-03 3.06359439e+02] [-1.51516006e-01 9.86444392e-01 -6.30108067e-02 -4.56833906e+01] [-8.13308474e-03 6.25004677e-02 9.98011796e-01 -9.67819599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.65420382200006 meters Centerline goodness [0,1] 0.9685495989333107 Centerline is valid? [True, True] Translation: X:306.37, Y:-45.76, Z:-9.68 [[ 9.88827797e-01 1.47290589e-01 2.29144156e-02 3.06374029e+02] [-1.47929925e-01 9.88564216e-01 2.92835720e-02 -4.57553032e+01] [-1.83391768e-02 -3.23461378e-02 9.99308462e-01 -9.68296574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.68420382200003 meters Centerline goodness [0,1] 0.9638316765209105 Centerline is valid? [True, True] Translation: X:306.42, Y:-45.74, Z:-9.68 [[ 9.90435710e-01 1.37975011e-01 1.12661005e-05 3.06415440e+02] [-1.37893155e-01 9.89850923e-01 -3.43602789e-02 -4.57352270e+01] [-4.75201162e-03 3.40300937e-02 9.99409511e-01 -9.68226478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.71420382200006 meters Centerline goodness [0,1] 0.9610701938974898 Centerline is valid? [True, True] Translation: X:306.44, Y:-45.77, Z:-9.68 [[ 9.90872421e-01 1.34715814e-01 4.84713526e-03 3.06442640e+02] [-1.34712601e-01 9.90884224e-01 -9.84924123e-04 -4.57672949e+01] [-4.93563472e-03 3.22963953e-04 9.99987768e-01 -9.67996375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.74420382200003 meters Centerline goodness [0,1] 0.9596715406714977 Centerline is valid? [True, True] Translation: X:306.46, Y:-45.81, Z:-9.69 [[ 9.90508755e-01 1.34633777e-01 2.76794543e-02 3.06460381e+02] [-1.35663257e-01 9.89968592e-01 3.94672872e-02 -4.58104388e+01] [-2.20881605e-02 -4.28477785e-02 9.98837415e-01 -9.68603385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.77420382200006 meters Centerline goodness [0,1] 0.9554324669791223 Centerline is valid? [True, True] Translation: X:306.51, Y:-45.77, Z:-9.68 [[ 9.91044100e-01 1.33391975e-01 6.17835154e-03 3.06505258e+02] [-1.33049514e-01 9.90325351e-01 -3.94147823e-02 -4.57738911e+01] [-1.13761938e-02 3.82397608e-02 9.99203835e-01 -9.68457056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.80420382200003 meters Centerline goodness [0,1] 0.9592865451725475 Centerline is valid? [True, True] Translation: X:306.53, Y:-45.80, Z:-9.69 [[ 9.89946871e-01 1.34576469e-01 4.35243164e-02 3.06531968e+02] [-1.35140200e-01 9.90773296e-01 1.02666040e-02 -4.58027816e+01] [-4.17410871e-02 -1.60452773e-02 9.98999615e-01 -9.68528172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.83420382200006 meters Centerline goodness [0,1] 0.9577294941502528 Centerline is valid? [True, True] Translation: X:306.56, Y:-45.80, Z:-9.69 [[ 9.89951247e-01 1.35646537e-01 3.99567859e-02 3.06563763e+02] [-1.35495760e-01 9.90756799e-01 -6.47030996e-03 -4.58003498e+01] [-4.04651324e-02 9.91316371e-04 9.99180459e-01 -9.68818540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.86420382200004 meters Centerline goodness [0,1] 0.9538614996073771 Centerline is valid? [True, True] Translation: X:306.59, Y:-45.81, Z:-9.69 [[ 9.89664767e-01 1.37104740e-01 4.20230870e-02 3.06594309e+02] [-1.36938983e-01 9.90556064e-01 -6.81162495e-03 -4.58101375e+01] [-4.25601297e-02 9.86626432e-04 9.99093420e-01 -9.68739353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.89420382200007 meters Centerline goodness [0,1] 0.9525691699604744 Centerline is valid? [True, True] Translation: X:306.63, Y:-45.82, Z:-9.69 [[ 9.89560508e-01 1.38127012e-01 4.11209204e-02 3.06625333e+02] [-1.37968910e-01 9.90414088e-01 -6.67189696e-03 -4.58180970e+01] [-4.16483081e-02 9.28837195e-04 9.99131901e-01 -9.69013910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.92420382200004 meters Centerline goodness [0,1] 0.9504202214365858 Centerline is valid? [True, True] Translation: X:306.66, Y:-45.83, Z:-9.69 [[ 9.89362741e-01 1.39184428e-01 4.22972974e-02 3.06657524e+02] [-1.39017800e-01 9.90266052e-01 -6.86999220e-03 -4.58264789e+01] [-4.28417737e-02 9.16837061e-04 9.99081449e-01 -9.69018308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.95420382200007 meters Centerline goodness [0,1] 0.9462585034013605 Centerline is valid? [True, False] Translation: X:306.66, Y:-45.83, Z:-9.69 [[ 9.89821662e-01 1.35987578e-01 4.19577830e-02 3.06657946e+02] [-1.35650364e-01 9.90697956e-01 -1.07952877e-02 -4.58268616e+01] [-4.30355149e-02 4.99382104e-03 9.99061062e-01 -9.69163353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.98420382200004 meters Centerline goodness [0,1] 0.9462585034013605 Centerline is valid? [False, False] Translation: X:306.66, Y:-45.82, Z:-9.69 [[ 9.90339137e-01 1.32280560e-01 4.15962319e-02 3.06657831e+02] [-1.31734831e-01 9.91162077e-01 -1.56099441e-02 -4.58223071e+01] [-4.32934998e-02 9.97946595e-03 9.99012554e-01 -9.69178680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.01420382200007 meters Centerline goodness [0,1] 0.9433874807744981 Centerline is valid? [False, False] Translation: X:306.66, Y:-45.82, Z:-9.69 [[ 9.90805145e-01 1.29001818e-01 4.07884307e-02 3.06660108e+02] [-1.28272952e-01 9.91536827e-01 -2.00192362e-02 -4.58192938e+01] [-4.30257490e-02 1.46031099e-02 9.98967234e-01 -9.69356643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.04420382200004 meters Centerline goodness [0,1] 0.9393505355195929 Centerline is valid? [False, False] Translation: X:306.63, Y:-45.82, Z:-9.70 [[ 9.90755604e-01 1.30368001e-01 3.75169010e-02 3.06625561e+02] [-1.29781490e-01 9.91385053e-01 -1.76760002e-02 -4.58178378e+01] [-3.94980797e-02 1.26435969e-02 9.99139650e-01 -9.69805369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.0742038220001 meters Centerline goodness [0,1] 0.9372669209996142 Centerline is valid? [False, False] Translation: X:306.63, Y:-45.81, Z:-9.70 [[ 9.91183378e-01 1.27203978e-01 3.70763897e-02 3.06626376e+02] [-1.26443561e-01 9.91725605e-01 -2.21889560e-02 -4.58139654e+01] [-3.95921285e-02 1.73052536e-02 9.99066060e-01 -9.69910149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.10420382200004 meters Centerline goodness [0,1] 0.18842564848899923 Centerline is valid? [False, False] Translation: X:306.63, Y:-45.81, Z:-9.70 [[ 9.91566591e-01 1.24343588e-01 3.65289846e-02 3.06627614e+02] [-1.23419062e-01 9.91998939e-01 -2.65676373e-02 -4.58100026e+01] [-3.95402294e-02 2.18352086e-02 9.98979376e-01 -9.70003613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.1342038220001 meters Centerline goodness [0,1] 0.19258413664806362 Centerline is valid? [False, False] Translation: X:306.63, Y:-45.81, Z:-9.70 [[ 9.91519104e-01 1.24727981e-01 3.65075078e-02 3.06628440e+02] [-1.23803787e-01 9.91950792e-01 -2.65753439e-02 -4.58098850e+01] [-3.95283403e-02 2.18301935e-02 9.98979956e-01 -9.70080537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.16420382200005 meters Centerline goodness [0,1] 0.1941357958100498 Centerline is valid? [False, False] Translation: X:306.59, Y:-45.80, Z:-9.70 [[ 9.91480124e-01 1.25408012e-01 3.52135584e-02 3.06587981e+02] [-1.24472875e-01 9.91838862e-01 -2.76075179e-02 -4.58032564e+01] [-3.83883797e-02 2.29891724e-02 9.98998414e-01 -9.70099168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.194203822 meters Centerline goodness [0,1] 0.18580362323512345 Centerline is valid? [False, False] Translation: X:306.59, Y:-45.81, Z:-9.70 [[ 9.90772734e-01 1.30716824e-01 3.58120224e-02 3.06589281e+02] [-1.29960588e-01 9.91259322e-01 -2.26980469e-02 -4.58068021e+01] [-3.84660177e-02 1.78344545e-02 9.99100745e-01 -9.70261890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.22420382200005 meters Centerline goodness [0,1] 0.17494936573926023 Centerline is valid? [False, False] Translation: X:306.59, Y:-45.80, Z:-9.70 [[ 9.90704703e-01 1.31230631e-01 3.58149926e-02 3.06590270e+02] [-1.30454227e-01 9.91182237e-01 -2.32264258e-02 -4.58031393e+01] [-3.85472030e-02 1.83383121e-02 9.99088494e-01 -9.70354099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.254203822 meters Centerline goodness [0,1] 0.16360005099222363 Centerline is valid? [False, False] Translation: X:306.59, Y:-45.80, Z:-9.70 [[ 9.90025742e-01 1.35989106e-01 3.68238223e-02 3.06590213e+02] [-1.35346579e-01 9.90607890e-01 -1.94245035e-02 -4.58000143e+01] [-3.91194898e-02 1.42467801e-02 9.99132972e-01 -9.70447100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.28420382200005 meters Centerline goodness [0,1] 0.16205178643973572 Centerline is valid? [False, False] Translation: X:306.59, Y:-45.80, Z:-9.71 [[ 9.90003609e-01 1.36108701e-01 3.69766822e-02 3.06590353e+02] [-1.35441897e-01 9.90583654e-01 -1.99879318e-02 -4.57968579e+01] [-3.93490284e-02 1.47799326e-02 9.99116213e-01 -9.70507052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.314203822 meters Centerline goodness [0,1] 0.13917865261637175 Centerline is valid? [False, False] Translation: X:306.59, Y:-45.79, Z:-9.71 [[ 9.89993710e-01 1.36122487e-01 3.71903545e-02 3.06590459e+02] [-1.35429039e-01 9.90573275e-01 -2.05806120e-02 -4.57938902e+01] [-3.96412553e-02 1.53380224e-02 9.99096250e-01 -9.70594800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.34420382200005 meters Centerline goodness [0,1] 0.16084275436793427 Centerline is valid? [False, False] Translation: X:306.59, Y:-45.79, Z:-9.71 [[ 9.89972907e-01 1.36230071e-01 3.73498535e-02 3.06591678e+02] [-1.35510071e-01 9.90549416e-01 -2.11866586e-02 -4.57908593e+01] [-3.98831356e-02 1.59129367e-02 9.99077632e-01 -9.70791180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.374203822 meters Centerline goodness [0,1] 0.16107929562662204 Centerline is valid? [False, False] Translation: X:306.59, Y:-45.78, Z:-9.71 [[ 9.90515662e-01 1.32372302e-01 3.68279287e-02 3.06592759e+02] [-1.31450498e-01 9.90970418e-01 -2.64271886e-02 -4.57845594e+01] [-3.99936157e-02 2.13354947e-02 9.98972125e-01 -9.70918345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.40420382200006 meters Centerline goodness [0,1] 0.1649447046995658 Centerline is valid? [False, False] Translation: X:306.59, Y:-45.78, Z:-9.71 [[ 9.91061322e-01 1.28370781e-01 3.63097709e-02 3.06593972e+02] [-1.27249142e-01 9.91364520e-01 -3.16866644e-02 -4.57781535e+01] [-4.00638605e-02 2.67830404e-02 9.98838103e-01 -9.71054275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.43420382200003 meters Centerline goodness [0,1] 0.1510917403751656 Centerline is valid? [False, False] Translation: X:306.59, Y:-45.77, Z:-9.71 [[ 9.91120184e-01 1.27804712e-01 3.66978949e-02 3.06594645e+02] [-1.26643330e-01 9.91418835e-01 -3.24061793e-02 -4.57742837e+01] [-4.05246466e-02 2.74708748e-02 9.98800833e-01 -9.71256087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.46420382200006 meters Centerline goodness [0,1] 0.15869346518547056 Centerline is valid? [False, False] Translation: X:306.60, Y:-45.77, Z:-9.71 [[ 9.91680681e-01 1.23476833e-01 3.63716595e-02 3.06595261e+02] [-1.22106823e-01 9.91798646e-01 -3.77540705e-02 -4.57669825e+01] [-4.07351157e-02 3.29987546e-02 9.98624921e-01 -9.71360042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.49420382200003 meters Centerline goodness [0,1] 0.16494779322272757 Centerline is valid? [False, False] Translation: X:306.60, Y:-45.77, Z:-9.71 [[ 9.91695457e-01 1.23285346e-01 3.66175483e-02 3.06595055e+02] [-1.21904734e-01 9.91821227e-01 -3.78138832e-02 -4.57665879e+01] [-4.09799594e-02 3.30360037e-02 9.98613672e-01 -9.71429901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.52420382200006 meters Centerline goodness [0,1] 0.1777917625103077 Centerline is valid? [False, False] Translation: X:306.59, Y:-45.77, Z:-9.71 [[ 9.91723946e-01 1.22900239e-01 3.71368689e-02 3.06594183e+02] [-1.21493583e-01 9.91863559e-01 -3.80261781e-02 -4.57661731e+01] [-4.15081333e-02 3.31995801e-02 9.98586432e-01 -9.71483566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.55420382200003 meters Centerline goodness [0,1] 0.18454688764858762 Centerline is valid? [False, False] Translation: X:306.59, Y:-45.77, Z:-9.72 [[ 9.91737813e-01 1.22658898e-01 3.75620151e-02 3.06594006e+02] [-1.21231032e-01 9.91889237e-01 -3.81939572e-02 -4.57652678e+01] [-4.19421872e-02 3.33247098e-02 9.98564127e-01 -9.71589513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.58420382200006 meters Centerline goodness [0,1] 0.19088872292755787 Centerline is valid? [False, False] Translation: X:306.60, Y:-45.76, Z:-9.72 [[ 9.91802007e-01 1.22047797e-01 3.78564823e-02 3.06595952e+02] [-1.20563885e-01 9.91928010e-01 -3.92832414e-02 -4.57599210e+01] [-4.23453382e-02 3.43970731e-02 9.98510748e-01 -9.71869769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.61420382200004 meters Centerline goodness [0,1] 0.19128012854847354 Centerline is valid? [False, False] Translation: X:306.60, Y:-45.76, Z:-9.72 [[ 9.91844667e-01 1.21710962e-01 3.78232600e-02 3.06597393e+02] [-1.20194691e-01 9.91941257e-01 -4.00721809e-02 -4.57557544e+01] [-4.23956757e-02 3.51992239e-02 9.98480656e-01 -9.72037798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.64420382200007 meters Centerline goodness [0,1] 0.18889532265328446 Centerline is valid? [False, False] Translation: X:306.60, Y:-45.75, Z:-9.72 [[ 9.91886559e-01 1.21377682e-01 3.77956657e-02 3.06598645e+02] [-1.19827577e-01 9.91952256e-01 -4.08910083e-02 -4.57513255e+01] [-4.24547517e-02 3.60302784e-02 9.98448503e-01 -9.72168677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.67420382200004 meters Centerline goodness [0,1] 0.058793335757212795 Centerline is valid? [False, False] Translation: X:306.60, Y:-45.74, Z:-9.72 [[ 9.91944836e-01 1.20899869e-01 3.77976843e-02 3.06601873e+02] [-1.19279635e-01 9.91949182e-01 -4.25345618e-02 -4.57420247e+01] [-4.26358049e-02 3.76834449e-02 9.98379760e-01 -9.72430967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.70420382200007 meters Centerline goodness [0,1] 0.7965141146278871 Centerline is valid? [False, False] Translation: X:306.60, Y:-45.74, Z:-9.73 [[ 9.91980186e-01 1.20607368e-01 3.78044203e-02 3.06602922e+02] [-1.18956185e-01 9.91956972e-01 -4.32526421e-02 -4.57381198e+01] [-4.27169456e-02 3.84086944e-02 9.98348654e-01 -9.72546553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.73420382200004 meters Centerline goodness [0,1] 0.7518929351629939 Centerline is valid? [False, False] Translation: X:306.60, Y:-45.74, Z:-9.73 [[ 9.92013012e-01 1.20311495e-01 3.78857203e-02 3.06603808e+02] [-1.18632803e-01 9.91970745e-01 -4.38212269e-02 -4.57350447e+01] [-4.28537235e-02 3.89767382e-02 9.98320776e-01 -9.72686852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.76420382200007 meters Centerline goodness [0,1] 0.7406109056708634 Centerline is valid? [False, False] Translation: X:306.60, Y:-45.73, Z:-9.73 [[ 9.92038725e-01 1.20083148e-01 3.79368622e-02 3.06604660e+02] [-1.18387159e-01 9.91984295e-01 -4.41773620e-02 -4.57329406e+01] [-4.29377282e-02 3.93344165e-02 9.98303138e-01 -9.72823569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.79420382200004 meters Centerline goodness [0,1] 0.7440529194758936 Centerline is valid? [False, False] Translation: X:306.61, Y:-45.73, Z:-9.73 [[ 9.92313834e-01 1.17967843e-01 3.73743689e-02 3.06610925e+02] [-1.16227124e-01 9.92168097e-01 -4.57572246e-02 -4.57297329e+01] [-4.24795376e-02 4.10616116e-02 9.98253191e-01 -9.73281202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.8242038220001 meters Centerline goodness [0,1] 0.7441540873075518 Centerline is valid? [False, False] Translation: X:306.61, Y:-45.73, Z:-9.73 [[ 9.92328394e-01 1.17814221e-01 3.74722138e-02 3.06611288e+02] [-1.16077563e-01 9.92194308e-01 -4.55681225e-02 -4.57306673e+01] [-4.25482901e-02 4.08688586e-02 9.98258173e-01 -9.73379587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.85420382200004 meters Centerline goodness [0,1] 0.763218488828245 Centerline is valid? [False, False] Translation: X:306.63, Y:-45.73, Z:-9.73 [[ 9.93250435e-01 1.11004417e-01 3.36391418e-02 3.06634192e+02] [-1.09431156e-01 9.92953654e-01 -4.54737620e-02 -4.57317665e+01] [-3.84498973e-02 4.14856637e-02 9.98398991e-01 -9.73285740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.8842038220001 meters Centerline goodness [0,1] 0.7607983382230121 Centerline is valid? [False, False] Translation: X:306.63, Y:-45.73, Z:-9.73 [[ 9.93253197e-01 1.10951838e-01 3.37309371e-02 3.06634604e+02] [-1.09389499e-01 9.92975644e-01 -4.50922248e-02 -4.57339340e+01] [-3.84970642e-02 4.10981862e-02 9.98413199e-01 -9.73385672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.91420382200005 meters Centerline goodness [0,1] 0.7685687919823164 Centerline is valid? [False, False] Translation: X:306.63, Y:-45.74, Z:-9.73 [[ 9.93254571e-01 1.10896093e-01 3.38734815e-02 3.06634768e+02] [-1.09335073e-01 9.92990035e-01 -4.49069363e-02 -4.57350056e+01] [-3.86160334e-02 4.09004602e-02 9.98416724e-01 -9.73478289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.944203822 meters Centerline goodness [0,1] 0.7641558106539404 Centerline is valid? [False, False] Translation: X:306.64, Y:-45.73, Z:-9.74 [[ 9.93273409e-01 1.10632282e-01 3.41823522e-02 3.06635723e+02] [-1.09054418e-01 9.93015941e-01 -4.50163765e-02 -4.57345286e+01] [-3.89238851e-02 4.09858332e-02 9.98401268e-01 -9.73618190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.97420382200005 meters Centerline goodness [0,1] 0.7565193168912983 Centerline is valid? [False, False] Translation: X:306.64, Y:-45.73, Z:-9.74 [[ 9.93271556e-01 1.10607547e-01 3.43159880e-02 3.06636113e+02] [-1.09022868e-01 9.93017854e-01 -4.50505812e-02 -4.57344907e+01] [-3.90593231e-02 4.10062335e-02 9.98395141e-01 -9.73721640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.004203822 meters Centerline goodness [0,1] 0.7572992309834415 Centerline is valid? [False, False] Translation: X:306.64, Y:-45.73, Z:-9.74 [[ 9.93263999e-01 1.10636041e-01 3.44426433e-02 3.06636659e+02] [-1.09046602e-01 9.93015765e-01 -4.50392002e-02 -4.57349512e+01] [-3.91850466e-02 4.09799628e-02 9.98391293e-01 -9.73867602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.03420382200005 meters Centerline goodness [0,1] 0.7509772756561708 Centerline is valid? [False, False] Translation: X:306.64, Y:-45.73, Z:-9.74 [[ 9.93264104e-01 1.10635903e-01 3.44400438e-02 3.06638802e+02] [-1.09030141e-01 9.92998508e-01 -4.54575722e-02 -4.57329559e+01] [-3.92281516e-02 4.13963719e-02 9.98372422e-01 -9.74029047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.064203822 meters Centerline goodness [0,1] 0.7481940365694197 Centerline is valid? [False, False] Translation: X:306.64, Y:-45.73, Z:-9.74 [[ 9.93278010e-01 1.10531923e-01 3.43727901e-02 3.06640151e+02] [-1.08912084e-01 9.92991664e-01 -4.58880412e-02 -4.57302376e+01] [-3.92039875e-02 4.18359700e-02 9.98355047e-01 -9.74149454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.09420382200005 meters Centerline goodness [0,1] 0.7443294994538328 Centerline is valid? [False, False] Translation: X:306.64, Y:-45.73, Z:-9.74 [[ 9.93299174e-01 1.10367748e-01 3.42886562e-02 3.06641757e+02] [-1.08729516e-01 9.92985624e-01 -4.64482850e-02 -4.57264961e+01] [-3.91745353e-02 4.24088541e-02 9.98332031e-01 -9.74291025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.124203822 meters Centerline goodness [0,1] 0.7408125040366854 Centerline is valid? [False, False] Translation: X:306.65, Y:-45.72, Z:-9.75 [[ 9.93094709e-01 1.12300475e-01 3.39337857e-02 3.06649519e+02] [-1.10729599e-01 9.92827302e-01 -4.50877452e-02 -4.57249085e+01] [-3.87537641e-02 4.10189267e-02 9.98406527e-01 -9.74875851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.15420382200006 meters Centerline goodness [0,1] 0.7366462018953088 Centerline is valid? [False, False] Translation: X:306.65, Y:-45.72, Z:-9.75 [[ 9.93101582e-01 1.12232398e-01 3.39578702e-02 3.06650738e+02] [-1.10646660e-01 9.92820248e-01 -4.54452650e-02 -4.57231369e+01] [-3.88144922e-02 4.13744396e-02 9.98389499e-01 -9.75025896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.18420382200003 meters Centerline goodness [0,1] 0.7371847736446895 Centerline is valid? [False, False] Translation: X:306.65, Y:-45.72, Z:-9.75 [[ 9.93108076e-01 1.12163777e-01 3.39946538e-02 3.06651725e+02] [-1.10564574e-01 9.92815281e-01 -4.57525174e-02 -4.57214125e+01] [-3.88821869e-02 4.16785901e-02 9.98374214e-01 -9.75147203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.21420382200006 meters Centerline goodness [0,1] 0.7306649451258876 Centerline is valid? [False, False] Translation: X:306.65, Y:-45.72, Z:-9.75 [[ 9.93103419e-01 1.12147456e-01 3.41840111e-02 3.06654266e+02] [-1.10518819e-01 9.92794881e-01 -4.63024372e-02 -4.57184062e+01] [-3.91304118e-02 4.22051321e-02 9.98342395e-01 -9.75351288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.24420382200003 meters Centerline goodness [0,1] 0.726710209694053 Centerline is valid? [False, False] Translation: X:306.66, Y:-45.72, Z:-9.76 [[ 9.93099458e-01 1.12186099e-01 3.41723031e-02 3.06655544e+02] [-1.10555070e-01 9.92787421e-01 -4.63757842e-02 -4.57185731e+01] [-3.91285509e-02 4.22778448e-02 9.98339391e-01 -9.75531344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.27420382200006 meters Centerline goodness [0,1] 0.7187038187230944 Centerline is valid? [False, False] Translation: X:306.66, Y:-45.72, Z:-9.76 [[ 9.93091768e-01 1.12202671e-01 3.43409448e-02 3.06658258e+02] [-1.10557513e-01 9.92778844e-01 -4.65532227e-02 -4.57183337e+01] [-3.93163594e-02 4.24349728e-02 9.98325346e-01 -9.75784443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.30420382200003 meters Centerline goodness [0,1] 0.7150403113705865 Centerline is valid? [False, False] Translation: X:306.66, Y:-45.72, Z:-9.76 [[ 9.93104703e-01 1.12063270e-01 3.44219723e-02 3.06659233e+02] [-1.10405235e-01 9.92784501e-01 -4.67933538e-02 -4.57167717e+01] [-3.94174168e-02 4.26703338e-02 9.98311329e-01 -9.75909542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.33420382200006 meters Centerline goodness [0,1] 0.7207036833424959 Centerline is valid? [False, False] Translation: X:306.66, Y:-45.72, Z:-9.76 [[ 9.93111279e-01 1.11970120e-01 3.45351990e-02 3.06659966e+02] [-1.10301571e-01 9.92789223e-01 -4.69374336e-02 -4.57155801e+01] [-3.95417635e-02 4.28048080e-02 9.98300655e-01 -9.76023406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.36420382200004 meters Centerline goodness [0,1] 0.7117218414167406 Centerline is valid? [False, False] Translation: X:306.66, Y:-45.71, Z:-9.76 [[ 9.93116651e-01 1.11822166e-01 3.48585710e-02 3.06660562e+02] [-1.10132234e-01 9.92799038e-01 -4.71270843e-02 -4.57143259e+01] [-3.98774083e-02 4.29636398e-02 9.98280481e-01 -9.76155102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.39420382200007 meters Centerline goodness [0,1] 0.4225238572486819 Centerline is valid? [False, False] Translation: X:306.66, Y:-45.71, Z:-9.76 [[ 9.93123805e-01 1.11638921e-01 3.52400273e-02 3.06661368e+02] [-1.09918627e-01 9.92806157e-01 -4.74745280e-02 -4.57127194e+01] [-4.02865211e-02 4.32745485e-02 9.98250625e-01 -9.76207921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.42420382200004 meters Centerline goodness [0,1] 0.4927196866485014 Centerline is valid? [False, False] Translation: X:306.66, Y:-45.71, Z:-9.76 [[ 9.93126110e-01 1.11503349e-01 3.56024215e-02 3.06661812e+02] [-1.09759423e-01 9.92814386e-01 -4.76703649e-02 -4.57111654e+01] [-4.06620016e-02 4.34349828e-02 9.98228433e-01 -9.76311789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.45420382200007 meters Centerline goodness [0,1] 0.46798473216966163 Centerline is valid? [False, False] Translation: X:306.66, Y:-45.71, Z:-9.76 [[ 9.93134910e-01 1.11394964e-01 3.56961173e-02 3.06662419e+02] [-1.09637729e-01 9.92816910e-01 -4.78972992e-02 -4.57098765e+01] [-4.07752268e-02 4.36548387e-02 9.98214223e-01 -9.76398586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.48420382200004 meters Centerline goodness [0,1] 0.413094243417529 Centerline is valid? [False, False] Translation: X:306.66, Y:-45.71, Z:-9.76 [[ 9.93132010e-01 1.11369313e-01 3.58564807e-02 3.06662803e+02] [-1.09600147e-01 9.92815254e-01 -4.80174897e-02 -4.57095749e+01] [-4.09465358e-02 4.37578305e-02 9.98202702e-01 -9.76495682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.51420382200007 meters Centerline goodness [0,1] 0.404421524468525 Centerline is valid? [False, False] Translation: X:306.66, Y:-45.71, Z:-9.77 [[ 9.93134975e-01 1.11257224e-01 3.61213333e-02 3.06664325e+02] [-1.09458866e-01 9.92810111e-01 -4.84441948e-02 -4.57075344e+01] [-4.12513915e-02 4.41578241e-02 9.98172535e-01 -9.76587994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.54420382200004 meters Centerline goodness [0,1] 0.40059697646452497 Centerline is valid? [False, False] Translation: X:306.67, Y:-45.71, Z:-9.77 [[ 9.93154404e-01 1.11063200e-01 3.61841753e-02 3.06665650e+02] [-1.09247861e-01 9.92816480e-01 -4.87887449e-02 -4.57052375e+01] [-4.13428797e-02 4.45017132e-02 9.98153477e-01 -9.76727150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.5742038220001 meters Centerline goodness [0,1] 0.38660069823727217 Centerline is valid? [False, False] Translation: X:306.67, Y:-45.70, Z:-9.77 [[ 9.93129295e-01 1.11306242e-01 3.61264862e-02 3.06672861e+02] [-1.09486638e-01 9.92782143e-01 -4.89519499e-02 -4.57021950e+01] [-4.13143880e-02 4.46602480e-02 9.98147576e-01 -9.77314490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.60420382200004 meters Centerline goodness [0,1] 0.29231914893617017 Centerline is valid? [False, False] Translation: X:306.67, Y:-45.70, Z:-9.78 [[ 9.93157290e-01 1.11079242e-01 3.60554927e-02 3.06674831e+02] [-1.09250793e-01 9.92793644e-01 -4.92447440e-02 -4.56999966e+01] [-4.12657329e-02 4.49686854e-02 9.98135741e-01 -9.77512363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.6342038220001 meters Centerline goodness [0,1] 0.33973345863055826 Centerline is valid? [False, False] Translation: X:306.68, Y:-45.70, Z:-9.78 [[ 9.93184727e-01 1.10838708e-01 3.60399594e-02 3.06676479e+02] [-1.08996636e-01 9.92804225e-01 -4.95933831e-02 -4.56978456e+01] [-4.12774904e-02 4.53271564e-02 9.98119040e-01 -9.77664889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.66420382200005 meters Centerline goodness [0,1] 0.5051512349755647 Centerline is valid? [False, False] Translation: X:306.68, Y:-45.70, Z:-9.78 [[ 9.93213502e-01 1.10566626e-01 3.60826909e-02 3.06679254e+02] [-1.08705462e-01 9.92815246e-01 -5.00100966e-02 -4.56961209e+01] [-4.13528933e-02 4.57483176e-02 9.98096704e-01 -9.77807441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.694203822 meters Centerline goodness [0,1] 0.39323522378975284 Centerline is valid? [False, False] Translation: X:306.68, Y:-45.70, Z:-9.78 [[ 9.93221731e-01 1.10506443e-01 3.60405171e-02 3.06681040e+02] [-1.08647033e-01 9.92821394e-01 -5.00150262e-02 -4.56967591e+01] [-4.13087791e-02 4.57603157e-02 9.98097980e-01 -9.78027298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.72420382200005 meters Centerline goodness [0,1] 0.44011246073758425 Centerline is valid? [False, False] Translation: X:306.69, Y:-45.69, Z:-9.78 [[ 9.93429769e-01 1.08875677e-01 3.52616219e-02 3.06689048e+02] [-1.06999218e-01 9.92933116e-01 -5.13322026e-02 -4.56945200e+01] [-4.06012604e-02 4.72219722e-02 9.98058928e-01 -9.78487061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.754203822 meters Centerline goodness [0,1] 0.4514808572116542 Centerline is valid? [False, False] Translation: X:306.69, Y:-45.69, Z:-9.79 [[ 9.93451213e-01 1.08687384e-01 3.52383197e-02 3.06690434e+02] [-1.06808187e-01 9.92948675e-01 -5.14289711e-02 -4.56936977e+01] [-4.05795232e-02 4.73284327e-02 9.98054769e-01 -9.78640961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.78420382200005 meters Centerline goodness [0,1] 0.43753109923631095 Centerline is valid? [False, False] Translation: X:306.69, Y:-45.69, Z:-9.79 [[ 9.93475208e-01 1.08480215e-01 3.52001984e-02 3.06692098e+02] [-1.06598950e-01 9.92966080e-01 -5.15269700e-02 -4.56929332e+01] [-4.05422598e-02 4.74384631e-02 9.98051060e-01 -9.78818887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.814203822 meters Centerline goodness [0,1] 0.33327476389193933 Centerline is valid? [False, False] Translation: X:306.72, Y:-45.69, Z:-9.79 [[ 9.94146341e-01 1.03344706e-01 3.15107018e-02 3.06715302e+02] [-1.01679897e-01 9.93533812e-01 -5.05149766e-02 -4.56926231e+01] [-3.65274031e-02 4.70152742e-02 9.98226083e-01 -9.78501907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.84420382200005 meters Centerline goodness [0,1] 0.41621656938757734 Centerline is valid? [False, False] Translation: X:306.72, Y:-45.69, Z:-9.79 [[ 9.94172433e-01 1.03127030e-01 3.14004762e-02 3.06717093e+02] [-1.01474905e-01 9.93565012e-01 -5.03131181e-02 -4.56937281e+01] [-3.63870569e-02 4.68335547e-02 9.98239751e-01 -9.78662910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.874203822 meters Centerline goodness [0,1] 0.3901076113766835 Centerline is valid? [False, False] Translation: X:306.72, Y:-45.70, Z:-9.79 [[ 9.94200676e-01 1.02899281e-01 3.12530676e-02 3.06718785e+02] [-1.01267305e-01 9.93604408e-01 -4.99521067e-02 -4.56960429e+01] [-3.61932216e-02 4.64975044e-02 9.98262507e-01 -9.78805554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.90420382200006 meters Centerline goodness [0,1] 0.3901076113766835 Centerline is valid? [False, False] Translation: X:306.72, Y:-45.70, Z:-9.79 [[ 9.94200676e-01 1.02899281e-01 3.12530676e-02 3.06718785e+02] [-1.01267305e-01 9.93604408e-01 -4.99521067e-02 -4.56960429e+01] [-3.61932216e-02 4.64975044e-02 9.98262507e-01 -9.78805554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.93420382200003 meters Centerline goodness [0,1] 0.6577921233915341 Centerline is valid? [False, False] Translation: X:306.74, Y:-45.70, Z:-9.78 [[ 9.94985869e-01 9.60585395e-02 2.78545620e-02 3.06741881e+02] [-9.46232713e-02 9.94309624e-01 -4.89367754e-02 -4.57022934e+01] [-3.23968542e-02 4.60557103e-02 9.98413399e-01 -9.78423065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.96420382200006 meters Centerline goodness [0,1] 0.3585758139132691 Centerline is valid? [False, False] Translation: X:306.75, Y:-45.70, Z:-9.79 [[ 9.95123232e-01 9.48520326e-02 2.70711172e-02 3.06747737e+02] [-9.34417001e-02 9.94402525e-01 -4.93180265e-02 -4.57040270e+01] [-3.15975024e-02 4.65479427e-02 9.98416189e-01 -9.78829449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.99420382200003 meters Centerline goodness [0,1] 0.40382567112270407 Centerline is valid? [False, False] Translation: X:306.75, Y:-45.71, Z:-9.79 [[ 9.95122744e-01 9.48833162e-02 2.69792731e-02 3.06749012e+02] [-9.34903319e-02 9.94418455e-01 -4.89029116e-02 -4.57065624e+01] [-3.14687575e-02 4.61420984e-02 9.98439094e-01 -9.78968758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.02420382200006 meters Centerline goodness [0,1] 0.6472115552452435 Centerline is valid? [False, False] Translation: X:306.75, Y:-45.71, Z:-9.79 [[ 9.95130436e-01 9.47624480e-02 2.71199958e-02 3.06751031e+02] [-9.33663313e-02 9.94435197e-01 -4.87992582e-02 -4.57069549e+01] [-3.15934155e-02 4.60295326e-02 9.98440353e-01 -9.79008368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.05420382200003 meters Centerline goodness [0,1] 0.6712295605096943 Centerline is valid? [False, False] Translation: X:306.75, Y:-45.71, Z:-9.79 [[ 9.95123848e-01 9.48379877e-02 2.70976596e-02 3.06751955e+02] [-9.34457542e-02 9.94432244e-01 -4.87073202e-02 -4.57075127e+01] [-3.15660907e-02 4.59376547e-02 9.98445449e-01 -9.79105410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.08420382200006 meters Centerline goodness [0,1] 0.6344603011561072 Centerline is valid? [False, False] Translation: X:306.75, Y:-45.71, Z:-9.79 [[ 9.95105794e-01 9.50249006e-02 2.71058567e-02 3.06753084e+02] [-9.36370653e-02 9.94421833e-01 -4.85522231e-02 -4.57092601e+01] [-3.15683259e-02 4.57764856e-02 9.98452780e-01 -9.79254466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.11420382200004 meters Centerline goodness [0,1] 0.6349272715269678 Centerline is valid? [False, False] Translation: X:306.78, Y:-45.72, Z:-9.79 [[ 9.94850657e-01 9.86470884e-02 2.32577287e-02 3.06777544e+02] [-9.73961399e-02 9.93994960e-01 -4.98799758e-02 -4.57169874e+01] [-2.80385795e-02 4.73579137e-02 9.98484384e-01 -9.79271086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.14420382200007 meters Centerline goodness [0,1] 0.6277933572868285 Centerline is valid? [False, False] Translation: X:306.78, Y:-45.72, Z:-9.79 [[ 9.94843780e-01 9.87598735e-02 2.30725233e-02 3.06779582e+02] [-9.75208338e-02 9.93988534e-01 -4.97642570e-02 -4.57177321e+01] [-2.78485353e-02 4.72576098e-02 9.98494455e-01 -9.79465797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.17420382200004 meters Centerline goodness [0,1] 0.6529294171920652 Centerline is valid? [False, False] Translation: X:306.79, Y:-45.72, Z:-9.80 [[ 9.94733530e-01 9.99343237e-02 2.27669572e-02 3.06786219e+02] [-9.87423646e-02 9.93928262e-01 -4.85443746e-02 -4.57214773e+01] [-2.74799714e-02 4.60406539e-02 9.98561520e-01 -9.79941135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 5619.21 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%| | 0/10636 [00:00